WO2016103879A1 - Therapy table, positioning system, and method for operating same - Google Patents

Therapy table, positioning system, and method for operating same Download PDF

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Publication number
WO2016103879A1
WO2016103879A1 PCT/JP2015/079629 JP2015079629W WO2016103879A1 WO 2016103879 A1 WO2016103879 A1 WO 2016103879A1 JP 2015079629 W JP2015079629 W JP 2015079629W WO 2016103879 A1 WO2016103879 A1 WO 2016103879A1
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WIPO (PCT)
Prior art keywords
floor
treatment table
treatment
patient
floor surface
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PCT/JP2015/079629
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French (fr)
Japanese (ja)
Inventor
之貴 新井
正憲 鈴木
卓人 八木橋
Original Assignee
株式会社日立製作所
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Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Publication of WO2016103879A1 publication Critical patent/WO2016103879A1/en

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    • 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

Definitions

  • the present invention relates to a system for realizing a reduction in height of a treatment table top plate in a radiation treatment apparatus that irradiates an affected area of a patient with cancer treatment radiation, and in particular, a particle beam treatment system suitable for a floor-standing treatment table. About.
  • a CT (Computerized Tomography) device is installed in the vicinity of the treatment table, and a series of operations from confirmation of the position of the affected area to treatment are performed with the patient on the treatment table.
  • an articulated robot arm type robot
  • the treatment table may be installed not only in the treatment room but also in the setting room.
  • the treatment table of the radiotherapy device has a problem that it is difficult for the patient to get on and off due to the high height of the top of the treatment table.
  • a part of the floor surface is lowered and retracted, so that the interference range between the top plate and the arm remains as it is, the interference between the floor and the treatment table is avoided, and the treatment table is obtained.
  • a treatment table and a patient positioning system capable of reducing the height of the top plate are provided.
  • the present application includes a plurality of means for solving the above-described problems.
  • a top plate an arm portion that supports the top plate, a lifting portion that lifts and lowers the arm portion, and a floor surface. And a mechanism for retracting the part.
  • the present invention in the patient positioning system of the radiotherapy apparatus, it is possible to avoid interference between the floor and the treatment table by lowering and retracting a part of the floor, leaving the interference area between the top plate and the arm as it is, Treatment table top plate height can be reduced. As a result, the patient can easily get on and off the treatment table.
  • FIG. 1 is a configuration diagram of a patient positioning system according to Embodiment 1.
  • FIG. 1 is a conceptual diagram of a patient positioning system according to Embodiment 1.
  • FIG. It is a flowchart regarding the operation
  • FIG. 9 is a conceptual diagram of a patient positioning system according to a third embodiment.
  • Example 4 It is a block diagram of the patient positioning system which concerns on Example 5.
  • FIG. It is a conceptual diagram of the patient positioning system which concerns on Example 5.
  • FIG. It is a conceptual diagram of the patient positioning system which concerns on Example 6.
  • FIG. 1 is a configuration diagram of a patient positioning system used in a particle beam fixed irradiation room treatment system.
  • the treatment table 5, the treatment table control unit 3 that controls the treatment table 5, the treatment table operation device 2 that inputs and outputs control signals to the treatment table control unit 3, the floor lifting mechanism 6, and the floor lifting mechanism 6 are controlled.
  • the system includes a floor lifting mechanism control unit 4, a treatment table control unit 3, and a floor lifting mechanism control unit 4 that inputs and outputs control signals.
  • the treatment table operating device 2 is for inputting a control signal to the treatment table control unit 3 by an input operation of an operator, moving the treatment table 5 to an arbitrary position, and displaying the position of the treatment table 5.
  • FIG. 2 is a conceptual diagram of the treatment table 5 and the floor lifting mechanism 6.
  • the treatment table 5 is a floor-mounted articulated robot, and is configured so that a patient can be placed on the top plate 11 and the affected area of the patient can be positioned at the irradiation position of the radiation irradiated from the irradiation nozzle 12. It is fixed to the pit 13 dug.
  • a CT (Computerized Tomography) apparatus 20 can be installed in the vicinity of the treatment table, and the treatment table 5 can be inserted into the CT apparatus by an arm, and a series of operations from confirmation of an affected area position to treatment can be performed.
  • CT Computerized Tomography
  • the treatment table 5 includes a top plate 11 on which a patient is placed, an arm portion 17 that supports the top plate 11, and a columnar lift unit 18 that supports the arm unit 17, and the lift unit 18 includes a treatment table lift mechanism 14. Fixed to the pit wall. A wrist portion 19 is provided between the top plate 11 and the arm portion 17, and the inclination of the top plate 11 can be adjusted to three degrees of freedom of the pitch angle ⁇ , the roll angle ⁇ , and the yaw angle ⁇ .
  • the arm portion 17 is constituted by two links stacked vertically, and the joint between the two links and the joint between the arm portion 17 and the elevating portion 18 can rotate to the yaw angle ⁇ .
  • the treatment table 5 has six degrees of freedom as a whole by the wrist 19, the two joints, and the treatment table elevating mechanism 14. Since each link of the arm portion 17 incorporates a wrist portion 19 and an actuator for driving the joint, a certain thickness is required. In order to bring the height of the top plate closer to the floor surface 15 than the thickness required for equipment arrangement on the arm portion 17, a part of the arm portion 17 of the treatment table 5 of the present embodiment may be lowered below the floor surface. it can.
  • the top plate 11 and the arm part 17 are moved up and down as the elevating part 18 is moved up and down, and the movable range of the top part 11 and the arm part 17 from the position where a part of the arm part 17 descends below the floor surface 15 is as follows. It is up to a predetermined position where the upper part of the column of the elevating part 18 rises above the floor 15.
  • FIG. 2 shows a state where the arm portion 17 is lowered below the floor 15 to the middle of the upper link of the two upper and lower links.
  • the elevating unit 18 moves up and down on a rail installed perpendicularly to the floor along the wall surface of the pit 13 by a driving mechanism.
  • the floor raising / lowering mechanism 6 has a drive mechanism independent of the treatment table raising / lowering mechanism 14 of the treatment table 5, and is a floor surface 16 which is a part of the floor surface 15 and is installed so as to close a hole provided in the floor surface 15. Can be moved up and down.
  • the floor lifting mechanism 6 supports the floor surface 16 on the one hand, and is fixed to the wall surface of the pit 13 via the drive mechanism on the other hand.
  • a drive mechanism moves up and down on rails installed perpendicular to the floor along the wall surface of the pit 13. Normally, when the arm portion 17 is on the floor surface 15, the floor surface 16 of the floor lifting mechanism is configured to be the same height as the other floor surfaces 15.
  • the treatment table raising / lowering mechanism 14 and the floor raising / lowering mechanism 6 of the treatment table 5 are provided with limit switches to ensure safety in the control of the treatment table 5 and the floor lifting mechanism 6.
  • the limit switch of the treatment table 5 is set so that when the treatment table 5 is raised from the highest preset treatment position and when it is lowered from the patient getting on / off position, and before the floor lifting mechanism 6 is lowered, It operates when lowered from the set position and stops the treatment table 5.
  • the limit switch of the floor elevating mechanism 6 is such that when the floor elevating mechanism 6 is lowered from the patient getting on / off position, the floor surface 16 of the floor elevating mechanism is raised above the height of the other floor 15, and the treatment table 5 is raised.
  • FIG. 3 is a flowchart regarding the operation of moving the top board 11 from an arbitrary position in this system to a patient boarding / exiting position where the patient can easily get on and off the top board 11 of the treatment table 5.
  • the arbitrary position is, for example, a position for irradiation in front of the nozzle 12 for particle beam therapy or a position inserted into the CT apparatus 20.
  • the treatment table control unit moves the treatment table to a setting position above the patient entry / exit position”
  • the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5.
  • the treatment table 5 is moved from an arbitrary treatment position to a set position above the patient getting on / off position. In the present embodiment, for example, as shown in FIG.
  • the set position above the patient boarding / exiting position is such that the two links of the top plate 11 and the arm unit 17 overlap in three upper and lower stages, and the link between the links and the top plate This is a position where the joint angle is almost zero, and is a position where the top plate 11 can be lowered as it is to the patient getting on / off position in the space immediately above the floor 16.
  • the position information of the spatial coordinates is output to the treatment table 5 to output the treatment table 5. Cannot be moved.
  • the mechanical rotation axis of the treatment table 5 is moved, The treatment table 5 is moved to a position where the two links of the top plate 11 and the arm portion 17 are just overlapped.
  • the series of operations may be automatically performed under the control of the system control unit 1.
  • the treatment table control unit stops the treatment table at a set position above the patient entry / exit position”
  • the treatment table control unit 3 that acquires the position of the top plate 11 or the arm unit 17 with a sensor sends a control signal to the treatment table 5.
  • the treatment table 5 is stopped at the set position above the patient getting on / off position.
  • the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4.
  • the floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 to lower the floor lifting mechanism 6 from the floor height to the patient getting on / off position.
  • the floor lifting mechanism control unit stops the floor lifting mechanism at the patient entry / exit position” S4, the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4.
  • the floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, and stops the floor elevating mechanism 6 at the patient getting on / off position.
  • the treatment table controller lowers the treatment table to the patient entry / exit position
  • the treatment table control unit 3 outputs a control signal to the treatment table 5
  • the treatment table 5 is moved from the set position above the patient entry / exit position to the patient entry / exit position.
