CN206837246U - A kind of robot radiation therapy system - Google Patents
A kind of robot radiation therapy system Download PDFInfo
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- CN206837246U CN206837246U CN201621008288.8U CN201621008288U CN206837246U CN 206837246 U CN206837246 U CN 206837246U CN 201621008288 U CN201621008288 U CN 201621008288U CN 206837246 U CN206837246 U CN 206837246U
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- robot
- arms
- radiation therapy
- image
- therapy system
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Abstract
The utility model discloses a kind of robot radiation therapy system, including C arms device for image, therapeutic bed, Therapy robot and mobile device, the bottom of the Therapy robot, the C arms device for image and/or the therapeutic bed is provided with the mobile device, for changing the position of the Therapy robot, the C arms device for image or the therapeutic bed.The robot radiation therapy system, by installing mobile device in the bottom of the Therapy robot, the C arms device for image or the therapeutic bed, expand treatment space, provide more treatment light beam incidence points, and then it is effectively shielded from normal structure and organ, therapeutic quality is improved, reduces treatment side effect.
Description
Technical field
Technical field of medical instruments is the utility model is related to, more particularly to a kind of robot radiation therapy system.
Background technology
Radiotherapy is the treatment carried out using one or more ionising radiations to malignant tumour and some benigns, is radiated
The means for the treatment of are ionising radiations.The purpose of tumour radiotherapy is the therapeutic dose maximum to tumor target, and is made around just
The exposure dose that often tissue and organ are received is minimum, to improve the Partial controll rate of tumour, reduces the complication of normal structure.
Existing radiotherapy equipment, over the course for the treatment of, its position are all fixed, are difficult to avoid just in therapeutic process
Often tissue and organ, because target area displacement error needs Mobile treatment table, cause the result of mobile patient, patient has dizziness
Sense, easily causes second displacement error.
Utility model content
The purpose of this utility model is to provide a kind of robot radiation therapy system, can further expand treatment space,
More treatment light beam incidence points are provided, and then are effectively shielded from normal structure and organ, therapeutic quality is improved, it is secondary to reduce treatment
Effect.
In order to solve the above technical problems, the utility model embodiment provides a kind of robot radiation therapy system, including C
Arm device for image, therapeutic bed, Therapy robot and mobile device, the Therapy robot, the C arms device for image and/or institute
The bottom for stating therapeutic bed is provided with the mobile device, for changing the Therapy robot, the C arms device for image or described
The position of therapeutic bed, the mobile device are rail type mobile device, and the rail type mobile device is arranged on wall or smallpox
Plate.
Wherein, the C arms device for image is single flat board C arms or double flat plate C arms.
Wherein, the C arms device for image includes C arm arm bodies and the frame being connected with the C arms arm body, and the frame is can
Telescopic column frame, robot frame or fixed frame.
Wherein, two x-ray sources and two X-ray detectors, two x-ray sources are provided with the C arms arm body
Inwall, outer wall or the side wall of the C arms arm body are arranged on two X-ray detectors.
Wherein, the therapeutic bed includes the first mechanical hand mechanical arm and the treatment being connected with the first mechanical hand mechanical arm
Bed board.
Wherein, the treatment head of the Therapy robot includes the second mechanical hand mechanical arm, electron linear accelerator and collimation
Device, the second mechanical hand mechanical arm are connected with the electron linear accelerator,
Wherein, in addition to fast quick change clamp device, by described fast between the electron linear accelerator and the collimater
Quick change clamp device connects, for realizing the quick-replaceable to the collimater
Wherein, the collimater is multi-leaf optical grating collimater, circular collimater or rectangular collimator.
Wherein, in addition to positioning laser lamp, the positioning laser lamp is arranged on the left side of the therapeutic bed, right side or above
Wall on.
Compared with prior art, the robot radiation therapy system that the utility model embodiment is provided has following excellent
Point：
The robot radiation therapy system that the utility model embodiment is provided, including C arms device for image, therapeutic bed, control
Treat robot and mobile device, the bottom of the Therapy robot, the C arms device for image and/or the therapeutic bed are provided with
The mobile device, for changing the position of the Therapy robot, the C arms device for image or the therapeutic bed, the shifting
Dynamic device is rail type mobile device, and the rail type mobile device is arranged on wall or ceiling.
The robot radiation therapy system, by the Therapy robot, the C arms device for image or the treatment
The bottom installation mobile device of bed so that Therapy robot, C arms device for image or therapeutic bed may move over the course for the treatment of, expand
Big treatment space, there is provided more treatment light beam incidence points, and then normal structure and organ are effectively shielded from, improve and control
Quality is treated, reduces treatment side effect, while Therapy robot can be simultaneously to the tumor target in multiple therapeutic beds or same
Multiple tumor targets of patient carry out seance, improve the efficiency for the treatment of.
