JP5139270B2 - 患者位置決めアセンブリ用のロボット・アーム - Google Patents
患者位置決めアセンブリ用のロボット・アーム Download PDFInfo
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- JP5139270B2 JP5139270B2 JP2008511299A JP2008511299A JP5139270B2 JP 5139270 B2 JP5139270 B2 JP 5139270B2 JP 2008511299 A JP2008511299 A JP 2008511299A JP 2008511299 A JP2008511299 A JP 2008511299A JP 5139270 B2 JP5139270 B2 JP 5139270B2
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- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/48—Manually-movable jib cranes for use in workshops
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- A—HUMAN NECESSITIES
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- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/548—Remote control of the apparatus or devices
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- A—HUMAN NECESSITIES
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- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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Description
本出願は、2004年4月6日に出願された米国仮出願第60/560,318号の利益を主張する、2004年6月30日に出願の米国特許出願第10/881,315号の部分継続出願であり、それらは本明細書に参照によって組み込まれる。
本発明の実施形態は、添付図面の図に限定としてではなく例として示される。
Claims (7)
- 患者治療台と、
前記患者治療台に連結されたロボット・アームであって、前記患者治療台を5つの回転の自由度と1つの実質的に鉛直な、線形の自由度に沿って移動させるように構成されたロボット・アームと、
前記ロボット・アームに連結された制御装置と、
患者の複数の画像を生成するための前記制御装置に接続された撮像システムと、
前記制御装置に接続された治療用放射線処置システムであって、治療放射線源を前記患者治療台に配置された患者内の治療の標的に位置合わせするために、前記制御装置が、前記ロボット・アームと前記治療用放射線処置システムの移動を制御するように構成された治療用放射線処置システムと、
を備え、
前記治療用放射線処置システムが線形加速器システムであり、
前記線形加速器システムの前記治療放射線源と前記患者治療台の向きと位置が前記制御装置によって調和され、
前記線形加速器システムの前記治療放射線源と前記患者治療台の向きと位置の調和が、前記ロボット・アームの動作の機械的な範囲内で、前記治療用放射線処置システムの使用可能な作業空間全体を増加させ、
前記制御装置が、前記ロボット・アームと前記線形加速器システムの動作の機械的な範囲内の配置の制約によって以前に障害になった位置に治療の標的を形成するように、前記患者治療台と前記線形加速器システムの前記治療放射線源を位置決めするように構成される装置。 - 前記位置決めの制約が、前記患者治療台と前記治療用放射線源に連結された前記ロボット・アームのうちの少なくとも1つが、前記治療台、前記治療用放射線源、x線撮像源、及び検出器のうちの少なくとも1つと衝突するおそれの障害のうちの少なくとも1つを含む、請求項1に記載の装置。
- 前記位置決めの制約が、前記治療線源の放射線ビームの、前記治療台、前記治療用放射線源、x線撮像源、及び検出器のうちの少なくとも1つとの障害を含む、請求項1に記載の装置。
- 患者治療台と、
前記患者治療台に連結されたロボット・アームであって、前記患者治療台を5つの回転の自由度と1つの実質的に鉛直な、線形の自由度に沿って移動させるように構成されたロボット・アームと、
前記ロボット・アームに連結された制御装置と、
患者の複数の画像を生成するための前記制御装置に接続された撮像システムと、
前記制御装置に接続された治療用放射線処置システムであって、治療放射線源を前記患者治療台に配置された患者内の治療の標的に位置合わせするために、前記制御装置が、前記ロボット・アームと前記治療用放射線処置システムの移動を制御するように構成された治療用放射線処置システムと、
を備え、
前記治療用放射線処置システムが線形加速器システムであり、
前記線形加速器システムの前記治療放射線源と前記患者治療台の向きと位置が前記制御装置によって調和され、
前記線形加速器システムの前記治療放射線源と前記患者治療台の向きと位置の調和が、前記ロボット・アームの動作の機械的な範囲内で、前記治療用放射線処置システムの使用可能な作業空間全体を増加させ、
