WO2015081590A1

WO2015081590A1 - Bionic airbag cradle bed used for radiotherapy equipment

Info

Publication number: WO2015081590A1
Application number: PCT/CN2013/090092
Authority: WO
Inventors: 刘苗生; 江波; 戈伟强; 李润森; 姬青山; 李桂君; 王国民; 胡逸民; 殷芳芳; 施飞; 周云云; 王硕; 臧冰冰; 刘泰华; 王崇宇; 范永斌
Original assignee: 刘苗生
Priority date: 2013-12-06
Filing date: 2013-12-20
Publication date: 2015-06-11
Also published as: CN104689479A; CN104689479B

Abstract

A bionic airbag cradle bed used for radiotherapy equipment; at the bottom of the bed panel in the direction of the bed surface are arranged one or a plurality of airbags (2), a control switch (3) corresponding to the airbag, and a bidirectional air pump (4), said air pump (4) inflating or drawing air out of the airbag (2) according to respiratory frequency and phase, causing rising and lowering motion of the bionic airbag cradle bed. The cradle bed may additionally be provided with a synchronous multi-axis controller (900), said synchronous multi-axis controller (900) controlling, according to a respiratory gating signal, combined motor and airbag (2) motion to guide the bionic airbag cradle bed in synchronized cradle-like motion opposite to the direction of motion of the target area caused by respiration, thus controlling the patient's body in cradle-like motion opposite to the direction of respiratory motion and counteracting the displacement of the tumor target area and organs caused by respiratory motion, such that a dynamic target area in continuous periodic motion along with respiratory motion becomes a static target area which can be fixed at the isocenter.

Description

Airbag bionic cradle bed for radiotherapy equipment

The invention relates to an airbag bionic cradle bed for a radiotherapy apparatus. The balloon bionic cradle bed can calculate the three-dimensional motion of the target zone on the X, Υ, and Ζ axes according to the amplitude and phase of the breathing motion, and The shaft controller pulls the three-dimensional linear motor and the airbag inflating pump together to control the patient's body to do the cradle-like movement in the opposite direction of the breathing movement, counteracting the tumor target area and organ caused by the respiratory movement.

Shifting, a dynamic target that continuously moves with the movement of the breathing becomes a static target that can be fixed in the same center.

Book

Background technique

The main problem facing precise radiotherapy for thoracic and abdominal tumors is that the tumor and organ displacement caused by respiratory movement cause off-target, that is, when the radiation is shining, some target areas run out of the irradiation field due to respiratory movement, and the place where the irradiation does not enter the irradiation. The field was exposed. That is to say, the target area of the chest and upper abdomen is a dynamic target area, and the world is still unable to dynamically control the breathing movement as needed, turning a target area of breathing movement into a static target area. The most advanced respiratory gating technique can only position the accelerator field at a point on the trajectory of the space tumor according to the monitoring respiratory frequency and phase. Wait for the respiratory motion to emerge immediately when the tumor comes to the fixed space within one cycle. Irradiation, when the tumor is turned off after the past, is equivalent to giving an advance amount when the target is shot, so that the projecting bullet hits the target of the target, and the continuous exposure of the beam is impossible, and the continuous attack of the machine gun becomes a single blow of the rifle. This method of capturing one or two points of radiation per cycle wastes more than 90% of the ray resources and is therefore inefficient, and the time and process of the tumor passing through this place in each cycle is very uncertain and therefore there is a problem in accuracy. , the target of a dynamic target is often easy to target, and the static target area is easy to align. However, there is currently no device or method for turning a dynamic target that moves with breathing into a static target.

