CN207352461U - It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser - Google Patents
It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser Download PDFInfo
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- CN207352461U CN207352461U CN201720308562.1U CN201720308562U CN207352461U CN 207352461 U CN207352461 U CN 207352461U CN 201720308562 U CN201720308562 U CN 201720308562U CN 207352461 U CN207352461 U CN 207352461U
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Abstract
An automatic positioning equipment is transported based on proton heavy particle therapy room laser the utility model discloses a kind of, it is related to proton heavy particle therapy systems technology field.Transport that side before and after roof is respectively arranged with front laser sensor, rear follows laser sensor, front laser sensor, rear, which follow, is respectively arranged with position sensing encoder A and position sensing encoder B on laser sensor, transport car side and be provided with side laser sensor, transport car bottom and be provided with forerunner's driving wheel, rear-guard driving wheel, forerunner's driving wheel, rear-guard driving wheel are connected with front driving wheel direction controller, rear-guard driving wheel direction controller respectively, and two fixed pins are additionally provided between forerunner's driving wheel, rear-guard driving wheel.The utility model is substantially shorter the non-treatment time, improves the therapeutic efficiency of therapeutic room, can greatly reduce the open-assembly time of patient and staff under radiation environment.
Description
Technical field
The utility model relates to proton heavy particle therapy systems technology field, and in particular to one kind based on proton weight from
Sub- therapeutic room's laser transports an automatic positioning equipment.
Background technology
Chinese Patent Application No. is the patent of 201510101097.X《A kind of laser inspection system of medical sickbed transport vehicle
And its laser patrolling method》, which is four sending and receiving apparatus of installation.The design utilizes existing laser beam, without transmitting
Device；The design uses three laser receivers.Since treatment room floor is moveable raised flooring, some are buried
Formula guide rail class patent in the present context under can not use.There are stringent electromagnetic radiation requirement, therefore one in proton heavy particle therapy room
A little high-power or electromagnetic location equipment can not use.Since portable and portable radio frequency communication devices can all influence particle therapy
The normal use of equipment, therefore the device with tranmitting frequency can not be used in the room at present.Similar related patents also have
Application number：87107300.5 the automatic following system of laser radiation；Application number：201410733897.9 laser positioning fills
Put；Application number：201510101097.X the laser inspection system and its laser patrolling method of a kind of medical sickbed transport vehicle.With
Upper system is low there are therapeutic efficiency, inconvenient for operation, be easy to cause the unnecessary radiation of patient and staff, it is difficult to high
Efficient used.In conclusion the utility model devises and a kind of transports bed based on proton heavy particle therapy room laser
Automatic positioning equipment.
The content of the invention
In view of the shortcomings of the prior art, the utility model aim is to be that provide one kind is controlled based on proton heavy ion
An automatic positioning equipment that transports for room laser is treated, operation is efficient, is substantially shorter the non-treatment time, improves the treatment effect of therapeutic room
Rate, can greatly reduce the open-assembly time of patient and staff under radiation environment using the device.
To achieve these goals, the utility model is to realize by the following technical solutions：One kind is based on proton weight
Ion treatment room laser transports an automatic positioning equipment, including front laser sensor, rear follow laser sensor, forerunner
Driving wheel, front driving wheel direction controller, fixed pin, rear-guard driving wheel, side laser sensor, rear-guard driving wheel direction controlling
Device, transport car, position sensing encoder A and position sensing encoder B, and side is respectively arranged with front laser before and after transporting roof
Sensor, rear follow laser sensor, and front laser sensor, rear, which follow, is respectively arranged with position biography on laser sensor
Feel encoder A and position sensing encoder B, transport car side and be provided with side laser sensor, transport before car bottom is provided with
Drive driving wheel, rear-guard driving wheel, forerunner's driving wheel, rear-guard driving wheel respectively with front driving wheel direction controller, rear-guard driving wheel
Direction controller is connected, and two fixed pins are additionally provided between forerunner's driving wheel, rear-guard driving wheel.
Position sensing encoder C is provided with the side laser sensor.
