CN217567168U

CN217567168U - Movable radiotherapy robot

Info

Publication number: CN217567168U
Application number: CN202120737184.5U
Authority: CN
Inventors: 戴建荣; 牛传猛
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-12
Filing date: 2021-04-12
Publication date: 2022-10-14
Anticipated expiration: 2031-04-12

Abstract

A movable radiotherapy robot belongs to the technical field of machinery and radiotherapy equipment. The one end on chassis has left supporting leg and right supporting leg respectively, the other end on chassis is the crossbeam, connect the clothes closet on the crossbeam, the one end at left supporting leg and right supporting leg is connected respectively to the gyro wheel, the gyro wheel still connects respectively in the bottom both sides of crossbeam, clothes hanger one side of clothes closet is for bearing the seat, bear the seat and connect the platform surely of parallelly connected arm, decide the platform through a plurality of scalable connecting rods with move the platform and be connected, the rear portion that moves the platform is connected with slide mechanism, restraint the stopper and install on the stopper support of restraint of frame lower part, the treatment head is installed on the first support of treatment on frame upper portion. The utility model has the advantages that radiotherapy robot keeps off ware and treatment head synchronous motion, and the complete machine structure is more succinct, convenient operation, and clinical application is more convenient, and has better self-shielding function, both can be used to realize the external radiotherapy of big solid angle scope, also can be used to the radiotherapy in the art.

Description

Movable radiotherapy robot

Technical Field

The utility model relates to a movable radiotherapy robot belongs to machinery and radiation medical equipment technical field.

Background

Radiotherapy is one of three main methods for treating cancer, and can be classified into external radiotherapy and intraoperative radiotherapy according to the irradiated state of a patient. During in-vitro radiotherapy, a patient is in a clear-headed state, rays pass through skin and normal tissues to reach a tumor area, and certain damage can be caused to the normal tissues or organs while tumor cells are killed. During radiotherapy in operation, a patient is in an anesthesia state, after a tumor is removed by operation, rays directly irradiate a completely exposed tumor bed or a residual focus area, and collateral damage to normal tissues or organs is small. In vitro radiotherapy mostly adopts a C-shaped arm linear accelerator, the linear accelerator is driven to rotate around a patient through a rotating frame, ray irradiation is realized, and the range of the achievable space solid angle is small. Early intraoperative radiotherapy was also based on C-arm linac development, and the patient needed to be transported from the operating room to the accelerator room, there was a great risk of infection, and therefore various intraoperative special radiotherapy machines appeared, such as NOVAC7 mobile intraoperative radiotherapy device (U.S. patent No. 5635721), mobtron mobile electronic linac (U.S. patent No. 5321271), intraBeam mobile intraoperative low-energy X-ray machine (U.S. patent No. 6452177B 1), chinese utility model "intraoperative radiotherapy robot" (application No. 201921910008.6), chinese utility model "a mobile radiotherapy robot" (application No. 202021104311.2). The existing external radiotherapy device cannot move, the radiotherapy in the operation is inconvenient to develop, the existing movable electron linear accelerator of the intraoperation radiotherapy equipment Mobetron is complex in structure and inconvenient to operate, the IntraBeam movable intraoperative low-energy X-ray machine can only treat superficial tumors, the adaptation disease is narrow, and the universality is poor. The beam stop motion mechanisms of the intraoperative radiotherapy robot and the intraoperative radiotherapy robot disclosed by the application of the 'intraoperative radiotherapy robot' and the 'movable radiotherapy robot' are complex, and the convenience of clinical application is poor.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model provides a movable radiotherapy robot.

The utility model provides a movable radiotherapy robot, the one end on chassis has left supporting leg and right supporting leg respectively, the other end on chassis is the crossbeam, connect the clothes closet on the crossbeam, the one end at left supporting leg and right supporting leg is connected respectively to the gyro wheel, the gyro wheel still connects the bottom both sides at the crossbeam respectively, grudging post one side of clothes closet is for bearing the seat, bear the fixed platform of parallel connection arm of seat connection, it is connected with moving the platform through a plurality of scalable connecting rods to decide the platform, moving the rear portion of platform passes through slide mechanism and is connected with the frame, restraint the stopper and install on the restraint stopper support of frame lower part, the treatment head is installed on the treatment head support on frame upper portion, limit light section of thick bamboo mount pad and the flexible guide handle of a plurality of are connected respectively to the lower part of treatment head, limit light section of thick bamboo mount pad is connected.

The therapeutic head and the stopper can move synchronously along the rack, and the central shaft of the therapeutic head is aligned with the center of the stopper.