前記撮像システムが撮像視野を有するように構成され、前記ロボット・アームが前記患者治療台を移動させるとき、前記ロボット・アームを前記撮像システムの前記撮像野の外側に維持するために、前記ロボット・アームが拡張装着領域で前記患者治療台に連結される装置。 - 第1のロボット・アームに連結された患者治療台を提供するステップと、
第2のロボット・アームに連結されたロボット・ベースの線形加速器システムを提供するステップと、
前記第1のロボット・アームを使用して5つの回転の自由度と1つの実質的に鉛直な、線形の自由度に沿って前記患者治療台を移動させるステップと、
前記ロボット・ベースの線形加速器システムと前記ロボット・アームに接続された制御装置を提供するステップと、
前記患者治療台と前記ロボット・ベースの線形加速器システムを移動させるステップが、前記制御装置を使用して前記患者治療台と前記ロボット・ベースの線形加速システムの治療用放射線供給源の向きと位置を調和させるステップと、
を含み、
前記患者治療台と前記治療用放射線供給源の前記向きと位置を調和させるステップが、前記ロボット・アームの動作の機械的な範囲内で、治療用放射線処置システムの使用可能な作業空間全体を増加させ、
前記患者治療台と前記ロボット・ベースの線形加速器システムを移動させるステップが、前記ロボット・アームと前記ロボット・ベースの線形加速器システムの機械的な動作の範囲内の位置決めの制約によって以前に障害になった位置に治療の標的を形成するために、前記患者治療台と前記治療用放射線供給源を位置決めするステップをさらに含む方法。 - 前記患者治療台と前記治療用放射線供給源の前記向きと位置を動的に調和させるステップが、前記位置決めの制約を回避するステップをさらに含む、請求項5に記載の方法。
- 撮像視野を有する撮像システムを提供するステップを更に含み、前記位置決めの制約が、x線撮像源、及び検出器のうちの少なくとも1つによる前記治療用放射線源の障害を含む、請求項6に記載の方法。
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US11/129,122 US8160205B2 (en) | 2004-04-06 | 2005-05-13 | Robotic arm for patient positioning assembly |
US11/129,122 | 2005-05-13 | ||
PCT/US2006/018017 WO2006124434A2 (en) | 2004-04-06 | 2006-05-09 | Robotic arm for patient positioning assembly |
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JP2008539963A JP2008539963A (ja) | 2008-11-20 |
JP5139270B2 true JP5139270B2 (ja) | 2013-02-06 |
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JP2008511299A Active JP5139270B2 (ja) | 2005-05-13 | 2006-05-09 | 患者位置決めアセンブリ用のロボット・アーム |
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US (3) | US8160205B2 (ja) |
EP (1) | EP1885244B1 (ja) |
JP (1) | JP5139270B2 (ja) |
CN (1) | CN101217913B (ja) |
WO (1) | WO2006124434A2 (ja) |
Cited By (1)
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JP2019063592A (ja) * | 2016-11-29 | 2019-04-25 | 株式会社メディカロイド | ロボット治療台 |
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JP2019063592A (ja) * | 2016-11-29 | 2019-04-25 | 株式会社メディカロイド | ロボット治療台 |
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EP1885244A4 (en) | 2013-03-13 |
US8160205B2 (en) | 2012-04-17 |
CN101217913A (zh) | 2008-07-09 |
US10745253B2 (en) | 2020-08-18 |
US8745789B2 (en) | 2014-06-10 |
US20050234327A1 (en) | 2005-10-20 |
EP1885244A2 (en) | 2008-02-13 |
WO2006124434A2 (en) | 2006-11-23 |
JP2008539963A (ja) | 2008-11-20 |
EP1885244B1 (en) | 2020-06-24 |
CN101217913B (zh) | 2012-05-02 |
US20120174317A1 (en) | 2012-07-12 |
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