The method of work for transporting an automatic positioning equipment is：
For the patient of the utility model when therapeutic room is treated, hospital technical staff can fix room in patient
It is interior next bit patient to be fixed on the fixation panel transported on bed, transport bed motion control device and wanted according to medical system
Ask, be transported to corresponding therapeutic room doorway waiting area automatically, waited.After upper patient's treatment end, therapeutic room
Interior robot can be put into patient and transport on bed, transport bed and voluntarily exit the room.Then transporting with next bit patient
Bed enters therapeutic room, is positioned and is treated.This device transports the basic structure of bed using existing general patient, appropriate increase
The device such as three sensors and a set of control system.The armamentarium of this device is integrated in above a trolley, can be with
The quick mobile and local self-contr ol of realization device.Meet the indoor electromagnetic radiation requirement for the treatment of, not image other equipment
Operation.When advancing or to fixed position, which being capable of fast automatic carry out self-correction.This device can exist with transporting bed
Automatic transport system before into therapeutic room is connected.
The utility model has the advantages that：
1st, operate steadily, precision is high
Due to being to be guided using laser beam and travel line is relatively fixed, running and comparing is steady, and precision is high.
2nd, the electromagnetic radiation to room is smaller.
Due to not using wireless transmitting device and powerful electrical equipment, installation electromagnetical radiation is smaller.
3rd, the time that patient's non-treatment delays can be greatly shortened, improves therapeutic efficiency.
4th, the apparatus structure is simple, easy to operation.
Brief description of the drawings
Describe the utility model in detail with reference to the accompanying drawings and detailed description；
Fig. 1 is therapeutic room's floor map of the utility model；
Fig. 2 is the planar structure schematic diagram of the utility model；
Fig. 3 is the side schematic view of the utility model；
Fig. 4 is the laser sensor schematic diagram of the utility model.
Embodiment
To make the technical means, creative features, achievable purpose and effectiveness that the utility model is realized easy to understand, below
With reference to embodiment, the utility model is expanded on further.
With reference to Fig. 1-4, present embodiment uses following technical scheme：One kind is based on proton heavy particle therapy room laser
Transport an automatic positioning equipment, including front laser sensor 6, rear follow laser sensor 7, forerunner's driving wheel 8, forerunner
Driving wheel direction controller 9, fixed pin 10, rear-guard driving wheel 11, side laser sensor 12, rear-guard driving wheel direction controller
13rd, car 14, position sensing encoder A15 and position sensing encoder B16 are transported, side is respectively arranged with before and after transporting the top of car 14
Front laser sensor 6, rear follow laser sensor 7, and front laser sensor 6, rear are followed on laser sensor 7 respectively
Position sensing encoder A15 and position sensing encoder B16 are provided with, 14 side of car is transported and is provided with side laser sensor
12, transport 14 bottom of car and be provided with forerunner's driving wheel 8, rear-guard driving wheel 11, forerunner's driving wheel 8, rear-guard driving wheel 11 respectively with
Front driving wheel direction controller 9, rear-guard driving wheel direction controller 13 are connected, forerunner's driving wheel 8, rear-guard driving wheel 11
Between be additionally provided with two fixed pins 10.
Position sensing encoder C is provided with the side laser sensor (12).
The method of work for transporting an automatic positioning equipment is：(1), fixed first in patient in room and patient is consolidated
It is scheduled on the fixation panel transported above bed, and patient's unique authentication code is inputted in an identity device is transported.
(2), according to different authentication codes, the wait that bed can automatically patient transfer to corresponding therapeutic room doorway is transported
Region is waited.
(3), the previous position patient treatment end and after exiting the therapeutic room such as, transports bed and can enter what waiting area waited
The therapeutic room.
(4), when transporting bed and proceeding to fan road and therapeutic room junction (when transporting an A), front laser sensor
(6) and rear laser follows sensor (7) to rise to detecting location.
(5), open and transport a forward mode.
(6), forerunner's driving wheel (8) opens drive pattern, and bed advance is transported for driving；Driving wheel direction controller (9)
Opening direction control model, control transport the direction of bed advance.Rear-guard driving wheel (11) is opened with slave pattern, not drive, after
Drive driving direction controller (13) and open universal wheel pattern.