The sliding mechanism comprises one or two groups of linear motion units which are arranged in an orthogonal mode and can drive the treatment head to do one-dimensional or two-dimensional orthogonal linear motion relative to the movable platform of the parallel mechanical arm, each group of linear motion units comprises a linear guide rail, a sliding block and a driving module, the driving module can drive the sliding block to slide relative to the linear guide rail, the driving module is in screw nut transmission, gear rack transmission or belt transmission, and the power source of the driving module is in motor, pneumatic or hydraulic driving.

Force sensors are arranged on the telescopic connecting rod and the driving module. The force sensor can sense the force and moment of the operator acting on the flexible force guide handle and feed back the force and moment to the robot motion controller, and the robot motion controller controls the parallel mechanical arm and the driving module to cooperatively move so as to realize the position and posture adjustment of the treatment head around the virtual isocenter. The virtual isocenter is a spatial point whose position is fixed relative to the radiotherapy robot. By reasonably setting the position of the virtual isocenter relative to the radiotherapy robot, a treatment space which surrounds the virtual isocenter and is large enough can be obtained, and any part of the radiotherapy robot cannot collide with a patient or an operating table in the treatment space.

The load-bearing seat is vertically mounted or mounted at other angles relative to the cabinet.

The flexible force directing handle may be annular, U-shaped, L-shaped, or linear.

The utility model has the advantages that radiotherapy robot keeps off ware and treatment head synchronous motion, and the complete machine structure is more succinct, convenient operation, and clinical application is more convenient, and has better self-shielding function, both can be used to realize the external radiotherapy of big solid angle scope, also can be used to the radiotherapy in the art.

The chassis is flexible to move, and can be used for external radiotherapy and intraoperative radiotherapy; under the drive of the parallel mechanical arm and the sliding mechanism, the treatment head and the restraint device can synchronously move, and the whole structure is more concise and practical; the parallel mechanical arm and the sliding mechanism have a force feedback function, and can move according to the force acting on the handrail, so that the light limiting cylinder is aligned to the tumor bed, namely the light limiting cylinder is flexibly positioned under manual guidance; the shielding device has a certain self-shielding function, and reduces the protection requirement and the manufacturing difficulty of a machine room.

Drawings

The invention itself, however, as well as many of the attendant advantages thereof, will be best understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein like reference numerals indicate like parts throughout the several views, and wherein:

fig. 1 is a schematic diagram of an initial standby state structure of the present invention.

Fig. 2 is a schematic diagram of the second initial standby state structure of the present invention.

Fig. 3 is a schematic view of the chassis structure of the present invention.

Fig. 4 is a schematic view of the operation state of the present invention during the operation of radiotherapy.

The device comprises a chassis 100, a left supporting leg 110, a right supporting leg 120, rollers 130, a cross beam 140, a vertical cabinet 200, a vertical frame 210, a bearing seat 220, a parallel mechanical arm 300, a fixed platform 310, a movable platform 320, a sliding mechanism 400, a sliding block 410, a sliding rail 420, a driving module 430, a rack 500, a therapeutic head support 510, a beam stop support 520, a therapeutic head 600, a light limiting cylinder mounting seat 610, a handrail 620, a beam stop 700 and a light limiting cylinder 800.

The present invention will be further described with reference to the accompanying drawings and examples.

Detailed Description

Obviously, many modifications and variations of the present invention based on the spirit of the present invention will be apparent to those skilled in the art.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element, component or section is referred to as being "connected" to another element, component or section, it can be directly connected to the other element or section or intervening elements or sections may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.

The following examples are further illustrative in combination to facilitate understanding of the embodiments, and are not to be construed as limiting the invention.

Example 1: as shown in fig. 1, 2, 3 and 4, a movable radiotherapy robot includes a chassis 100 having a left support leg 110 and a right support leg 120 at one end thereof, a cross beam 140 at the other end of the chassis 100, a vertical cabinet 200 connected to the cross beam 140, a roller 130 connected to one end of the left support leg 110 and one end of the right support leg 120, the roller 130 connected to two sides of the bottom of the cross beam 140, a bearing seat 220 at one side of a vertical frame 210 of the vertical cabinet 200, the bearing seat 220 connected to a fixed platform 310 of a mechanical arm 300, the fixed platform 310 connected to a movable platform 320 via a plurality of telescopic links, the rear portion of the movable platform 320 connected to a slider 410 of a sliding mechanism 400, the slider 410 connected to a sliding rail 420, the sliding mechanism 400 connected to a beam stop holder 520 of a machine frame 500, a treatment head holder 510 at the lower portion of the beam stop holder 520, the treatment head holder 510 connected to the beam stop 700, the upper portion of the beam stop holder 520 connected to a treatment head 600, the lower portion of the treatment head 600 connected to a light-limiting tube holder 610 and a handrail 620, a driving module 430 connected to the light-limiting tube holder 800.