  • the patient boarding / exiting position is such that two links of the top plate 11 and the arm portion 17 overlap in three spaces above and below the floor surface 16, and the middle of the arm portion 17 extends to the floor surface. It is a position of the treatment table 5 that is lowered below 15 and the top plate 11 is at a height at which the patient can easily get on and off.
  • the treatment table control unit stops the treatment table at the patient getting on / off position”
  • the treatment table control unit 3 outputs a control signal to the treatment table and stops the treatment table 5 at the patient getting on / off position.
  • the movement of the lowering of the treatment table 5 is performed by the floor lifting mechanism 6. So that the floor elevating mechanism 6 operates in synchronism with the downward movement of the floor elevating mechanism 6.
  • This synchronous operation has an effect of shortening the time until completion of the descent.
  • a sensor for detecting the descending position or descending speed is attached to the floor elevating mechanism 6, and the position or speed data and the position or speed data of the treatment table 5 are input to the system control unit 1.
  • it has a collision prevention control function for automatically controlling so that the deviation between the two does not become smaller from the state when the descent starts.
  • this anti-collision control function when the above-mentioned deviation becomes smaller than a predetermined value due to any abnormality occurring in these devices, it is determined as abnormal, and the treatment table 5 and the floor lifting mechanism 6 are made safe. It has a function to stop.
  • the position / speed detection sensor of the floor lifting mechanism is not equipped, the collision prevention control function is omitted, the lowering speed of the floor lifting mechanism 6 is measured in advance, and the lowering speed of the treatment table 5 is measured.
  • the processing load on the system control unit 1 may be reduced by automatically controlling the speed so as to be equal to or less than the above speed.
  • this control function may be realized by exchanging signals between the treatment table control unit 3 and the floor lifting mechanism control unit 4 without using the system control unit 1.
  • the floor elevating mechanism 6 is controlled by motor control because it is relatively easy to control, but may be performed by pneumatic control or hydraulic control, and the control method is not limited.
  • FIG. 4 is a flowchart regarding the operation from the patient boarding / alighting position to an arbitrary position in this system.
  • the treatment table controller raises the treatment table to a set position above the patient entry / exit position
  • the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5. Then, the treatment table 5 is raised from the patient getting on / off position to a set position above the patient getting on / off position.
  • the treatment table control unit stops the treatment table at a set position above the patient boarding / exiting position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 5, and sets the treatment table 5 at the set position above the patient getting on / off position. Stop at.
  • the floor lifting mechanism control unit raises the floor lifting mechanism to the floor height
  • the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism.
  • the system control unit 1 controls the floor lifting mechanism.
  • the floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 to raise the floor lifting mechanism 6 from the patient getting on / off position to the floor height.
  • the floor lifting mechanism control unit stops the floor lifting mechanism at the floor height”
  • the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism. Output to part 4.
  • the floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, stops the floor elevating mechanism 6 at the floor height, and the floor 16 is integrated with the surrounding floor 15 in appearance.
  • the treatment table 5 moves from the space above the floor surface 16, and the space above the floor surface 16 is exposed to the outside. However, when exposed, the floor surface 16 and the floor surface 15 are already exposed. Since it is a flat floor surface without a step, it is possible to suppress the possibility that an object will fall into the pit or a mechanism that lowers the arm portion 17 below the floor will obstruct the movement of the patient or the operator.
  • the treatment table control unit moves the treatment table to an arbitrary treatment position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 5, and the treatment table 5 is moved to an arbitrary position from the set position above the patient boarding / exiting position. Move to treatment position.
  • the treatment table control unit stops the treatment table at an arbitrary treatment position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 5 and stops the treatment table 5 at an arbitrary treatment position.
  • the arm portion 17 and the top plate 11 are moved to positions different from the space directly above the floor surface 16, and the floor surface 16 is exposed to the outside, but the floor surface 16 is stepped from the floor surface 15. As a result, the possibility of obstructing the movement of the operator or dropping an object in the pit is suppressed.
  • FIG. 5 is a flowchart relating to a treatment procedure in which the patient gets on and off the treatment table in the treatment room.
  • the treatment room treatment table moves from the patient entry / exit position to an arbitrary treatment position
  • the treatment room treatment table moves from the patient entry / exit position to an arbitrary treatment position in the procedure of FIG.
  • the patient receives radiation therapy
  • the patient receives radiation therapy by the radiation therapy apparatus.
  • the mechanism for retracting the floor that interferes with the arm portion 17 is realized by a mechanism for raising and lowering the floor.
  • a mechanism for raising and lowering the floor for example, it is realized by a structure in which the floor surface is a double door or a shutter structure such as a sliding door. The effect of this embodiment can be obtained.
  • one floor lifting mechanism 6 is used, but a plurality of floor lifting mechanisms 6 may be used from the viewpoint of improving the throughput of treatment.
  • the floor lifting mechanism 6 to be used is selected according to the treatment position or treatment procedure.
  • the treatment table 5 is composed of a top plate, an elevating part, an arm part having two links, and a plurality of joints. Even if it is low, or even when the top plate height can be reduced to some extent by only the movement of the arm with three or more links and many joints, the same as in this embodiment The effect is obtained. For example, even when a lift part, a single link, and a top board are provided, and joints are provided between them, the effect of reducing the height of the top board by lowering the floor of the arm part can be obtained.
  • the treatment table top plate can be lowered to a position that is relatively close to the floor of the treatment room, especially for young patients and for the treatment staff to get on and off the treatment table. This makes it easier for patients who need to get on and off.
  • the present embodiment in the patient positioning system of the radiotherapy apparatus, it is possible to avoid the interference between the floor and the treatment table by lowering a part of the floor, and in order to lower the top plate, the movable range and the degree of freedom of the arm are set.
  • the height of the treatment table top plate can be reduced while the interference area between the top plate and the arm, which increases when improved, is maintained as it is.
  • FIG. 7 is a configuration diagram of the patient positioning system of the present embodiment.
  • a treatment table 51 including a floor lifting mechanism 61 that moves up and down in conjunction, a treatment table control unit 3 that controls the treatment table 51 including control of the floor lifting mechanism, and a treatment that inputs a control signal to the treatment table control unit 3 It has the system control part 1 which inputs and outputs the control signal of the table operating device 2 and the treatment table control part 3.
  • FIG. 8 is a conceptual diagram of the treatment table 51.
  • the treatment table 51 includes a floor lifting mechanism 61.
  • the floor raising / lowering mechanism 61 of this embodiment supports the floor surface 16 on the one hand, and the other is connected to the lifting / lowering part 18 of the treatment table 51 via a connecting part 62.
  • FIG. 9 is a side view of the connecting portion 62 of the treatment table 51 and the floor lifting mechanism 61. If the treatment table 51 becomes lower than a certain height when the treatment table 51 is lowered, the lifting unit 18 and the floor lifting mechanism 61 are connected while the lifting unit 18 of the treatment table 51 moves on the rail 181 provided on the wall surface of the pit 13. After that, the floor surface 16 attached to the floor lifting mechanism 61 is lowered together with the treatment table 51. This is for the purpose of controlling the treatment table 51 so as not to interfere with the floor surface 16, where the constant height is predetermined with respect to the height at which the lower surface of the arm portion 17 is in contact with the floor surface 16 or the height at which it is in contact. It is the height with a certain margin.
  • the fixing at the connecting portion 62 of the elevating unit 18 and the floor elevating mechanism 61 is separated, the floor surface 16 attached to the floor elevating mechanism 61 is stopped, and the surrounding floor surface 15 and the appearance are displayed.
  • the floor is integrated with the top and has no opening.
  • FIG. 10 is a flowchart regarding the operation from the arbitrary position to the patient getting on / off position in this system.
  • the treatment table control unit moves the treatment table to a setting position above the patient entry / exit position”
  • the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 51. Then, the treatment table 51 is moved from an arbitrary treatment position to a set position above the patient getting on / off position.
  • the treatment table controller stops the treatment table at a set position above the patient entry / exit position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and sets the treatment table 51 to a set position above the patient entry / exit position. Stop at.
  • the treatment table control unit lowers the treatment table and the floor lifting mechanism linked to the treatment table to the patient boarding position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 is transferred to the patient.
  • the patient is lowered from the set position above the boarding / alighting position to the patient boarding / alighting position, and the floor lifting mechanism 61 interlocked with the treatment table 51 is lowered from the floor height to the patient boarding / alighting position.
  • the treatment table control unit stops the treatment table and the floor lifting mechanism linked to the treatment table at the patient getting on / off position”.
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 and the treatment table.
  • the floor lifting mechanism 61 interlocked with the platform 51 is stopped at the patient getting on / off position.
  • FIG. 11 is a flowchart regarding the operation from the patient boarding / exiting position to an arbitrary position in this system.
  • the treatment table control unit raises the treatment table to a set position above the patient entry / exit position and raises the floor lifting mechanism linked to the treatment table to the floor height”.
  • the treatment table control unit 3 performs the treatment table operation device 2.
  • the control signal is input to the treatment table 51, the control signal 51 is output to the treatment table 51, the treatment table 51 is moved from the patient entry / exit position to the set position above the patient entry / exit position, and the floor lifting mechanism 61 linked to the treatment table 51 is moved to the patient entry / exit position. From floor to floor height.
  • the treatment table control unit stops the treatment table at a set position above the patient entry / exit position and stops the floor lifting mechanism linked to the treatment table at the floor height”.