(7), bed (14) is transported in moving on, the position sensing encoder A on front laser sensor (6)
(15) X-axis laser beam (4) signal can be firstly received, i.e. position sensing encoder A (15) can be sent first
100000000000000000000 signal, and the signal transmission to controller, system may determine that the dress according to signal
Seated position is to the right；Controller can give front driving wheel direction controller (9) rotating control signal to the left, until position sensing encodes
Device A (15) send for 000000000010000000000 when, controller output signal is reduced to zero.This interval scale position is
For standard direction of advance.Otherwise controller also sends opposite control signal.
(8), since rear-guard driving direction controller (13) opens universal wheel pattern at this time, without any driving.So
During forerunner's driving wheel (8) advances along X-axis laser beam (4), it is located behind laser and follows the position of sensor (7) above to pass
Sense encoder B (16) can move closer to the direction of X-axis laser beam (4) and receive the laser beam signal.
(9), controller is once received position sensing encoder B (16) and received the signal of X-axis laser beam, to rear-guard
Driving direction controller (13), which is sent, starts direction controlling pattern.The control signal is with position sensing encoder A (15) signal
On the basis of 000000000010000000000 value, change trailing wheel direction to sense encoder B (16) with its difference and reach
To the purpose voluntarily slightly corrected.
(10), after method advance certain distance like this, the position sensing coding on side laser sensor (12)
Device C can also receive Y-axis laser beam.100000000000000000000 signal can be sent first, the signal transmission to control
Device processed.Controller sends a reduce-speed sign to forerunner's driving wheel (8), while control transports car and moves on, when output signal
Bed is transported close to stopping when 000000000010000000000, you can reaches normal place.
(11), fixed pin (10) falls into below ground position, you can confirmation transports bed and reaches precalculated position.Otherwise bed is transported
Self-calibrating is needed, untill fixed pin is fallen.
Etc. (12), transport after bed reaches normal place, robot of therapeutic room can be automatically positioned at the trouble transported on bed (14)
Person is put into position location, and after waiting patient's positioning and treatment end, patient replaces in robot.
(13), bed is transported to open the mode of secession and lift fixed pin (10).
(14), rear-guard driving wheel (11) opens drive pattern, and bed retrogressing is transported for driving；Rear-guard driving direction controller
(13) opening direction control model, control transport the direction of bed retrogressing.Forerunner's driving wheel (8) is opened with slave pattern, front driving wheel
Direction controller (9) opens universal wheel pattern.
(15), the signal control that rear-guard driving direction controller (13) is sent according to position sensing encoder B (16) transports
Car retreats.
(16), after certain distance is backed to, technical work personnel can close " fall back " mode".It can not such as close, be confused
There is a light curtain laser aid in road inlet, which may insure to transport the safety of bed retrogressing.
(17), patient is quickly then transported therapeutic room by being confused feeding device, farthest reduces patient and work
Make the secondary radiation of personnel, improve therapeutic efficiency.
The X-axis laser beam 4 of present embodiment is based on the original laser system of therapeutic room, enables to transport bed along X-axis
Laser beam advances；Y-axis laser beam 5 is based on the original laser system of therapeutic room, makes to transport bed and determines whether to reach normal place；Front
Laser sensor 6 is used to receive the laser beam that X-axis laser is sent；Rear follows laser sensor 7 to be sent for receiving X-axis laser
Laser beam, contrasted with front laser sensor benchmark；Forerunner's driving wheel 8 can be mutual with driving and non-driven two kinds
The pattern of conversion.When transporting bed and advancing, the device opens drive pattern, and drive transports bed advance；When retreating, the device starts
Non-driven pattern；The unlike signal that the device of front driving wheel direction controller 9 can be received according to front laser sensor 6 changes
The direction or whether open universal wheel isotype that forerunner's driving wheel 8 advances；Fixed pin 10 is used to determine whether to reach normal place
And its equipment is locked；Rear-guard driving wheel 11 is with driving and non-driven two kinds of patterns that can mutually change.When transporting
The device opens drive pattern when bed retreats, and drive transports bed retrogressing；When advancing, the device starts non-driven pattern.Swash side
Optical sensor 12 is used to receive the laser beam that Y-axis laser is sent, it is ensured that transports bed and proceeds to accurate location；Rear-guard driving wheel direction
The unlike signal that controller 13 can follow laser sensor 7 to receive according to rear change the direction that rear-guard driving wheel 11 retreats or
Whether universal wheel isotype is opened.Transport car 14 and be used for transport patients, according to instruction campaign, this is transported above bed with solid
Fixed board, can be with immobilized patients；The laser signal received is changed into electric signal by position sensing encoder A.In the encoder altogether
There are 21 laser beam receiving points, each laser beam receiving point can go out 1 and 0 digital signal, when laser beam is irradiated to reception
The point will spread out of 1 digital signal during point, and when position of no laser irradiation will spread out of 0 digital signal, and have altogether can
To export 21 bit binary numbers；Position sensing encoder B is with most middle the one of A21 laser pick-off point of position sensing encoder
Position is normal place.Laser beam is radiated at left side output as just, more bigger by left side output numerical value, and representative deviation position of turning right is got over
Far, controller will give driving wheel direction controller rotating signal to the left, and it is bigger that numerical value gets over high rotation angle degree.It is otherwise also such.