The robot motion controller is connected inside the cabinet 200, and the robot motion controller is connected to the robot arm and the driving module 430 on the sliding mechanism through a cable.

The sensor is connected with the handrail 620, can sense the force and moment of the operator acting on the flexible force guide handrail 620 and feed back to the robot motion controller, and the robot motion controller controls the connection mechanical arm 300 and the driving module 430 to cooperatively move, so that the position and the posture of the treatment head 600 around the virtual isocenter are adjusted.

The virtual isocenter is a spatial point, and the position of the virtual isocenter is fixed relative to the radiotherapy robot.

By reasonably setting the position of the virtual isocenter relative to the radiotherapy robot, a treatment space which surrounds the virtual isocenter and is large enough can be obtained, and any part of the radiotherapy robot cannot collide with a patient or an operating table in the treatment space.

Example 2: as shown in fig. 1, fig. 2, fig. 3, and fig. 4, a movable radiotherapy robot includes a chassis 100, a cabinet 200, a parallel mechanical arm 300, a sliding mechanism 400, a frame 500, a treatment head 600, a beam stop 700, and a light limiting cylinder 800.

The vertical cabinet 200 is fixed at one end of the chassis 100, one end of the parallel mechanical arm 300 is installed on the vertical cabinet 200, the other end of the parallel mechanical arm 300 is connected with the rack 500 through the sliding mechanism 400, the treatment head 600 is installed at the upper end of the rack 500, the beam stopper 700 and the treatment head 600 are installed at the lower end of the rack 500 in a manner of being opposite to each other, and the light limiting cylinder 800 is installed below the treatment head 600.

The chassis 100 includes a left support leg 110, a right support leg 120, and a roller 130. The left support leg 110 and the right support leg 120 are fixedly connected through a cross beam 140, four rollers 130 are respectively installed below the cross beam 140, the left support leg 110 and the right support leg 120, and the rollers 130 can be ordinary universal wheels or Totnam wheels.

The vertical cabinet 200 includes a vertical frame 210 and a bearing seat 220, the vertical frame 210 is fixedly installed on the chassis 100, and the bearing seat 220 above the vertical frame 210 is used for installing and connecting a fixed platform 310 of the robot arm 300.

The parallel robot 300 has multiple degrees of freedom of motion, such as six degrees of freedom of motion, three-directional translation, and rotation about three spatial axes.

The sliding mechanism 400 includes a slider 410, a sliding rail 420 and a driving module 430, the slider 410 and the sliding rail 420 are respectively installed on the movable platform 320 and the rack 500 of the parallel mechanical arm 300, the sliding mechanism 400 is connected with the stopper holder 520 of the rack 500, the driving module 430 is installed on the rack 500 and can drive the slider 410 to slide relative to the sliding rail 420, so as to realize the sliding of the rack 500 relative to the parallel mechanical arm 300, the driving module 430 may be a screw nut transmission, a gear rack transmission or a belt transmission, and a power source of the driving module 430 may be a motor, a pneumatic or a hydraulic drive.

The frame 500 comprises a treatment head support and a stopper support, the treatment head 600 is fixedly arranged on the treatment head support, the stopper 700 is fixedly arranged on the stopper support, and the center shaft of the treatment head 600 is opposite to the center of the stopper 700. The lower part of the treatment head 600 is connected with the light-limiting cylinder mounting seat 610 respectively.

Treatment head 600 is used for producing the ray that the radiotherapy was used, and treatment head 600 end is equipped with light limiting cylinder mount pad for light limiting cylinder 800 and treatment head 600's quick connection, is equipped with one or two or more handrail 620 below treatment head 600, makes things convenient for operating personnel to guide treatment head 600 and puts the position.

The beam stop 700 is a thick-sided thin-sided heavy metal plate, such as a lead plate.

After tumor resection, the tumor bed of a patient is in an exposed state, a radiotherapy robot is moved to the position near the patient to enable the center of the tumor bed to be positioned near a virtual isocenter, then a doctor selects a proper light limiting cylinder 800 and installs the light limiting cylinder on a light limiting cylinder mounting seat at the tail end of a machine head, then a certain guide force is acted on the machine head through a handrail 620, and the sliding mechanism 400 and a force sensor on a parallel mechanical arm 300 act after sensing the corresponding guide force, so that the machine frame 500 drives the treatment head 600 and the beam stopper 700 to move synchronously, the light limiting cylinder 800 is aligned to the tumor bed and keeps the pose thereof to complete the positioning of the light limiting cylinder 800, and finally the treatment head 600 emits beams to irradiate the patient 820 on the tumor bed 810 to complete radiotherapy in an operation.