  • the treatment table control unit 3 sends a control signal to the treatment table. 51, the treatment table 51 is stopped at the set position above the patient boarding / alighting position, and the floor lifting mechanism 61 interlocked with the treatment table 51 is stopped at the floor height.
  • the treatment table control unit moves the treatment table to an arbitrary treatment position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 is moved to an arbitrary position from the set position above the patient boarding / exiting position. Move to treatment position.
  • the treatment table control unit stops the treatment table at an arbitrary treatment position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and stops the treatment table 51 at an arbitrary treatment position.
  • the floor lifting mechanism 61 and the treatment table 51 can be moved in conjunction with each other without being synchronized by the system control 1, so that the processing load of the system control 1 is reduced. Further, since there is no need to provide an independent drive device for moving the floor lifting mechanism 61, control and installation are facilitated.
  • Example 1 and Example 2 when the horizontal cross-sectional shape of the arm portion 17 descending below the floor is not the same from the lower link to the upper link, the floor lifting mechanism 6 is lowered or lowered during the lowering to the patient getting-on / off position. Later, a slight opening may occur between the side wall of the arm portion 17 and the floor 15 on the floor, and the treatment staff may step on the floor including the opening. In order to avoid the possibility of stepping into the floor area where it is difficult to ensure reliable stability including a slight opening, it is effective to separately provide a mechanism for forming a floor covering the slight opening.
  • the floor forming mechanism is provided in the system of the first embodiment will be described.
  • FIG. 12 is a block diagram of the patient positioning system of the present embodiment.
  • a floor forming mechanism 8 and a floor forming mechanism control unit 7 that controls the floor forming mechanism 8 based on a control signal from the system control unit 1 are provided.
  • FIG. 13 is a conceptual diagram of the treatment table 5, the floor lifting mechanism 6 and the floor forming mechanism 8.
  • the floor forming mechanism 8 is provided in the pit 13 dug in the floor of the treatment table 5, and when the floor lifting mechanism 6 and the treatment table 5 are lowered, the floor formation mechanism 8 is moved to the floor surface 21 while being lowered or lowered. Form. Formation of the floor surface 21 prevents the treatment staff from stepping into a region where a slight opening of the floor surface 15 after the floor surface 16 descends.
  • the floor forming mechanism 8 has a drive mechanism independent of the treatment table raising / lowering mechanism 14 of the treatment table 5, and is installed so as to close a part of the floor 15 and an opening provided in the floor 15.
  • the floor surface 21 can be moved horizontally from side to side.
  • the floor lifting mechanism 6 supports the floor surface 16 on the one hand, and is fixed to the wall surface of the pit 13 via the drive mechanism on the other hand.
  • the pit 13 moves horizontally on the rail horizontally installed on the floor along the wall surface by the drive mechanism.
  • the horizontal cross-sectional area of the upper link is smaller than the horizontal cross-sectional area of the lower link. Therefore, the opening formed in the floor 15 is shaped to allow the lower link to pass through, and the lower link side wall and the opening edge of the floor 15 are in the middle of the lowering of the arm 17. There is almost no gap. However, when all the lower links are lowered below the floor surface 15 and the upper link side wall and the opening edge are close to each other, the opening of the upper link side wall and the floor surface 15 is increased by the volume difference between the lower link and the upper link. A slight opening occurs between the edges.
  • the floor forming mechanism 8 moves the floor 21 so as to reduce the gap.
  • the floor forming mechanism 8 may include a mechanism for raising and lowering the floor surface 21 so as to reduce the difference in height between the floor surface 15 and the floor surface 21.
  • FIG. 14 is a flowchart relating to the operation from an arbitrary position to the patient getting on / off position in the present system.
  • the treatment table control unit moves the treatment table to a setting position above the patient entry / exit position”
  • the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5. Then, the treatment table 5 is moved from an arbitrary treatment position to a set position above the patient getting on / off position.
  • the treatment table control unit stops the treatment table at a set position above the patient getting on / off position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 5, and the treatment table 5 is set at the set position above the patient getting on / off position. Stop at.
  • the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4.
  • the floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 to lower the floor lifting mechanism from the floor height to the patient getting on / off position.
  • the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4.
  • the floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, and stops the floor elevating mechanism 6 at the patient getting on / off position.
  • the treatment table controller lowers the treatment table to the patient entry / exit position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 5, and moves the treatment table 5 from the set position above the patient entry / exit position to the patient entry / exit position. To lower.
  • the treatment table controller stops the treatment table at the patient getting on / off position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 5 and stops the treatment table 5 at the patient getting on / off position.
  • the system control unit 1 outputs a control signal to the floor formation mechanism control unit 7.
  • the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the retracted position to the floor opening.
  • the downward movement of the floor lifting mechanism 6, the downward movement of the treatment table 5, and the movement of the floor forming mechanism 8 may be linked.
  • FIG. 15 is a flowchart regarding the operation from the patient boarding / exiting position to an arbitrary position in this system.
  • the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the system control unit 1. Immediately, the system control unit 1 outputs a control signal to the floor forming mechanism control unit 7. Immediately, the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the floor opening to the retracted position.
  • the treatment table controller raises the treatment table to a set position above the patient entry / exit position
  • the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5. Then, the treatment table 5 is raised from the patient getting on / off position to a set position above the patient getting on / off position.
  • the treatment table control unit stops the treatment table at a set position above the patient boarding / exiting position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 5, and sets the treatment table 5 at the set position above the patient getting on / off position. Stop at.
  • the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism. Output to part 4.
  • the floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, and raises the floor elevating mechanism 6 from the height when the treatment table 5 is at the patient getting on / off position to the height of the floor surface 15.
  • the floor lifting mechanism control unit stops the floor lifting mechanism at the floor height”
  • the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism. Output to part 4.
  • the floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 and stops the floor lifting mechanism 6 at the height of the floor 15.
  • the treatment table control unit moves the treatment table to an arbitrary treatment position
  • the treatment table control unit 3 outputs a control signal to the treatment table 5
  • the treatment table 5 is moved to an arbitrary position from the set position above the patient boarding / exiting position. Move to treatment position.
  • the treatment table control unit stops the treatment table at an arbitrary treatment position
  • the treatment table control unit 3 outputs a control signal to the treatment table 5 and stops the treatment table 5 at an arbitrary treatment position.
  • the floor forming mechanism 8 can close the floor opening that occurs after the lower arm of the treatment table descends, and the treatment staff ensures a certain stability including a slight opening. Prevents you from stepping into difficult floor areas.
  • FIG. 16 is a block diagram of the patient positioning system of the present embodiment.
  • the configuration of the second embodiment includes a floor forming mechanism 8 and a floor surface forming mechanism control unit 7 that controls the floor forming mechanism 8.
  • FIG. 17 is a conceptual diagram of the treatment table, the floor lifting mechanism and the floor forming mechanism.
  • the floor forming mechanism is provided in the pit dug in the floor of the treatment table, and when the floor lifting mechanism 61 and the treatment table 51 are lowered, the floor formation mechanism 8 forms the floor surface 21 while stopping or descending. .
  • the floor formation prevents the treatment staff from stepping into the floor area that is difficult to ensure, ensuring that the treatment staff includes a small opening in the floor opening after descending the floor.
  • FIG. 18 is a flowchart regarding the operation from an arbitrary position to the patient boarding / alighting position in this system.
  • the treatment table control unit moves the treatment table to a setting position above the patient entry / exit position”
  • the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 51. Then, the treatment table 51 is moved from an arbitrary treatment position to a set position above the patient getting on / off position.
  • the treatment table controller stops the treatment table at a setting position above the patient entry / exit position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and sets the treatment table 51 to a setting position above the patient entry / exit position. Stop at.
  • the treatment table control unit lowers the treatment table and the floor lifting mechanism linked to the treatment table to the patient getting on / off position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 is transferred to the patient.
  • the patient is lowered from the set position above the boarding / alighting position to the patient boarding / alighting position, and the floor lifting mechanism linked to the treatment table 51 is lowered from the floor height to the patient boarding / alighting position.
  • the treatment table control unit stops the treatment table and the floor lifting mechanism linked with the treatment table at the patient getting on / off position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 and the treatment table The floor lifting mechanism interlocked with the platform 51 is stopped at the patient getting on / off position.
  • the system control unit 1 outputs a control signal to the floor forming mechanism control unit 7.
  • the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the retracted position to the floor opening.
  • FIG. 19 is a flowchart regarding the operation from the patient boarding / exiting position to an arbitrary position in this system.
  • the treatment table control unit 3 receives a control signal from the treatment table operating device 2, and outputs the control signal to the system control unit 1. Immediately, the system control unit 1 outputs a control signal to the floor forming mechanism control unit 7. Immediately, the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the floor opening to the retracted position.
  • the treatment table controller raises the treatment table to a set position above the patient entry / exit position and raises the floor lifting mechanism linked to the treatment table to the floor height”.
  • the treatment table control unit 3 sends a control signal to the treatment table. 51, the treatment table 51 is moved from the patient getting on / off position to a set position above the patient getting on / off position, and the floor lifting mechanism linked to the treatment table 51 is raised from the patient getting on / off position to the floor height.
  • the treatment table control unit stops the treatment table at a set position above the patient entry / exit position and stops the floor lifting mechanism linked to the treatment table at the floor height”.
  • the treatment table control unit 3 sends a control signal to the treatment table. 51, the treatment table 51 is stopped at a set position above the patient getting on / off position, and the floor lifting mechanism interlocked with the treatment table 51 is stopped at the floor height.