The device of the utility model utilizes the existing laser aid of therapeutic room, without adding laser emitting module.Only need to be
Existing transport increases a small amount of sensor and control device and can complete on bed.Must not can be used for and use with electromagnetic radiation
Region works.The present apparatus can be used for the region with radiation and work.It is more demanding that the present apparatus is suitable for medical treatment etc.
Industry, price is low compared with finished product price on the market.The present apparatus is more light, is a suit of a set of integrated each system composition
Put, being capable of local self-contr ol.
The advantages of basic principle and main feature and the utility model of the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Simply illustrate the utility model principle, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
Various changes and modifications are had, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed scope is defined by the appending claims and its equivalent thereof.
Claims (2)
1. a kind of transport an automatic positioning equipment based on proton heavy particle therapy room laser, it is characterised in that swashs including front
Optical sensor (6), rear follow laser sensor (7), forerunner's driving wheel (8), front driving wheel direction controller (9), fixed pin
(10), rear-guard driving wheel (11), side laser sensor (12), rear-guard driving wheel direction controller (13), transport car (14), position
Sensing encoder A (15) and position sensing encoder B (16) is put, side is respectively arranged with front laser before and after transporting at the top of car (14)
Sensor (6), rear follow laser sensor (7), and front laser sensor (6), rear are followed on laser sensor (7) respectively
Position sensing encoder A (15) and position sensing encoder B (16) are provided with, car (14) side is transported and is provided with side laser
Sensor (12), transports car (14) bottom and is provided with forerunner's driving wheel (8), rear-guard driving wheel (11), forerunner's driving wheel (8), rear-guard
Driving wheel (11) is connected with front driving wheel direction controller (9), rear-guard driving wheel direction controller (13) respectively, the forerunner
Two fixed pins (10) are additionally provided between driving wheel (8), rear-guard driving wheel (11).
2. it is according to claim 1 it is a kind of an automatic positioning equipment is transported based on proton heavy particle therapy room laser, its
It is characterized in that, position sensing encoder C is provided with the side laser sensor (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720308562.1U CN207352461U (en) | 2017-03-28 | 2017-03-28 | It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720308562.1U CN207352461U (en) | 2017-03-28 | 2017-03-28 | It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser |
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| Publication Number | Publication Date |
|---|---|
| CN207352461U true CN207352461U (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720308562.1U Active CN207352461U (en) | 2017-03-28 | 2017-03-28 | It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843232A (en) * | 2017-03-28 | 2017-06-13 | 上海市质子重离子医院有限公司 | It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser |
-
2017
- 2017-03-28 CN CN201720308562.1U patent/CN207352461U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843232A (en) * | 2017-03-28 | 2017-06-13 | 上海市质子重离子医院有限公司 | It is a kind of that an automatic positioning equipment is transported based on proton heavy particle therapy room laser |
| CN106843232B (en) * | 2017-03-28 | 2024-02-20 | 上海市质子重离子医院有限公司 | Automatic transport bed positioning device based on proton heavy ion treatment room laser |
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