It can be understood that the radiotherapy robot can also be used for external irradiation radiotherapy, that is, the radiotherapy robot is moved to the position near the tumor patient, and the parallel mechanical arm and the sliding mechanism are used for driving the machine frame to drive the treatment head and the beam stop to move synchronously, so that the irradiation treatment in a large three-dimensional angle range is implemented on the tumor target area of the patient.

Example 3: as shown in fig. 1, fig. 2, fig. 3 and fig. 4, a movable radiotherapy robot, the chassis of which can be moved electrically, is convenient for the radiotherapy robot to move to different rooms for radiotherapy, realizes radiotherapy in a large three-dimensional angle range, especially the radiotherapy in operation, has a flexible guiding function, reduces the operation difficulty of radiotherapy, especially the radiotherapy in operation, improves the implementation efficiency and precision, and has a certain self-shielding function due to the synchronous motion of a beam stop and a treatment head, thereby reducing the shielding requirement on treatment places (such as an operating room and a machine room).

The chassis can drive the radiotherapy robot to translate front, back, left and right through the bottom rollers.

The parallel mechanical arms can drive the frame and the treatment head and the beam stop device on the frame to realize multi-degree-of-freedom synchronous motion, such as three translation motions and three rotation motions.

The sliding mechanism can drive the frame and the treatment head and the beam stop device on the frame to synchronously slide relative to the movable platform of the parallel mechanical arm, so as to adjust the position of the light limiting cylinder relative to the tumor bed.

A plurality of handrails are arranged below the treatment head, so that an operator can guide the treatment head to move conveniently, and the light limiting cylinder can be arranged.

The tail end of the treatment head is provided with a light limiting cylinder mounting seat, so that the light limiting cylinder can be assembled quickly.

As described above, although the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that many modifications are possible without substantially departing from the invention and the effects of the present invention. Therefore, all such modifications are included in the scope of the present invention.

Claims

1. The utility model provides a movable radiotherapy robot, the one end on its characterized in that chassis has left supporting leg and right supporting leg respectively, the other end on chassis is the crossbeam, connect the clothes closet on the crossbeam, the gyro wheel is connected the one end at left supporting leg and right supporting leg respectively, the gyro wheel still connects the bottom both sides at the crossbeam respectively, grudging post one side of clothes closet is for bearing the seat, bear the fixed platform of seat connection parallelly connected arm, it is connected with moving the platform through a plurality of scalable connecting rods to decide the platform, the rear portion of moving the platform passes through slide mechanism and is connected with the frame, it installs on the beam stopper support of frame lower part to restraint the ware, the treatment head is installed on the treatment head support on frame upper portion, a limit optical cylinder mount pad and a plurality of flexible power guide handle are connected respectively to the lower part of treatment head, a limit optical cylinder mount pad is connected.

2. The mobile robot of claim 1, wherein the treatment head and the stop are mounted for synchronous movement with the gantry, the central axis of the treatment head being aligned with the center of the stop.

3. The movable robot for radiotherapy of claim 1, wherein the sliding mechanism comprises one or two sets of orthogonal linear motion units, the linear motion units can drive the therapeutic head to perform one-dimensional or two-dimensional orthogonal linear motion relative to the movable platform of the parallel mechanical arm, each set of linear motion unit comprises a linear guide rail, a slide block and a driving module, the driving module can drive the slide block to slide relative to the linear guide rail, the driving module is a screw nut transmission, a gear rack transmission or a belt transmission, and the driving module is driven by a motor, a pneumatic power source or a hydraulic power source.

4. The movable robot for radiotherapy as claimed in claim 1, wherein the telescopic link and the driving module are respectively provided with a sensor, the robot motion controller is connected inside the cabinet, the robot motion controller is connected with the mechanical arm and the driving module on the sliding mechanism through cables, the sensor is connected with the armrest, and the robot motion controller controls the mechanical arm and the driving module to cooperatively move, so as to adjust the position and posture of the therapy head around the virtual isocenter.

5. A mobile robot as claimed in claim 1, wherein the carriage is mounted vertically or at some other angle relative to the cabinet.

6. The mobile robot of claim 1, wherein the flexible force-guiding handle is in the shape of a ring, a U, an L, or a straight line.