  • the treatment table control unit moves the treatment table to an arbitrary treatment position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51
  • the treatment table 51 is moved to an arbitrary position from the set position above the patient getting on / off position. Move to treatment position.
  • the treatment table control unit stops the treatment table at an arbitrary treatment position”
  • the treatment table control unit 3 outputs a control signal to the treatment table 51, and stops the treatment table 51 at an arbitrary treatment position.
  • the floor lifting mechanism and the treatment table 51 can be moved in conjunction with each other without being synchronized by the system control 1.
  • the floor formation mechanism 8 can close the floor opening that occurs after the lower arm of the treatment table descends, and it is difficult for the treatment staff to ensure reliable stability including a slight opening. Prevents you from stepping on your feet.
  • FIG. 20 shows a configuration diagram of the patient positioning system of the present embodiment.
  • the first floor elevating mechanism 6 has substantially the same function as that of the first embodiment that is the basis of the system.
  • a second floor elevating mechanism 9 is newly provided and operates based on a control signal from the floor elevating mechanism control unit 4.
  • FIG. 21 is a conceptual diagram of the treatment table 5 and the floor lifting mechanism.
  • the floor elevating mechanism has two drive shafts and raises and lowers different floor surfaces. That is, the first floor lifting mechanism 6 moves the floor 16 up and down, and the second floor lifting mechanism 9 lifts the floor 22.
  • the patient boarding / alighting position of the treatment table 5 in this embodiment is different from the position in which the link between the top plate 11 and the arm portion 17 overlaps in three stages as in the first embodiment, and the lower link 17b and the upper link 17a of the arm portion 17. Is set to a position where the joints overlap with each other at a certain angle. Therefore, in order to correspond to each link, the upper link 17a of the arm portion 17 is positioned differently from the lower link 17b separately from the floor surface 16 that is lowered and retracted to lower the lower link 17b below the floor. Is provided with a floor surface 22 that descends and retreats when it is lowered below the floor.
  • the patient boarding / alighting position in this embodiment is not limited to the area just above the lifting / lowering part 18 of the treatment table 5, which is restricted by the installation position of the pit 13, that is, the home position where the link of the arm part 17 overlaps.
  • the position to perform can be set flexibly.
  • the flowchart regarding the operation from the arbitrary position to the patient getting-on / off position and the operation from the patient getting-on / off position to the arbitrary position in this system is basically the same as the flowcharts of the first to fourth embodiments that are the basis of the system.
  • the floor elevating mechanism control unit 4 outputs a control signal to each floor elevating mechanism to elevate each floor elevating mechanism
  • the first floor elevating mechanism 6 is operated to reach the target position for receiving the lower link 17b.
  • a control signal is output to the floor lifting mechanism to operate the second floor lifting machine 9, Stop at the target position.
  • the two different floors move up and down with respect to the two links of the treatment table 5 so that the patient getting on / off position can be set close to the nozzle or the like as the treatment position.
  • the treatment table 5 can move in a short time between the patient entry / exit positions and the treatment time can be shortened.
  • the treatment table used in the particle beam fixed irradiation room treatment system has been described as an example of the present invention. Similarly, it may be carried out for irradiation chambers such as X-rays and neutron beams. Similarly, it may be carried out in the setting room.
  • irradiation chambers such as X-rays and neutron beams.
  • the setting room it is possible to avoid the interference between the floor and the treatment table by lowering a part of the floor, and increase when the movable range and the degree of freedom of the arm are improved to lower the top plate.
  • the height of the treatment table top plate can be reduced with the interference area between the top plate and the arm remaining unchanged. As a result, the patient can easily get on and off the treatment table.
  • FIG. 22 is a conceptual diagram of a positioning system in which the patient gets on and off the treatment table in the setting room.
  • FIG. 6 is a flowchart regarding a treatment procedure in which a patient gets on and off the treatment table in the setting room.
  • a positioning system according to a seventh embodiment of the present invention will be described with reference to FIGS. 22 and 6.
  • the description is abbreviate
  • the treatment table is in both the setting room 102 and the treatment room 101, and after setting the patient on the treatment table 5 a in the setting room, the treatment table is placed on the transfer device 100 and transferred to the treatment room.
  • Auto docking system is used.
  • the transport device 100 is a device that transports the patient together with a fixed top plate, receives the top plate separated from the treatment table 5a of the setting room at the wrist, and transports it to the wrist of the treatment table 5b of the treatment room. It is a device that can be coupled to.
  • the patient gets on the treatment table in the setting room
  • the patient gets on the treatment table in the setting room by himself or with the assistance of the treatment staff and is fixed to the top plate.
  • the treatment room 5a in the setting room moves from the patient getting on / off position to an arbitrary treatment position in the procedure of FIG.
  • the arbitrary treatment position in this step is an imaging preparation position beside the CT apparatus 20.
  • the treatment table 5a on which the patient is placed enters the CT apparatus 20, and the affected area of the patient is imaged with the CT apparatus. At this time, the movement of the arm part of the treatment table 5a realizes the movement of the top board for transporting the patient to the imaging space in the CT apparatus 20.
  • the treatment table control unit 3 In “the treatment room in the setting room moves from an arbitrary treatment position to an auto-docking position” S304, the treatment table control unit 3 outputs a control signal to the treatment room 5a in the setting room, and the top plate of the treatment room 5a in the setting room. Is moved from an arbitrary treatment position beside the CT apparatus 20 to the auto-docking position.
  • the treatment table top plate moves from the treatment table in the setting room to the transfer device at the auto-docking position” in S305, the treatment table top plate attached to the treatment table 5a in the setting room is removed by the pneumatic coupler and is transferred to the transfer device 100. Can be put on.
  • the treatment staff carries the transfer device 100, and the treatment table top plate is transferred from the setting room 102 to the treatment room 101.
  • the treatment table control unit 3 outputs a control signal to the treatment table 5b in the treatment room, Move from treatment position or other default position to auto docking position.
  • the treatment room treatment table moves from the auto-docking position to an arbitrary treatment position
  • the treatment table control unit 3 outputs a control signal to the treatment room treatment table 5b
  • the treatment room treatment table 5b is automatically docked. Move from position to any treatment position.
  • the arbitrary treatment position in this step is, for example, the position in front of the nozzle 12 for particle beam treatment.
  • the present embodiment in the patient positioning system of the radiotherapy apparatus, it is possible to avoid the interference between the floor and the treatment table by lowering a part of the floor, and the interference area between the top plate and the arm is left as it is.
  • the height of the treatment table top plate can be reduced even in the setting room where the user gets on and off the top plate.
  • an auto docking system is used to transfer the patient to the treatment room by placing it on the transfer device, so that the time required to occupy the treatment room depending on the patient setting can be used for treatment of another patient. It can be used and can improve the treatment efficiency in radiotherapy.
  • the degree of freedom of design in the treatment room can be improved by installing a treatment table that descends under the floor in a setting room where there is a relatively large space in the basement and having the patient get on and off the patient.
  • the arm part of the present embodiment allows the top plate to be leveled at a position lower than the prior art by the treatment table capable of lowering the floor, the automatic docking position with the transport apparatus 100 can be set to a low position.
  • the transport device 100 having a low height has high stability, the safety of the patient being transported can be improved, and the burden on the treatment staff transporting the patient can be reduced.

Abstract

This positioning system positions an affected area of a patient with respect to radiation from an irradiation nozzle (12). A hole is dug in the floor surface (15) of a treatment room. The hole is covered with a movable floor surface (16). An arm part (17) of the positioning system supports a tabletop (11). When the patient is to be laid on the tabletop (11), first the movable floor surface (16) is lowered into the hole by a floor lifting mechanism (6). A therapy table lifting mechanism (14) then lowers the arm part (17) and tabletop (11). In doing so, the lower side of the arm part (17) goes into the hole so that the arm part (17) does not interfere with the floor surfaces (15, 16). Consequently, the tabletop (11) can be lowered to a position which is easy for the patient to lie down on. After the patient lies down on the tabletop (11), the tabletop (11) is raised by therapy table lifting mechanism (14). The movable floor surface (16) is returned to the same height as that of the floor surface (15) of the therapy room.

Description

治療台、位置決めシステムならびにその運転方法Treatment table, positioning system and operation method thereof
　本発明は、がん治療用放射線を患者の患部に照射する放射線治療装置において、治療台天板高さの低減化を実現するシステムに関し、特に床置き型の治療台に好適な粒子線治療システムに関する。 TECHNICAL FIELD The present invention relates to a system for realizing a reduction in height of a treatment table top plate in a radiation treatment apparatus that irradiates an affected area of a patient with cancer treatment radiation, and in particular, a particle beam treatment system suitable for a floor-standing treatment table. About.
　治療台の近傍にＣＴ(Computerized Tomography)装置を設置して、患部位置の確認から治療までの一連の作業を、患者を治療台に乗せたまま実施している。これらの場合、治療台は広い可動範囲が必要となるため、多関節ロボット(アーム型ロボット)が好適である。
（特許文献１）
　また、粒子線治療に関係のない一般的な治療台でも、高さを調整する機能を有するものがある。（特許文献２）
　また、治療台は治療室だけでなく、セッティング室にも設置されることがある。（特許文献３） A CT (Computerized Tomography) device is installed in the vicinity of the treatment table, and a series of operations from confirmation of the position of the affected area to treatment are performed with the patient on the treatment table. In these cases, since the treatment table needs a wide movable range, an articulated robot (arm type robot) is suitable.
