WO2015081590A1 - Berceau à coussin gonflable bionique utilisé pour un équipement de radiothérapie - Google Patents

Berceau à coussin gonflable bionique utilisé pour un équipement de radiothérapie Download PDF

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Publication number
WO2015081590A1
WO2015081590A1 PCT/CN2013/090092 CN2013090092W WO2015081590A1 WO 2015081590 A1 WO2015081590 A1 WO 2015081590A1 CN 2013090092 W CN2013090092 W CN 2013090092W WO 2015081590 A1 WO2015081590 A1 WO 2015081590A1
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WO
WIPO (PCT)
Prior art keywords
airbag
motion
bed
bionic
cradle bed
Prior art date
Application number
PCT/CN2013/090092
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 刘苗生 filed Critical 刘苗生
Publication of WO2015081590A1 publication Critical patent/WO2015081590A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
    • A61B6/0421—Supports, e.g. tables or beds, for the body or parts of the body with immobilising means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0487—Motor-assisted positioning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092—Details
    • A61N2005/1097—Means for immobilizing the patient

Definitions

  • 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, ⁇ , and ⁇ 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.
  • 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.
  • 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
  • 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.
  • a 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.
  • the present invention provides the following technical solutions:
  • 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.
  • 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, ⁇ , and xenon directions, and the three motors are final The output is connected to the joint provided on the bed board.
  • 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.
  • 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.
  • 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.
  • the tumor target motion is a periodic motion in a three-dimensional space related to the same frequency, phase and amplitude of breathing.
  • 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.
  • 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.
  • 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 is
  • 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.
  • 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.
  • FIG. 7 is a schematic view of a balloon bionic cradle bed in an inflated state of the airbag.
  • 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
  • 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.
  • FIG. 3 shows a schematic view of the back of a bionic cradle bed with an airbag matrix.
  • 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.
  • 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.
  • FIG. 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.
  • 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 6 shows a control schematic for counteracting the displacement of the target zone caused by respiratory motion using a synchronous multi-axis controller.
  • the periodic motion of the breathing in the table is different.
  • the amplitude and phase of each cycle may be different.
  • 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.
  • 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.
  • 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, ⁇ , and ⁇ 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.
  • 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, ⁇ , and ⁇ 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.
  • 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.
  • 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.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

L'invention concerne un berceau à coussin gonflable bionique utilisé pour un équipement de radiothérapie ; au niveau de la partie inférieure du panneau de berceau, dans la direction de la surface de berceau, sont disposés un ou une pluralité de coussins gonflables (2), un commutateur de commande (3) correspondant au coussin gonflable, et une pompe à air bidirectionnelle (4), ladite pompe à air (4) se gonflant ou expulsant l'air hors du coussin gonflable (2) en fonction d'une fréquence et d'une phase respiratoires, entraînant un mouvement ascendant et descendant du berceau à coussin gonflable bionique. Le berceau peut également comprendre une unité de commande synchrone à axes multiples (900), ladite unité de commande synchrone à axes multiples (900) commandant, en fonction d'un signal de synchronisation respiratoire, un mouvement combiné de moteur et de coussin gonflable (2) pour guider le berceau à coussin gonflable bionique en un mouvement du type berceau synchronisé opposé à la direction de mouvement de la région cible causé par la respiration, commandant ainsi le corps du patient en un mouvement du type berceau opposé à la direction de mouvement respiratoire, et contrant le déplacement de la région cible tumorale et des organes, causé par un mouvement respiratoire, de telle sorte qu'une région cible dynamique en mouvement périodique continu conjointement avec un mouvement respiratoire devient une région cible statique qui peut être fixe à l'isocentre.
PCT/CN2013/090092 2013-12-06 2013-12-20 Berceau à coussin gonflable bionique utilisé pour un équipement de radiothérapie WO2015081590A1 (fr)

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CN201310656835.8 2013-12-06
CN201310656835.8A CN104689479B (zh) 2013-12-06 2013-12-06 一种用于放疗设备的气囊仿生摇篮床

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP3628232A1 (fr) * 2018-09-28 2020-04-01 Siemens Healthcare GmbH Matelas médical et procédé de surveillance en temps réel
CN112245193A (zh) * 2020-11-12 2021-01-22 北京清华长庚医院 医学影像检查用人体转运固位装置
CN113694403A (zh) * 2021-08-31 2021-11-26 武汉大学中南医院 具有自动摆位功能的放疗体架

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CN109459319A (zh) * 2018-12-19 2019-03-12 北京科技大学 用于高清图像重构与工业ct机配套的气囊式围压加载系统
CN110448785B (zh) * 2019-07-16 2023-03-17 数智医疗(深圳)有限公司 一种婴儿睡眠安抚装置及系统
CN113340017A (zh) * 2021-06-10 2021-09-03 广东易正电气股份有限公司 常压密封空气环保柜的呼吸系统

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CN202875358U (zh) * 2012-11-18 2013-04-17 成都威铭科技有限公司 肿瘤放射治疗中靶器官的定位装置

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CN203609760U (zh) * 2013-12-06 2014-05-28 刘苗生 一种用于放疗设备的气囊仿生摇篮床

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US20020120986A1 (en) * 2001-03-05 2002-09-05 Stephan Erbel Patient positioning system for radiotherapy
CN1813649A (zh) * 2005-01-31 2006-08-09 重庆海扶(Hifu)技术有限公司 体位固定装置及固定方法
CN101081177A (zh) * 2006-05-30 2007-12-05 深圳市一体医疗科技有限公司 一种放射治疗时实时跟踪肿瘤位置的方法
CN201208254Y (zh) * 2008-06-06 2009-03-18 朱兆峰 肿瘤三维适形精确定位仪
CN102499848A (zh) * 2011-09-30 2012-06-20 东莞市睡摇摇保健用品科技有限公司 理疗护理设备制造方法及实施该方法的轻抛摇摆床
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3628232A1 (fr) * 2018-09-28 2020-04-01 Siemens Healthcare GmbH Matelas médical et procédé de surveillance en temps réel
CN112245193A (zh) * 2020-11-12 2021-01-22 北京清华长庚医院 医学影像检查用人体转运固位装置
CN113694403A (zh) * 2021-08-31 2021-11-26 武汉大学中南医院 具有自动摆位功能的放疗体架
CN113694403B (zh) * 2021-08-31 2023-05-23 武汉大学中南医院 具有自动摆位功能的放疗体架

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