In summary, the robot radiation therapy system that the utility model embodiment provides, by Therapy robot, C
Mobile device is installed in the bottom of arm device for image or therapeutic bed, improves therapeutic quality, reduces treatment side effect, improves treatment
Efficiency.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are these
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
A kind of knot of the embodiment for the robot radiation therapy system that Fig. 1 is provided by the utility model embodiment
Structure schematic diagram；
A kind of knot of the C arm device for image for the robot radiation therapy system that Fig. 2 is provided by the utility model embodiment
Structure schematic diagram；
The another kind of the C arm device for image for the robot radiation therapy system that Fig. 3 is provided by the utility model embodiment
Structural representation；
Another of the C arm device for image for the robot radiation therapy system that Fig. 4 is provided by the utility model embodiment
Structural representation.
Embodiment
Just as described in the background section, existing radiotherapy equipment, over the course for the treatment of, its position are all fixed
, it is difficult to avoid normal structure and organ in therapeutic process, because target area displacement error needs Mobile treatment table, causes movement
The result of patient, patient have spinning sensation, easily cause second displacement error.
Based on this, the utility model embodiment provides a kind of robot radiation therapy system, including C arms device for image,
Therapeutic bed, Therapy robot and mobile device, the bottom of the Therapy robot, the C arms device for image and/or the therapeutic bed
Portion is provided with the mobile device, for changing the position of the Therapy robot, the C arms device for image or the therapeutic bed
Put, the mobile device is rail type mobile device, and the rail type mobile device is arranged on wall or ceiling.
In summary, the robot radiation therapy system that the utility model embodiment provides, by the treatment machine
People, the C arms device for image or the therapeutic bed bottom installation mobile device so that Therapy robot, C arms device for image or
Therapeutic bed may move over the course for the treatment of, expand treatment space, there is provided more treatment light beam incidence points, and then effectively
Normal structure and organ are avoided, improves therapeutic quality, reduces treatment side effect, while Therapy robot can be simultaneously to multiple
Multiple tumor targets of tumor target or same patient in therapeutic bed carry out seance, improve the efficiency for the treatment of.
It is understandable to enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, below in conjunction with the accompanying drawings to this
The embodiment of utility model is described in detail.
Detail is elaborated in the following description in order to fully understand the utility model.But the utility model can
It is different from other manner described here with a variety of and implements, those skilled in the art can be without prejudice to the utility model connotation
In the case of do similar popularization.Therefore the utility model is not limited by following public specific implementation.
Fig. 1-4 is refer to, the one kind for the robot radiation therapy system that Fig. 1 is provided by the utility model embodiment is specific
The structural representation of embodiment；The C arm images for the robot radiation therapy system that Fig. 2 is provided by the utility model embodiment
A kind of structural representation of device；The C arm images for the robot radiation therapy system that Fig. 3 is provided by the utility model embodiment
Another structural representation of device；The C arm shadows for the robot radiation therapy system that Fig. 4 is provided by the utility model embodiment
As another structural representation of device.
In a kind of concrete mode, the robot radiation therapy system, including C arms device for image 10, therapeutic bed 30, control
Treat robot 20 and mobile device 40, the bottom of the Therapy robot 20, the C arms device for image and/or the therapeutic bed 30
Portion is provided with the mobile device 40, for changing the Therapy robot 20, the C arms device for image or the therapeutic bed 30
Position, the mobile device is rail type mobile device, and the rail type mobile device is arranged on wall or ceiling.
The robot radiation therapy system, by the Therapy robot 20, the C arms device for image or described controlling
Treat the bottom installation mobile device 40 of bed 30 so that Therapy robot 20, C arms device for image or therapeutic bed 30 are over the course for the treatment of
It is removable, expand treatment space, there is provided more treatment light beam incidence points, and then it is effectively shielded from normal structure and device
Official, therapeutic quality is improved, reduce treatment side effect, while Therapy robot 20 can be simultaneously to swollen in multiple therapeutic beds 30
Multiple tumor targets of knurl target area or same patient carry out seance, improve the efficiency for the treatment of.Meanwhile it can avoid controlling
Because target area displacement error removes Mobile treatment table 30 (mobile patient) during treatment, because of mobile patient, patient has spinning sensation, and
And easily cause second displacement error.
It should be noted that the Therapy robot 20 or the C arms device for image may be mounted at ceiling, ground or
Person's wall.
, can also be separately installed and Therapy robot 20 can combine installation with C arms device for image, i.e. Therapy robot 20
With C arm device for image it is separately installed after, can independently move, the therapeutic effect after such Therapy robot 20 is treated can be with office
The meaning time is detected that the scope detected is bigger, and C arms device for image will not be to the therapeutic process of Therapy robot 20
Cause any interference, the moveable scope of the treatment head of Therapy robot 20 is wider, to the diseased region of patient can be with
More treatment light beams are provided, normal structure and organ can be effectively avoided, improve therapeutic effect；Therapy robot 20 and C
After the combination installation of arm device for image, the treatment process of tumour with the Image detection in treatment, can be reacted in time so that treatment light beam
Amount of incident and treatment time control in optimal state, improve therapeutic effect.