(Patent Document 1)
Some general treatment tables not related to particle beam therapy have a function of adjusting the height. (Patent Document 2)
In addition, the treatment table may be installed not only in the treatment room but also in the setting room. (Patent Document 3)
特開２００８－２２０５５３JP2008-220553 特表２０００－５０５６９５Special table 2000-505695 特開２００９－１９５４６７JP2009-195467
　放射線治療装置の治療台では、治療台天板高さが高いことで、患者が乗り降りしにくい問題があった。 The treatment table of the radiotherapy device has a problem that it is difficult for the patient to get on and off due to the high height of the top of the treatment table.
　また、多関節ロボットで構成される治療台では、治療台天板の高さを下げるときに、床と治療台の一部が干渉するため、高さの低減には限界があった。また、治療台天板とアームの間にある手首部の高さ方向長さを小さくすると、天板とアームの干渉する領域が増え、手首の可動範囲が狭くなるという問題があった。 Also, in the treatment table composed of articulated robots, when the height of the treatment table top plate is lowered, the floor and a part of the treatment table interfere with each other, so there is a limit in reducing the height. Further, when the height of the wrist portion between the treatment table top plate and the arm is made small, there is a problem that the area where the top plate and the arm interfere with each other increases, and the movable range of the wrist becomes narrow.
　本発明では、この問題を解決するため、床面の一部が下降・退避することで、天板とアームの干渉範囲を現状のままにして、床と治療台の干渉を回避し、治療台天板高さの低減化を実現できる治療台、及び患者位置決めシステムを提供する。 In the present invention, in order to solve this problem, a part of the floor surface is lowered and retracted, so that the interference range between the top plate and the arm remains as it is, the interference between the floor and the treatment table is avoided, and the treatment table is obtained. A treatment table and a patient positioning system capable of reducing the height of the top plate are provided.
　上記課題を解決するために、例えば特許請求の範囲に記載の構成を採用する。本願は上記課題を解決する手段を複数含んでいるが、その一例をあげるならば、天板と、前記天板を支持するアーム部と、前記アーム部を昇降させる昇降部と、床面の一部を退避させる機構とを有することを特徴とする。
In order to solve the above problems, for example, the configuration described in the claims is adopted. The present application includes a plurality of means for solving the above-described problems. To give an example, a top plate, an arm portion that supports the top plate, a lifting portion that lifts and lowers the arm portion, and a floor surface. And a mechanism for retracting the part.
　本発明によれば、放射線治療装置の患者位置決めシステムにおいて、床の一部を下降・退避させることで床と治療台の干渉を回避でき、天板とアームの干渉領域を現状のままにして、治療台天板高さを低減できる。その結果、患者を治療台に乗り降りさせやすくなる。 According to the present invention, in the patient positioning system of the radiotherapy apparatus, it is possible to avoid interference between the floor and the treatment table by lowering and retracting a part of the floor, leaving the interference area between the top plate and the arm as it is, Treatment table top plate height can be reduced. As a result, the patient can easily get on and off the treatment table.
実施例１に係る患者位置決めシステムの構成図である。1 is a configuration diagram of a patient positioning system according to Embodiment 1. FIG. 実施例１に係る患者位置決めシステムの概念図である。1 is a conceptual diagram of a patient positioning system according to Embodiment 1. FIG. 実施例１に係る患者位置決めシステムの任意の位置から患者乗降位置への動作に関するフローチャートである。It is a flowchart regarding the operation | movement from the arbitrary positions of the patient positioning system which concerns on Example 1 to a patient boarding / alighting position. 実施例１に係る患者位置決めシステムの患者乗降位置から任意の位置への動作に関するフローチャートThe flowchart regarding the operation | movement to the arbitrary positions from the patient boarding / alighting position of the patient positioning system which concerns on Example 1. FIG. 実施例１において、患者が治療室で治療台に乗り降りする治療手順に関するフローチャートである。In Example 1, it is a flowchart regarding the treatment procedure in which a patient gets on and off a treatment table in a treatment room. 実施例５において、患者がセッティング室で治療台に乗り降りする治療手順に関するフローチャートである。In Example 5, it is a flowchart regarding the treatment procedure in which a patient gets on and off the treatment table in a setting room. 実施例２に係る患者位置決めシステムの構成図である。It is a block diagram of the patient positioning system which concerns on Example 2. FIG. 実施例２に係る患者位置決めシステムの概念図である。It is a conceptual diagram of the patient positioning system which concerns on Example 2. FIG. 治療台と床昇降機構の接続部の拡大図である。It is an enlarged view of the connection part of a treatment table and a floor raising / lowering mechanism. 実施例２に係る患者位置決めシステムの任意の位置から患者乗降位置への動作に関するフローチャートである。It is a flowchart regarding the operation | movement from the arbitrary positions of the patient positioning system which concerns on Example 2 to a patient boarding / alighting position. 実施例２に係る患者位置決めシステムの患者乗降位置から任意の位置への動作に関するフローチャートThe flowchart regarding the operation | movement from the patient boarding / alighting position to arbitrary positions of the patient positioning system which concerns on Example 2. FIG. 実施例３に係る患者位置決めシステムの構成図である。It is a block diagram of the patient positioning system which concerns on Example 3. FIG. 実施例３に係る患者位置決めシステムの概念図である。FIG. 9 is a conceptual diagram of a patient positioning system according to a third embodiment. 実施例３に係る患者位置決めシステムの任意の位置から患者乗降位置への動作に関するフローチャートである。It is a flowchart regarding the operation | movement from the arbitrary positions of the patient positioning system which concerns on Example 3 to a patient boarding / alighting position. 実施例３に係る患者位置決めシステムの患者乗降位置から任意の位置への動作に関するフローチャートThe flowchart regarding the operation | movement to the arbitrary positions from the patient boarding / alighting position of the patient positioning system based on Example 3 実施例４に係る患者位置決めシステムの構成図である。It is a block diagram of the patient positioning system which concerns on Example 4. FIG. 実施例４に係る患者位置決めシステムの概念図である。It is a conceptual diagram of the patient positioning system which concerns on Example 4. FIG. 実施例４に係る患者位置決めシステムの任意の位置から患者乗降位置への動作に関するフローチャートである。It is a flowchart regarding the operation | movement from the arbitrary positions of the patient positioning system which concerns on Example 4 to a patient boarding / alighting position. 実施例４に係る患者位置決めシステムの患者乗降位置から任意の位置への動作に関するフローチャートThe flowchart regarding the operation | movement to the arbitrary positions from the patient boarding / alighting position of the patient positioning system based on Example 4 実施例５に係る患者位置決めシステムの構成図である。It is a block diagram of the patient positioning system which concerns on Example 5. FIG. 実施例５に係る患者位置決めシステムの概念図である。It is a conceptual diagram of the patient positioning system which concerns on Example 5. FIG. 実施例６に係る患者位置決めシステムの概念図である。It is a conceptual diagram of the patient positioning system which concerns on Example 6. FIG.
　以下、本発明の患者位置決めシステムの複数の実施例について、図を用いて説明する。
各実施例の図における同一符号は、同一物または相当物を示す。 Hereinafter, a plurality of embodiments of a patient positioning system of the present invention will be described with reference to the drawings.
The same reference numerals in the drawings of the embodiments indicate the same or equivalent.
　本実施例では、治療台天板高さを低減できる患者位置決めシステムの例を説明する。図１は粒子線固定照射室治療システムに用いる患者位置決めシステムの構成図である。治療台５と、治療台５を制御する治療台制御部３と、治療台制御部３に制御信号を入出力する治療台操作装置２と、床昇降機構６と、床昇降機構６を制御する床昇降機構制御部４と、治療台制御部３及び床昇降機構制御部４に制御信号を入出力するシステム制御部１を有する。治療台操作装置２は、操作者の入力操作により治療台制御部３に制御信号を入力し、治療台５を任意の位置に移動させると共に治療台５の位置を表示するためのものである。 In this embodiment, an example of a patient positioning system capable of reducing the height of the treatment table top plate will be described. FIG. 1 is a configuration diagram of a patient positioning system used in a particle beam fixed irradiation room treatment system. The treatment table 5, the treatment table control unit 3 that controls the treatment table 5, the treatment table operation device 2 that inputs and outputs control signals to the treatment table control unit 3, the floor lifting mechanism 6, and the floor lifting mechanism 6 are controlled. The system includes a floor lifting mechanism control unit 4, a treatment table control unit 3, and a floor lifting mechanism control unit 4 that inputs and outputs control signals. The treatment table operating device 2 is for inputting a control signal to the treatment table control unit 3 by an input operation of an operator, moving the treatment table 5 to an arbitrary position, and displaying the position of the treatment table 5.
　図２は、治療台５及び床昇降機構６の概念図である。治療台５は、床置き型の多関節ロボットであり、天板１１に患者を乗せて照射ノズル１２から照射される放射線の照射位置に患者の患部を位置決めできるように構成され、治療室の床に掘られたピット１３に固定される。治療台の近傍にＣＴ(Computerized Tomography)装置２０を設置して、治療台５をアームによりＣＴ装置内に差し込み、患部位置の確認から治療までの一連の作業を行うこともできる。 FIG. 2 is a conceptual diagram of the treatment table 5 and the floor lifting mechanism 6. The treatment table 5 is a floor-mounted articulated robot, and is configured so that a patient can be placed on the top plate 11 and the affected area of the patient can be positioned at the irradiation position of the radiation irradiated from the irradiation nozzle 12. It is fixed to the pit 13 dug. A CT (Computerized Tomography) apparatus 20 can be installed in the vicinity of the treatment table, and the treatment table 5 can be inserted into the CT apparatus by an arm, and a series of operations from confirmation of an affected area position to treatment can be performed.