Summary of the invention

The technical solution adopted by the present invention to solve the technical problem is: replacing the current vacuum pad or positioning plate with a balloon bionic cradle bed, which is set one or a group in the direction of the bottom surface of the positioning plate or the vacuum pad. The airbag, which receives the respiratory gating signal, adjusts the position of the balloon bionic cradle bed in the opposite direction according to the frequency and phase of the breathing through the change of the pressure and volume of the balloon: for example, when the inhalation is called When the suction movement is increased, the airbag is evacuated, the pressure inside the airbag is lowered, and the entire airbag bionic cradle bed and the body included therein are lowered, which counteracts the upward movement of the mass caused by the inhalation. At the same time, a synchronous multi-axis controller is set. The synchronous multi-axis controller controls the combined motor and its control switch and the air pump to guide the airbag bionic cradle bed to perform the periodic motion opposite to the target area, counteracting the displacement of the target caused by the respiratory motion. All shifts in the horizontal and vertical directions result in the target area being no longer active relative to one location of the space. Specifically, the present invention provides the following technical solutions:

1 . An airbag bionic cradle bed for a radiotherapy apparatus, wherein the airbag bionic cradle bed is provided with one or more airbags in a bottom bed direction of the bed board, preferably a material that is airtight, high pressure resistant, and small in elasticity (for example, rubber, Airbags made of polyurethane materials, polyamide materials (nylon), polyester materials, etc., and control switches corresponding to airbags and two-way air pumps, which inflate the airbags by inflating or pumping airbags according to the frequency and phase of breathing. The bed rises and falls. The air bag can be fixedly bonded, for example, by glue, or the adhesive wire can be dynamically bonded to the back of the bed.

2. The airbag bionic cradle according to the above item 1, further comprising a synchronous multi-axis controller for controlling the movement of the combined motor and the airbag based on the signal of the respiratory gating to guide the airbag bionic cradle synchronization A cradle-like motion that is opposite to the direction of motion of the target region caused by breathing.

3. The airbag bionic cradle bed according to the above item 1 or 2, wherein the bed plate of the airbag bionic cradle bed is a fiberboard or a vacuum pad, and a connecting rod and a joint are provided on the bed board.

4. The airbag bionic cradle according to the above item 2, wherein the combined motor comprises three motors respectively realizing movement of the airbag bionic cradle in the X, Υ, and xenon directions, and the three motors are final The output is connected to the joint provided on the bed board.

5. The airbag bionic cradle according to any one of the above items 1 to 4, wherein: each airbag of the airbag bionic cradle has a ventilation duct and a control switch, and each control switch is connected to a two-way air pump at the end. The air pump can perform quantitative inflation or suction decompression according to the breathing amplitude and the time corresponding to the corresponding airbag.

6. The airbag bionic cradle according to the above items 2 and 4, characterized in that: the synchronous multi-axis controller has an input end, an output end and corresponding software components, and the input end is capable of receiving respiratory gating and four-dimensional CT transmission. The information obtained, and through software analysis and calculation, calculate the mathematical model of the motion of the target zone in the three-dimensional space on the X, Υ, and Ζ axes in the current breathing cycle, and then calculate the mathematical model of the movement in the opposite direction on each axis, output and control The movement of the motor and its air pump and switch on the three axes of X, Υ, Ζ perpendicular to each other, The airbag bionic cradle bed is realized to perform synchronous periodic motion with the same amplitude and phase and opposite directions as the target region.

7. The airbag bionic cradle according to the above item 2, characterized in that: the synchronous multi-axis controller is first used to control the air pump and the airbag switch to perform a weight/speed test, and the air is inflated every time a certain height is raised under different weights. The mathematical model of the speed and quantity, and then in the application, according to the patient's weight, select the appropriate mathematical model to control the switch of the air pump and the airbag, and realize the lifting movement of the airbag lifting and synchronous with the Z-axis motor. The synchronous multi-axis controller is a mathematical model that can calculate the motion of the target zone by analyzing the real-time respiratory motion, and assigns it to a negative value and transmits it to a combination of one or more mutually perpendicular motor stepper motors or linear motors. The motor, the control switch and the air pump, the combined motion motor, the control switch and the air pump jointly move the airbag bionic bed to achieve a periodic motion opposite to the target zone, counteracting the displacement of the target caused by the breathing motion. The beneficial effects of the present invention are: Since the airbag of the airbag bionic cradle bed not only provides the simplest, stable, space-occupying power transmission medium that hardly affects the nature of the beam, but also is disposed under the center and the center of gravity of the bed. A fulcrum, the results benefit in the following three aspects: 1, not only the vertical movement of the body does not have to wear the machine equipment and the power transmission can not achieve any impact on the wire harness; 2, more importantly, when the capsule bionic cradle bed is suspended on the surface of the airbag Just like floating on the water surface, the horizontal movement also loses the frictional resistance and becomes a small deformation resistance of the airbag, generally the deformation resistance of the airbag under the pressure between lOmmHg and 100mmHg, so it is extremely easy to realize and control; By providing a central fulcrum, the gravity on both sides of the fulcrum can cancel each other in the rotational motion in all directions.