It should be noted that in the utility model, the Therapy robot 20, the C arms device for image and described control
Treat bed 30 can not all combine after again bottom set mobile device 40, this and it is existing in time in robot treatment system without this
The difference of matter, because the relative position of three has been fixed, it is impossible to therapeutic quality is improved, therefore in the utility model, can be with
It is that mobile device 40 is set after the bottom of three is all separately provided mobile device 40 or the two combination therein.
The effect of C arms device for image 10 is the tumour of patient to be checked and image is shown, generally single flat board C arms or
Double flat plate C arms.Single flat board C arms refer to that only an X bulb and a detector, double flat plate C arms refer to C arms on the arm body of C arms
Arm body on have two X bulbs and two detectors.
The connection of C arms device for image 10, therapeutic bed 30 or Therapy robot 20 and mobile device 40 can be directly connected to,
But it is most of due to the reasons such as height be using first be connected with frame, then bottom of the frame installation mobile device 40 realizing and
The connection of mobile device 40, therefore the C arms device for image 10 includes C arm arms body 12 and the machine being connected with the C arms arm body 12
Frame, the frame are scalable column frame, robot frame or fixed frame, and scalable frame can adjust degree of examining, machine
People's support is controlled by robot, can control the angle of C arm arms body 12 and the frame in orientation, using robot frame due to
It is to use apparatus control, relative to traditional telescoping shoring column and fixed support, control accuracy is high, and control efficiency is high.
The effect of C arms device for image 10 is the tumour of patient to be checked and image is shown, therefore the C arms arm body
Two x-ray sources 13 and two X-ray detectors 11 are typically provided with 12, for X radiographic sources 13 and X-ray detector 11
The mode of the installation of set-up mode on C arm arms body 12, generally inwall, plug-in installation or side dress, i.e. two X ray
Source 13 and two X-ray detectors 11 are arranged on inwall, outer wall or the side wall of the C arms arm body 12, wherein, two in Fig. 2
The individual x-ray source 13 and two X-ray detectors 11 are arranged on the inwall of the C arms arm body 12；In Fig. 3 described in two
X-ray source 13 and two X-ray detectors 11 are arranged on the outer wall of the C arms arm body 12；Two X ray in Fig. 4
Source 13 and two X-ray detectors 11 are arranged on the side wall of the C arms arm body 12.
There are two x-ray sources 13 and two X-ray detectors 11, two x-ray sources 13 exist on double flat plate C arm arms body 12
It can be identical set-up mode on C arms, such as be all inwall installation, plug-in installation or side dress or different set
Mode is put, such as two x-ray sources 13 are any two kinds in inwall installation, plug-in installation or side dress on C arms.
In addition, in the utility model, in order to expand investigative range, more x-ray sources 13 and X ray can also be installed
Detector 11, the utility model is not especially limited to this.
The effect of therapeutic bed 30 is to make patient overlie to be treated, but many times due to Therapy robot 20
Treatment head can not perfectly reach the angle and orientation of needs, at this moment need to carry out certain tune to the position of patient and angle
Section, however, it will be apparent that the efficiency and precision of manual adjustment are very low, error is very high, therefore the therapeutic bed 30 includes the first machine
Hand mechanical arm and the plate of therapeutic bed 30 being connected with the first mechanical hand mechanical arm., will by using the first mechanical hand mechanical arm
First mechanical hand mechanical arm is connected with the plate of therapeutic bed 30, so can just be needed easily by manipulating the first mechanical hand mechanical arm
Suitable angle and orientation, improve therapeutic quality.It should be noted that knot of the utility model to the first mechanical hand mechanical arm
Structure, it is made and material, modification scope are not specifically limited, but is absolutely mostly to be adjusted mostly, be i.e. any angle
Arbitrary orientation, the first mechanical hand mechanical arm can be arranged on the bottom of the plate of therapeutic bed 30, can also be arranged on sidepiece, generally make
It must adjust and simple installation, be disposed at the bottom of the plate of therapeutic bed 30.
And, it is necessary to have as far as possible big incidence range, incident precision and treatment light beam incident for Therapy robot 20
Amount, the treatment head of the general Therapy robot 20 include the second mechanical hand mechanical arm, electron linear accelerator and collimater, institute
The second mechanical hand mechanical arm is stated to be connected with the electron linear accelerator.Second mechanical hand mechanical arm accelerates with the electronic line of sight
Device is typically connected by flange.