　治療台５は、患者を乗せる天板１１と、天板１１を支持するアーム部１７と、アーム部１７を支持する円柱状の昇降部１８を有し、昇降部１８は治療台昇降機構１４を介してピット壁面に固定される。天板１１とアーム部１７の間には手首部１９が設けられており、ピッチ角φとロール角ψとヨー角θの３自由度に天板１１の傾きを調整することができる。アーム部１７は縦に積まれた２つのリンクにより構成され、２つのリンクの間の関節と、アーム部１７と昇降部１８の間の関節は、それぞれヨー角θに回転可能である。手首部１９と２つの関節と治療台昇降機構１４により、治療台５は全体として６自由度を有する。なお、アーム部１７の各リンクには、手首部１９や関節を駆動するアクチュエータを内蔵するため、一定の厚みが必要となる。アーム部１７に機器配置上求められる厚み以上に天板の高さを床面１５に近付けるために、本実施例の治療台５のアーム部１７の一部が床面より下まで降下することができる。 The treatment table 5 includes a top plate 11 on which a patient is placed, an arm portion 17 that supports the top plate 11, and a columnar lift unit 18 that supports the arm unit 17, and the lift unit 18 includes a treatment table lift mechanism 14. Fixed to the pit wall. A wrist portion 19 is provided between the top plate 11 and the arm portion 17, and the inclination of the top plate 11 can be adjusted to three degrees of freedom of the pitch angle φ, the roll angle ψ, and the yaw angle θ. The arm portion 17 is constituted by two links stacked vertically, and the joint between the two links and the joint between the arm portion 17 and the elevating portion 18 can rotate to the yaw angle θ. The treatment table 5 has six degrees of freedom as a whole by the wrist 19, the two joints, and the treatment table elevating mechanism 14. Since each link of the arm portion 17 incorporates a wrist portion 19 and an actuator for driving the joint, a certain thickness is required. In order to bring the height of the top plate closer to the floor surface 15 than the thickness required for equipment arrangement on the arm portion 17, a part of the arm portion 17 of the treatment table 5 of the present embodiment may be lowered below the floor surface. it can.
　天板１１及びアーム部１７は昇降部１８の昇降に伴い上下し、その可動範囲は、アーム部１７の一部が床面１５の下に降下する位置から、アーム部１７の全体が床面１５の上に現れ、昇降部１８の円柱上部が床面１５の上までせり上がった所定の位置までである。図２は、アーム部１７の上下２つのリンクの内、上側リンクの中ほどまで床面１５の下に下降した状態を示している。なお、昇降部１８はピット１３壁面に沿って床面に対して垂直に設置されたレールの上を駆動機構により上下する。 The top plate 11 and the arm part 17 are moved up and down as the elevating part 18 is moved up and down, and the movable range of the top part 11 and the arm part 17 from the position where a part of the arm part 17 descends below the floor surface 15 is as follows. It is up to a predetermined position where the upper part of the column of the elevating part 18 rises above the floor 15. FIG. 2 shows a state where the arm portion 17 is lowered below the floor 15 to the middle of the upper link of the two upper and lower links. The elevating unit 18 moves up and down on a rail installed perpendicularly to the floor along the wall surface of the pit 13 by a driving mechanism.
　床昇降機構６は、治療台５の治療台昇降機構１４と独立した駆動機構を持ち、床面１５の一部であって床面１５に設けられた穴を塞ぐように設置された床面１６を昇降することができる。床昇降機構６は、その一方で床面１６を支持し、他方で駆動機構を介してピット１３壁面に固定されている。ピット１３壁面に沿って床面に対して垂直に設置されたレールの上を駆動機構により上下する。通常、アーム部１７が床面１５の上に出ているときは、床昇降機構の床面１６は他の床面１５と同じ高さになるように構成されている。 The floor raising / lowering mechanism 6 has a drive mechanism independent of the treatment table raising / lowering mechanism 14 of the treatment table 5, and is a floor surface 16 which is a part of the floor surface 15 and is installed so as to close a hole provided in the floor surface 15. Can be moved up and down. The floor lifting mechanism 6 supports the floor surface 16 on the one hand, and is fixed to the wall surface of the pit 13 via the drive mechanism on the other hand. A drive mechanism moves up and down on rails installed perpendicular to the floor along the wall surface of the pit 13. Normally, when the arm portion 17 is on the floor surface 15, the floor surface 16 of the floor lifting mechanism is configured to be the same height as the other floor surfaces 15.
　また、治療台５の治療台昇降機構１４及び床昇降機構６はリミットスイッチを備え、治療台５及び床昇降機構６の制御において安全を担保する。治療台５のリミットスイッチは、治療台５が、予め設定された最も高い治療位置より上昇したとき、及び患者乗降位置より下降したとき、及び床昇降機構６が下降する前に患者乗降位置上空の設定位置より下降したときに作動し、治療台５を停止させる。床昇降機構６のリミットスイッチは、床昇降機構６が、患者乗降位置より下降したとき、及び床昇降機構の床面１６が他の床１５の高さより上昇したとき、及び治療台５が上昇する前に患者乗降位置より上昇したときに作動し、床昇降機構６を停止させる。これにより、可動範囲を超えて駆動機構が動作するのを抑制することができる。また、治療台昇降機構１４がアーム部１７を床下に降下させる前に床昇降機構６が床面１６を退避し始めることを確認したり、逆に床昇降機構６を上昇させる際に治療台昇降機構１４も上昇を開始することを確認することで、誤作動によるアーム部１７と床面１６の干渉を抑制するためである。 Moreover, the treatment table raising / lowering mechanism 14 and the floor raising / lowering mechanism 6 of the treatment table 5 are provided with limit switches to ensure safety in the control of the treatment table 5 and the floor lifting mechanism 6. The limit switch of the treatment table 5 is set so that when the treatment table 5 is raised from the highest preset treatment position and when it is lowered from the patient getting on / off position, and before the floor lifting mechanism 6 is lowered, It operates when lowered from the set position and stops the treatment table 5. The limit switch of the floor elevating mechanism 6 is such that when the floor elevating mechanism 6 is lowered from the patient getting on / off position, the floor surface 16 of the floor elevating mechanism is raised above the height of the other floor 15, and the treatment table 5 is raised. It operates when it has been lifted from the patient boarding / exiting position before, and the floor lifting mechanism 6 is stopped. Thereby, it can suppress that a drive mechanism operates exceeding a movable range. Also, before the treatment table elevating mechanism 14 lowers the arm portion 17 below the floor, it is confirmed that the floor elevating mechanism 6 starts to retract the floor surface 16, or conversely, when the floor elevating mechanism 6 is raised, This is because it is confirmed that the mechanism 14 also starts to rise, thereby suppressing interference between the arm portion 17 and the floor surface 16 due to malfunction.
　図３は、本システムでの任意の位置から、患者が治療台５の天板１１に乗り降りしやすい患者乗降位置へ天板１１を移動させる動作に関するフローチャートである。任意の位置とは、例えば粒子線治療用のノズル１２正面の照射用の位置や、ＣＴ装置２０の中に差し込まれた状態の位置である。 FIG. 3 is a flowchart regarding the operation of moving the top board 11 from an arbitrary position in this system to a patient boarding / exiting position where the patient can easily get on and off the top board 11 of the treatment table 5. The arbitrary position is, for example, a position for irradiation in front of the nozzle 12 for particle beam therapy or a position inserted into the CT apparatus 20.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に移動させる」Ｓ１では、治療台制御部３は治療台操作装置２から制御信号を入力され、制御信号を治療台５に出力し、治療台５を任意の治療位置から患者乗降位置上空の設定位置に移動させる。患者乗降位置上空の設定位置とは、例えば、本実施例では図２のように、天板１１とアーム部１７の２つのリンクが上下３段にちょうど重なり、リンク同士や天板との間の関節角度がほぼゼロになる位置であって、床面１６のすぐ上の空間で、そのまま患者乗降位置まで天板１１を降下させることができるような位置のことを指す。なお、天板１１とアーム部１７の２つのリンクのうち２つ以上がちょうど重なる位置は、制御上特異点になっているため、空間座標の位置情報を治療台５に出力して治療台５を移動させることはできない。そこで、空間座標の位置情報を治療台５に出力して患者乗降位置上空の設定位置近くの特異点ではない位置に治療台５を移動させた後、治療台５の機械回転軸を動かして、天板１１とアーム部１７の２つのリンクがちょうど重なる位置に治療台５を移動させる。本実施例では、システム制御部１で制御してこの一連の動作を自動的に実施してもよい。 “The treatment table control unit moves the treatment table to a setting position above the patient entry / exit position” In S1, the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5. Then, the treatment table 5 is moved from an arbitrary treatment position to a set position above the patient getting on / off position. In the present embodiment, for example, as shown in FIG. 2, the set position above the patient boarding / exiting position is such that the two links of the top plate 11 and the arm unit 17 overlap in three upper and lower stages, and the link between the links and the top plate This is a position where the joint angle is almost zero, and is a position where the top plate 11 can be lowered as it is to the patient getting on / off position in the space immediately above the floor 16. In addition, since the position where two or more of the two links of the top plate 11 and the arm portion 17 overlap is a singular point in terms of control, the position information of the spatial coordinates is output to the treatment table 5 to output the treatment table 5. Cannot be moved. Therefore, after outputting the position information of the spatial coordinates to the treatment table 5 and moving the treatment table 5 to a position that is not a singular point near the setting position above the patient getting on / off position, the mechanical rotation axis of the treatment table 5 is moved, The treatment table 5 is moved to a position where the two links of the top plate 11 and the arm portion 17 are just overlapped. In this embodiment, the series of operations may be automatically performed under the control of the system control unit 1.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させる」Ｓ２では、天板１１やアーム部１７の位置をセンサーで取得する治療台制御部３が制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置で停止させる。 “The treatment table control unit stops the treatment table at a set position above the patient entry / exit position” In S2, the treatment table control unit 3 that acquires the position of the top plate 11 or the arm unit 17 with a sensor sends a control signal to the treatment table 5. The treatment table 5 is stopped at the set position above the patient getting on / off position.