Respiratory motion is a three-dimensional motion. In fact, the tumor target motion is a periodic motion in a three-dimensional space related to the same frequency, phase and amplitude of breathing. Using gating and four-dimensional CT methods, we can even describe the period, amplitude, and phase of this motion using mathematical models, and decompose it into three identical frequencies in the three-dimensional direction of X, Υ, and 时间 in time/position coordinates. , mathematical models of motion with different phases and amplitudes. The frequency of the three periodic motions of the target zone in the three-dimensional direction is exactly the same as the respiratory motion frequency, but the phase and amplitude of the motion are different, and the three axes of the target region can be obtained by X-ray CT analysis. The mathematical models of the periodic motions of the respective directions are calculated upwards, and their mathematical models are the same periodic motions as the respiratory motion frequencies, with the phase and amplitude associated with the respiratory motion. We can find the correlation function between them according to the four-dimensional CT, so that we can also find the target motion in the X, Υ, Ζ axis by the correlation function according to the mathematical model of respiratory motion. Mathematical model of motion on.

Theoretically, both the accelerator bed and the six-dimensional bed can achieve three-dimensional motion, but the accelerator bed relies on the shear force of the bed shaft to adjust the movement of the target area. The bed axis arm is too short, and the force arm of the center of the target area is not four points. One, 60 kg body weight (including auxiliary equipment), can be transmitted to the shaft of the accelerator bed with a minimum of 200 kg of shear force. Generally, the bed structure is difficult to withstand such a large shearing force, and the long-term repeated load-bearing movement is not only inferior in accuracy, but also easily impairs the stability and accuracy of the bed, and may also cause the rotating accelerator head to come into contact due to the displacement of the bed. Bed board or human body. Even the current six-dimensional bed has two defects: First, the bed is long. When the two ends are raised, the middle is easy to deform, and the second is that the one end is the axis and the other end is the upper point. The power of gravity. The use of the airbag bionic cradle bed not only has the least impact on the harness, but also provides a central axis in all directions due to the airbag, and the gravity in all directions cancels each other out.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of the back of a bionic cradle bed of a balloon of a single balloon. Figure 2 is a schematic view of the back of the airbag bionic cradle bed of two airbags. Figure 3 is a schematic illustration of the back of a bionic cradle bed with an airbag matrix. Figure 4 is a schematic illustration of the movement of the airbag bionic cradle bed under the action of a synchronous multi-axis controller. Fig. 5 is a schematic view showing the rotation of the airbag bionic cradle bed to the right side. Figure 6 is a mathematical model illustration of the control of offsetting the target zone caused by respiratory motion using a synchronous multi-axis controller. Figure 7 is a schematic view of a balloon bionic cradle bed in an inflated state of the airbag. DETAILED DESCRIPTION OF THE INVENTION The present invention will be described in detail below with reference to the accompanying drawings. In the different figures, the same components are given the same reference numerals.

Figure 1 shows a schematic view of the back of a balloon bionic cradle bed of a single airbag, where 1 is a vacuum pad or fiber bed, underneath it is provided with a balloon 2, a three-way control switch 3 on the balloon catheter and a two-way air pump 4; 5 is a bed plate or The connecting rod of the four corners of the vacuum pad. 6 is a connecting joint connecting the connecting rod and the cradle type door controller, through which the connecting rod of the airbag bionic cradle bed and the cradle type door controller can be screwed, snapped or glued Preferably, the universal wheel is engaged.