In addition, the treatment head also includes fast quick change clamp device, between the electron linear accelerator and the collimater
Connected by the fast quick change clamp device, for realizing the quick-replaceable to the collimater.
The collimater is generally multi-leaf optical grating collimater, circular collimater or rectangular collimator, it is, of course, also possible to be it
The collimater of its type, the utility model are not especially limited to this.
For more intuitively obtain actual adjusting position with advance to adjusting position, it is necessary to carry out determining for position adjustments
Position, is typically realized by positioning laser lamp, i.e., described robot radiation therapy system also includes positioning laser lamp, the positioning
Laser lamp is arranged on the left side of the therapeutic bed 30, right side or wall above.The utility model is to the positioning laser lamp
And its mounting means is not specifically limited.
Further, it is also possible to the installation breathing tracker before therapeutic bed 30, at this moment due to during treatment, being to use machine
Device control, the X ray in treatment has certain side effect to human body, and medical personnel avoid direct contact with X ray as far as possible, passed through
The installation breathing tracker before therapeutic bed 30, the breathing state of patient can be obtained in real time, once the unsmooth breath of patient, you can
Stop treatment at once.
In summary, the robot radiation therapy system that the utility model embodiment provides, by the treatment machine
People, the C arms device for image or the therapeutic bed bottom installation mobile device so that Therapy robot, C arms device for image or
Therapeutic bed may move over the course for the treatment of, expand treatment space, there is provided more treatment light beam incidence points, and then effectively
Normal structure and organ are avoided, improves therapeutic quality, reduces treatment side effect, while Therapy robot can be simultaneously to multiple
Multiple tumor targets of tumor target or same patient in therapeutic bed carry out seance, improve the efficiency for the treatment of
Robot radiation therapy system provided by the utility model is described in detail above.It is used herein
Specific case is set forth to principle of the present utility model and embodiment, and the explanation of above example is only intended to help and managed
Solve method and its core concept of the present utility model.It should be pointed out that for those skilled in the art, not
On the premise of departing from the utility model principle, some improvement and modification can also be carried out to the utility model, these improve and repaiied
Decorations are also fallen into the protection domain of the utility model claims.
Claims (9)
1. a kind of robot radiation therapy system, it is characterised in that including C arms device for image, therapeutic bed, Therapy robot and shifting
Dynamic device, the bottom of the Therapy robot, the C arms device for image and/or the therapeutic bed are provided with the mobile device,
For changing the position of the Therapy robot, the C arms device for image or the therapeutic bed, the mobile device is rail mounted
Mobile device, the rail type mobile device are arranged on wall or ceiling.
2. robot radiation therapy system as claimed in claim 1, it is characterised in that the C arms device for image is single flat board C
Arm or double flat plate C arms.
3. robot radiation therapy system as claimed in claim 2, it is characterised in that the C arms device for image includes C arm arms
Body and the frame being connected with the C arms arm body, the frame are scalable column frame, robot frame or fixed frame.
4. robot radiation therapy system as claimed in claim 3, it is characterised in that be provided with two X on the C arms arm body
Radiographic source and two X-ray detectors, two x-ray sources and two X-ray detectors are arranged on the C arms arm body
Inwall, outer wall or side wall.
5. robot radiation therapy system as claimed in claim 1, it is characterised in that the therapeutic bed includes the first mechanical hand
Mechanical arm and the treatment bed board being connected with the first mechanical hand mechanical arm.
6. robot radiation therapy system as claimed in claim 1, it is characterised in that the treatment head bag of the Therapy robot
Include the second mechanical hand mechanical arm, electron linear accelerator and collimater, the second mechanical hand mechanical arm and the electronic line of sight
Accelerator connects.
7. robot radiation therapy system as claimed in claim 6, it is characterised in that described also including fast quick change clamp device
Connected between electron linear accelerator and the collimater by the fast quick change clamp device, for realizing to the collimater
Quick-replaceable.
8. robot radiation therapy system as claimed in claim 7, it is characterised in that the collimater collimates for multi-leaf optical grating
Device, circular collimater or rectangular collimator.
9. the robot radiation therapy system as described in claim 1-8 any one, it is characterised in that also include positioning laser
Lamp, the positioning laser lamp are arranged on the left side, right side or front and rear wall of the therapeutic bed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621008288.8U CN206837246U (en) | 2016-08-30 | 2016-08-30 | A kind of robot radiation therapy system |
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| CN201621008288.8U CN206837246U (en) | 2016-08-30 | 2016-08-30 | A kind of robot radiation therapy system |
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| CN206837246U true CN206837246U (en) | 2018-01-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789745A (en) * | 2016-08-30 | 2018-03-13 | 瑞地玛医学科技有限公司 | A kind of robot radiation therapy system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789745A (en) * | 2016-08-30 | 2018-03-13 | 瑞地玛医学科技有限公司 | A kind of robot radiation therapy system |
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