　「床昇降機構制御部は床昇降機構を患者乗降位置に下降させる」Ｓ３では、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構６を床高さから患者乗降位置に下降させる。 In “S3, the floor lifting mechanism control unit lowers the floor lifting mechanism to the patient getting on / off position”, the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4. The floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 to lower the floor lifting mechanism 6 from the floor height to the patient getting on / off position.
　「床昇降機構制御部は床昇降機構を患者乗降位置で停止させる」Ｓ４では、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構６を患者乗降位置で停止させる。 “The floor lifting mechanism control unit stops the floor lifting mechanism at the patient entry / exit position” S4, the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4. The floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, and stops the floor elevating mechanism 6 at the patient getting on / off position.
　「治療台制御部は治療台を患者乗降位置に下降させる」Ｓ５では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置から患者乗降位置に下降させる。患者乗降位置とは、例えば図２のように、天板１１とアーム部１７の２つのリンクが上下３段に床面１６のすぐ上の空間で重なり、アーム部１７の中ほどまでが床面１５より下に下降し、患者が乗り降りしやすい高さに天板１１がある状態の治療台５の位置である。 In “S5, the treatment table controller lowers the treatment table to the patient entry / exit position”, the treatment table control unit 3 outputs a control signal to the treatment table 5, and the treatment table 5 is moved from the set position above the patient entry / exit position to the patient entry / exit position. To lower. For example, as shown in FIG. 2, the patient boarding / exiting position is such that two links of the top plate 11 and the arm portion 17 overlap in three spaces above and below the floor surface 16, and the middle of the arm portion 17 extends to the floor surface. It is a position of the treatment table 5 that is lowered below 15 and the top plate 11 is at a height at which the patient can easily get on and off.
　「治療台制御部は治療台を患者乗降位置で停止させる」Ｓ６では、治療台制御部３は制御信号を治療台に出力し、治療台５を患者乗降位置で停止させる。 “The treatment table control unit stops the treatment table at the patient getting on / off position” In S6, the treatment table control unit 3 outputs a control signal to the treatment table and stops the treatment table 5 at the patient getting on / off position.
　床昇降機構６の下降を最初に開始し、下降位置に停止後に、治療台５を下降させる制御手順でも実現可能であるが、本実施例では、治療台５の下降の動きを床昇降機構６に衝突しないように、床昇降機構６の下降の動きに同期して動作するように制御する。この同期動作により、下降完了までの時間が短縮できる効果がある。この同期動作を実現するために、床昇降機構６にその下降位置または下降速度を検出するセンサを装着し、その位置または速度データと治療台５の位置または速度データをシステム制御部１に入力して、両者の偏差が下降開始時の状態から小さくならないように自動制御する衝突防止制御機能を有する。この衝突防止制御機能には、前記の偏差が、これらの装置に何らかの異常が発生して、あらかじめ決められた値より小さくなった場合に異常と判定し、治療台５及び床昇降機構６を安全に停止させる機能を有する。尚、床昇降機構の位置または速度検出センサを装備しないで、衝突防止制御機能を省略し、床昇降機構６の下降速度をあらかじめ測定しておき、治療台５の下降速度を測定された昇降機構の速度以下になるように自動制御することで、システム制御部１の処理負荷を低減しても良い。また、この制御機能をシステム制御部１を介さずに、治療台制御部３と床昇降機構制御部４の間で信号を取り交わして実現しても良い。尚、床昇降機構６は、制御が比較的容易なためモータ制御で実施するが、空圧制御もしくは油圧制御で実施しても良く、制御方式を限定するものではない。 Although it is also possible to implement the control procedure of starting the lowering of the floor lifting mechanism 6 first and stopping the treatment table 5 after stopping at the lowered position, in this embodiment, the movement of the lowering of the treatment table 5 is performed by the floor lifting mechanism 6. So that the floor elevating mechanism 6 operates in synchronism with the downward movement of the floor elevating mechanism 6. This synchronous operation has an effect of shortening the time until completion of the descent. In order to realize this synchronous operation, a sensor for detecting the descending position or descending speed is attached to the floor elevating mechanism 6, and the position or speed data and the position or speed data of the treatment table 5 are input to the system control unit 1. Thus, it has a collision prevention control function for automatically controlling so that the deviation between the two does not become smaller from the state when the descent starts. In this anti-collision control function, when the above-mentioned deviation becomes smaller than a predetermined value due to any abnormality occurring in these devices, it is determined as abnormal, and the treatment table 5 and the floor lifting mechanism 6 are made safe. It has a function to stop. In addition, the position / speed detection sensor of the floor lifting mechanism is not equipped, the collision prevention control function is omitted, the lowering speed of the floor lifting mechanism 6 is measured in advance, and the lowering speed of the treatment table 5 is measured. The processing load on the system control unit 1 may be reduced by automatically controlling the speed so as to be equal to or less than the above speed. Further, this control function may be realized by exchanging signals between the treatment table control unit 3 and the floor lifting mechanism control unit 4 without using the system control unit 1. The floor elevating mechanism 6 is controlled by motor control because it is relatively easy to control, but may be performed by pneumatic control or hydraulic control, and the control method is not limited.
　図４は、本システムでの患者乗降位置から任意の位置への動作に関するフローチャートである。 FIG. 4 is a flowchart regarding the operation from the patient boarding / alighting position to an arbitrary position in this system.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に上昇させる」Ｓ１０では、治療台制御部３は治療台操作装置２から制御信号を入力され、制御信号を治療台５に出力し、治療台５を患者乗降位置から患者乗降位置上空の設定位置に上昇させる。 In “S10, the treatment table controller raises the treatment table to a set position above the patient entry / exit position”, the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5. Then, the treatment table 5 is raised from the patient getting on / off position to a set position above the patient getting on / off position.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させる」Ｓ１１では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置で停止させる。 “The treatment table control unit stops the treatment table at a set position above the patient boarding / exiting position” In S11, the treatment table control unit 3 outputs a control signal to the treatment table 5, and sets the treatment table 5 at the set position above the patient getting on / off position. Stop at.
　「床昇降機構制御部は床昇降機構を床高さに上昇させる」Ｓ１２では、治療台制御部３は制御信号をシステム制御部１に出力し、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構６を患者乗降位置から床高さに上昇させる。 In “S12, the floor lifting mechanism control unit raises the floor lifting mechanism to the floor height”, the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism. Output to part 4. The floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 to raise the floor lifting mechanism 6 from the patient getting on / off position to the floor height.
　「床昇降機構制御部は床昇降機構を床高さで停止させる」Ｓ１３では、治療台制御部３は制御信号をシステム制御部１に出力し、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構６を床高さで停止させ、床面１６は周囲の床面１５と外観上一体となる。この後Ｓ１４で治療台５は床面１６の上の空間から移動し、床面１６の上の空間は外部に露出することになるが、露出する際にはすでに床面１６と床面１５は段差のない平らな床面となっているため、物がピットに落下したり、アーム部１７を床下に降下させる機構が患者や操作者の移動の障害になる可能性を最大限抑制できる。 “The floor lifting mechanism control unit stops the floor lifting mechanism at the floor height” In S13, the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism. Output to part 4. The floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, stops the floor elevating mechanism 6 at the floor height, and the floor 16 is integrated with the surrounding floor 15 in appearance. Thereafter, in S14, the treatment table 5 moves from the space above the floor surface 16, and the space above the floor surface 16 is exposed to the outside. However, when exposed, the floor surface 16 and the floor surface 15 are already exposed. Since it is a flat floor surface without a step, it is possible to suppress the possibility that an object will fall into the pit or a mechanism that lowers the arm portion 17 below the floor will obstruct the movement of the patient or the operator.
　なお、床昇降機構６と治療台５の上昇の動きの動作制御は、下降時のそれと同じ同期機能が働くが、詳細は省略する。 It should be noted that the operation control of the upward and downward movements of the floor lifting mechanism 6 and the treatment table 5 has the same synchronization function as that at the time of lowering, but the details are omitted.
　「治療台制御部は治療台を任意の治療位置に移動させる」Ｓ１４では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置から任意の治療位置に移動させる。 “The treatment table control unit moves the treatment table to an arbitrary treatment position” In S14, the treatment table control unit 3 outputs a control signal to the treatment table 5, and the treatment table 5 is moved to an arbitrary position from the set position above the patient boarding / exiting position. Move to treatment position.