Figure 2 shows a schematic view of the back of the airbag bionic cradle bed for two airbags, where 1 is the airbag bionic cradle bed, 2 is a central airbag and the control switch 3 and air pump 4 on its conduit. 20 represents an air bag ring disposed around the edge of the air bag 2 and a control switch 30 on its duct, and the switch is also connected to the air pump 4. 5 is the connecting rod of the four corners of the bed board or vacuum pad. 6 is a connecting joint connecting the connecting rod and the cradle type door controller, and the connecting rod of the airbag bionic cradle bed and the cradle type door controller can be screwed, snapped or bonded by the connecting joint, and the universal wheel is preferably engaged.

Figure 3 shows a schematic view of the back of a bionic cradle bed with an airbag matrix. In this example, an airbag matrix composed of a 9-row, 3-row, 9-balloon is used for the airbag train (200, 201, 202) and its control switch 300, the airbag train (210, 211, 212) and its control switch 310. And the airbag column (220, 221, 222) and its control switch 320. All three control switches lead to the two-way air pump 4. 5 is the connecting rod of the four corners of the bed or vacuum pad. 6 is a connecting joint connecting the connecting rod and the cradle type door controller, through which the connecting rod of the airbag bionic cradle bed and the cradle type door control can be screwed, snapped or bonded, preferably the universal wheel is engaged.

Figure 4 shows a schematic diagram of the movement of the airbag bionic cradle bed under the action of a synchronous multi-axis controller: 900 represents a synchronous multi-axis controller, 910 represents the input of a synchronous multi-axis controller, and 920 represents several of the synchronous multi-axis controllers. Output: Includes output to the output of each three-axis motor and output to the air bag and the output of each air bag catheter control switch. 901 is the stator of two linear motors, which have a common mover 902. Under the control of the synchronous multi-axis controller, their movement combined with the inflation or exhaust of the airbag can realize the movement in the Z-axis direction; a stator of a linear motor fixed to 902 having a mover 904 whose movement can achieve movement in the Y-axis direction; 905 is two stators fixed to 904, the ends of the two movers 906 are respectively The two connecting joints 6 are screwed, snapped or bonded, preferably the universal wheel is engaged, and the movement of the 904 can realize the movement in the X-axis direction; the motors are collectively referred to as a combined motor, and the combined motor can be connected by a joint. The power is transmitted to the connecting rod of the airbag bionic cradle bed, and the precise lifting movement of the airbag is used to realize precise three-dimensional motion control.

Figure 5 is a schematic view showing the rotation of the airbag bionic cradle bed to the right side. If it is necessary to rotate an angle of 10, the control airbag must be at best, providing a rotating central shaft for the rotation of the bed. The gravity is located at the center of the airbag. The synchronous multi-axis controller controls the left side of the bed to rise, and the right side of the bed is lowered. The height difference between the two sides is 7, and the distance between the two joints is 8. You only need to control 7/8=sin (10). By The gravity of each symmetrical point on both sides of the central axis of the airbag cancels each other out, and the force of the left side elevation and the right side depression is almost zero. So it is very easy to achieve precise control.

Figure 6 shows a control schematic for counteracting the displacement of the target zone caused by respiratory motion using a synchronous multi-axis controller. In the figure, the periodic motion of the breathing in the table is different. The amplitude and phase of each cycle may be different. We can measure the respiratory cycle in real time through respiratory gating, and obtain the target zone at each different time by CT analysis. The phase and amplitude of the respective motions of the target zone in the three axial directions of X, Y, and Z under phase-amplitude breathing conditions, such as 12 represents the magnitude of the phase of motion of the target zone with the same respiratory phase and amplitude on the X-axis. , 13 represents the magnitude of the phase of motion on the paraxial axis with 11 equivalent respiratory phases and amplitudes, and 14 represents the magnitude of the phase of motion on the paraxial axis with 11 equal respiratory phases and amplitudes. A mathematical model of the periodic motion in each axial direction is thus calculated, and their mathematical model is the same periodic motion as the respiratory motion frequency, with the phase and amplitude associated with the respiratory motion. We can find the correlation function between them according to the four-dimensional CT. In this way, we can also obtain the mathematical model of the motion of the target motion on the X, Υ, and Ζ axes by the correlation function according to the mathematical model of the respiratory motion.

Conversely, during the treatment, a mathematical model of real-time respiratory motion can be obtained by monitoring the respiratory motion, and then a mathematical model of the motion of the target region on the X, Υ, and Ζ axes at the time of the periodic phase can be calculated. . The positive and negative values of this model are exchanged and input to the input of the three-axis motion controller. After processing by the three-axis controller data processor, the output becomes a real-time quantitative current capable of controlling the linear motor, air pump and switching motion. The linear motor, air pump and control switch on the X, Υ, and 轴 axes are respectively controlled to realize the precise movement of the airbag bionic cradle bed under the control of the real-time three-axis controller. Due to the exchange of positive and negative values in the mathematical model, the resulting motion of the balloon bionic cradle bed is exactly the motion in the three-dimensional space that is consistent with the phase and amplitude of the target motion cycle. This motion cancels the target motion. As a result, a dynamic target area establishes a static target area.

Fig. 7 is a schematic view of a bionic cradle bed of an airbag in an inflated state. When the bionic cradle bed is required to rise by a certain speed according to the speed, the inflation speed and the inflation amount of the airbag 2 must be adjusted according to the different weights of each person by: performing the weight/speed test first, and obtaining the speed and amount of inflation under different weights. The mathematical model is then selected and the appropriate model is selected based on the patient's weight.

The present invention has been specifically described above in terms of preferred embodiments. It is to be understood, however, that the invention may be practiced by those skilled in the art without departing from the scope of the invention.

Claims

Claim

An airbag bionic cradle bed for a radiotherapy apparatus, characterized in that the airbag bionic cradle bed is provided with one or more airbags in the direction of the bottom surface of the bedboard, preferably a material that is airtight, high-pressure resistant, and less elastic The airbag and the control switch corresponding to the airbag and the two-way air pump, the air pump raises and lowers the airbag bionic cradle by inflating or pumping the airbag according to the frequency and the phase of the breathing.

2. The airbag bionic cradle bed according to claim 1, further comprising a synchronous multi-axis controller that controls the motion of the combined motor and the airbag to guide the airbag bionic based on the signal of the respiratory gating The cradle bed synchronizes with a basket-like motion that is opposite to the direction of motion of the target caused by breathing.

The airbag bionic cradle bed according to claim 1 or 2, wherein the bed of the bionic cradle bed is a fiberboard or a vacuum pad, and a connecting rod and a joint are provided on the bed board.

4. The airbag bionic cradle bed according to claim 2, wherein the combined motor comprises three motors respectively realizing the movement of the airbag bionic cradle bed in the X, Υ, and ζ axis directions, and the final output of the three motors The end is connected to the joint provided on the bed board.

5. The airbag bionic cradle bed according to claim 1, wherein: each airbag of the airbag bionic cradle bed has a ventilation duct and a control switch, and each control switch is connected to a two-way air pump at the end, and the air pump can be breathed according to the air pump. The amplitude and time are quantitatively pressurized or depressurized with respect to the corresponding airbag.

6. The airbag bionic cradle bed according to claims 2 and 4, wherein: the synchronous multi-axis controller has an input end, an output end and corresponding software, and the input end is capable of receiving respiratory gating and four-dimensional CT transmission. The information obtained, and through software analysis and calculation, calculate the mathematical model of the motion of the target zone in the three-dimensional space on the X, Υ, and ζ axes in the current breathing cycle, and then calculate the mathematical model of the movement in the opposite direction on each axis, output and control The movement of the motor and its air pump and switch on the three axes of X, Υ, and 相互 perpendicular to each other realizes the synchronous periodic motion of the airbag bionic cradle bed with the same amplitude and phase and opposite directions as the target motion.

7. The airbag bionic cradle bed according to claim 2, wherein: the synchronous multi-axis controller is used to control the air pump and the airbag switch to perform a weight/speed test, and it is required to increase the height of each pump under different weights. The mathematical model of the speed and amount of inflation, and then in the course of treatment, select the appropriate mathematical model to control the switch of the air pump and the airbag according to the patient's weight, and realize the lifting movement of the airbag lifting and the synchronous shaft motor.