　「治療台制御部は治療台を任意の治療位置で停止させる」Ｓ１５では、治療台制御部３は制御信号を治療台５に出力し、治療台５を任意の治療位置で停止させる。このとき、アーム部１７や天板１１は床面１６の真上の空間とは異なる位置に移動しており、床面１６は外部に露出しているが、床面１６は床面１５と段差のない平らな床面を形成しているため、操作者の移動の障害になったり、ピット内に物が落下する可能性を抑制される。 “The treatment table control unit stops the treatment table at an arbitrary treatment position” In S15, the treatment table control unit 3 outputs a control signal to the treatment table 5 and stops the treatment table 5 at an arbitrary treatment position. At this time, the arm portion 17 and the top plate 11 are moved to positions different from the space directly above the floor surface 16, and the floor surface 16 is exposed to the outside, but the floor surface 16 is stepped from the floor surface 15. As a result, the possibility of obstructing the movement of the operator or dropping an object in the pit is suppressed.
　図５は、患者が治療室で治療台に乗り降りする治療手順に関するフローチャートである。 FIG. 5 is a flowchart relating to a treatment procedure in which the patient gets on and off the treatment table in the treatment room.
　「治療室の治療台が任意の治療位置から患者乗降位置に移動する」Ｓ２０では、図３の手順で、治療室の治療台５が任意の治療位置から患者乗降位置に移動する。 “In the treatment room treatment table moves from an arbitrary treatment position to the patient entry / exit position” S20, the treatment room treatment table 5 moves from an arbitrary treatment position to the patient entry / exit position in the procedure of FIG.
　「患者が治療室で治療台に乗る」Ｓ２１では、患者が自力であるいは治療スタッフの補助を受けて治療室で治療台５に乗る。患者は治療台５の上で固定される。 “In the patient gets on the treatment table in the treatment room” S21, the patient gets on the treatment table 5 in the treatment room by himself or with the assistance of the treatment staff. The patient is fixed on the treatment table 5.
　「治療室の治療台が患者乗降位置から任意の治療位置に移動する」Ｓ２２では、図４の手順で、治療室の治療台が患者乗降位置から任意の治療位置に移動する。 In “S22, the treatment room treatment table moves from the patient entry / exit position to an arbitrary treatment position”, the treatment room treatment table moves from the patient entry / exit position to an arbitrary treatment position in the procedure of FIG.
　「患者が放射線治療を受ける」Ｓ２３では、患者は放射線治療装置により放射線治療を受ける。 In “23, the patient receives radiation therapy”, the patient receives radiation therapy by the radiation therapy apparatus.
　本実施例においては、アーム部１７と干渉する床を退避させる機構は床を昇降させる機構により実現したが、例えば床面を観音開きにする構造や、引きこみ戸のようなシャッター構造により実現にしても本実施例の効果が得られる。 In this embodiment, the mechanism for retracting the floor that interferes with the arm portion 17 is realized by a mechanism for raising and lowering the floor. However, for example, it is realized by a structure in which the floor surface is a double door or a shutter structure such as a sliding door. The effect of this embodiment can be obtained.
　また、本実施例においては、１つの床昇降機構６を用いているが、治療のスループット向上の観点から複数の床昇降機構６を用いてもよい。複数の床昇降機構６を用いるときは、治療位置あるいは治療手順により、使用する床昇降機構６を選択する。 In the present embodiment, one floor lifting mechanism 6 is used, but a plurality of floor lifting mechanisms 6 may be used from the viewpoint of improving the throughput of treatment. When a plurality of floor lifting mechanisms 6 are used, the floor lifting mechanism 6 to be used is selected according to the treatment position or treatment procedure.
　また、本実施例においては、治療台５は天板と、昇降部と、２つのリンクを有するアーム部と、複数の関節により構成されているが、リンクが一つしかなく天板位置がもともと低い場合や、３つ以上のリンク及び多くの関節により６以上の自由度を有しアームの動作のみで有る程度の天板高さ低減が可能な場合であっても、本実施例と同様の効果は得られる。例えば、昇降部と一つのリンクと天板を有し、それぞれ間に関節が設けられている場合でも、アーム部の床下降下による天板の高さ低減効果は得られる。 In the present embodiment, the treatment table 5 is composed of a top plate, an elevating part, an arm part having two links, and a plurality of joints. Even if it is low, or even when the top plate height can be reduced to some extent by only the movement of the arm with three or more links and many joints, the same as in this embodiment The effect is obtained. For example, even when a lift part, a single link, and a top board are provided, and joints are provided between them, the effect of reducing the height of the top board by lowering the floor of the arm part can be obtained.
　本実施例の治療台及び位置決めシステムを用いれば、治療台天板が治療室の床に比較的近いところまで下降することができ、特に若年の患者や、治療台への乗り降りに治療スタッフの介助が必要な患者が乗り降りしやすくなる。 By using the treatment table and positioning system of the present embodiment, the treatment table top plate can be lowered to a position that is relatively close to the floor of the treatment room, especially for young patients and for the treatment staff to get on and off the treatment table. This makes it easier for patients who need to get on and off.
　本実施例によれば、放射線治療装置の患者位置決めシステムにおいて、床の一部が下降することで床と治療台の干渉を回避でき、天板を降下させるためにアームの可動範囲や自由度を向上させると増大してしまう天板とアームの干渉領域を現状のままにして、治療台天板高さを低減できる。（実施例２～６形態）
　次に、本発明の実施例２～６について図７～図２０を用いて説明する。この実施例２～６は、以下に述べる点で実施例１と相違し、その他の点については実施例１と基本的には同一である。
According to the present embodiment, in the patient positioning system of the radiotherapy apparatus, it is possible to avoid the interference between the floor and the treatment table by lowering a part of the floor, and in order to lower the top plate, the movable range and the degree of freedom of the arm are set. The height of the treatment table top plate can be reduced while the interference area between the top plate and the arm, which increases when improved, is maintained as it is. (Examples 2 to 6)
Next, Examples 2 to 6 of the present invention will be described with reference to FIGS. The second to sixth embodiments are different from the first embodiment in the following points, and are basically the same as the first embodiment in other points.
　本実施例では、実施例１とは異なり床昇降機構が独立した駆動機構を有さず、治療台５と連動して下降するシステムを説明する。 In the present embodiment, unlike the first embodiment, a system in which the floor raising / lowering mechanism does not have an independent drive mechanism and moves down in conjunction with the treatment table 5 will be described.
　図７は、本実施例の患者位置決めシステムの構成図である。連動して昇降する床昇降機構６１を備えた治療台５１と、床昇降機構の制御を含む、治療台５１を制御する治療台制御部３と、治療台制御部３に制御信号を入力する治療台操作装置２と、治療台制御部３の制御信号を入出力するシステム制御部１を有する。 FIG. 7 is a configuration diagram of the patient positioning system of the present embodiment. A treatment table 51 including a floor lifting mechanism 61 that moves up and down in conjunction, a treatment table control unit 3 that controls the treatment table 51 including control of the floor lifting mechanism, and a treatment that inputs a control signal to the treatment table control unit 3 It has the system control part 1 which inputs and outputs the control signal of the table operating device 2 and the treatment table control part 3.
　図８は、治療台５１の概念図である。治療台５１は、床昇降機構６１を備えている。本実施例の床昇降機構６１は、その一方で床面１６を支持し、他方は治療台５１の昇降部１８に接続部６２を介して接続されている。 FIG. 8 is a conceptual diagram of the treatment table 51. The treatment table 51 includes a floor lifting mechanism 61. The floor raising / lowering mechanism 61 of this embodiment supports the floor surface 16 on the one hand, and the other is connected to the lifting / lowering part 18 of the treatment table 51 via a connecting part 62.
　図９は、治療台５１と床昇降機構６１の接続部６２を横から見た図である。治療台５１下降時に治療台５１が一定高さより低くなると、治療台５１の昇降部１８がピット１３の壁面に設けられたレール１８１上を移動する途中で、昇降部１８と床昇降機構６１が接続部６２で固定され、それ以降は床昇降機構６１に付属する床面１６が治療台５１とともに下降する。治療台５１が床面１６と干渉しないよう制御するためであり、ここで一定の高さとは、アーム部１７の下面が床面１６と接する高さ、若しくは、接する高さに対して予め定められた一定のマージンを取った高さである。治療台５１上昇時に一定高さより高くなると、昇降部１８と床昇降機構６１の接続部６２における固定が分離され、床昇降機構６１に付属する床面１６は停止し、周囲の床面１５と外観上一体となり、開口部の無い床面を形成する。 FIG. 9 is a side view of the connecting portion 62 of the treatment table 51 and the floor lifting mechanism 61. If the treatment table 51 becomes lower than a certain height when the treatment table 51 is lowered, the lifting unit 18 and the floor lifting mechanism 61 are connected while the lifting unit 18 of the treatment table 51 moves on the rail 181 provided on the wall surface of the pit 13. After that, the floor surface 16 attached to the floor lifting mechanism 61 is lowered together with the treatment table 51. This is for the purpose of controlling the treatment table 51 so as not to interfere with the floor surface 16, where the constant height is predetermined with respect to the height at which the lower surface of the arm portion 17 is in contact with the floor surface 16 or the height at which it is in contact. It is the height with a certain margin. When the height of the treatment table 51 rises above a certain height, the fixing at the connecting portion 62 of the elevating unit 18 and the floor elevating mechanism 61 is separated, the floor surface 16 attached to the floor elevating mechanism 61 is stopped, and the surrounding floor surface 15 and the appearance are displayed. The floor is integrated with the top and has no opening.
　図１０は、本システムでの任意の位置から患者乗降位置への動作に関するフローチャートである。 FIG. 10 is a flowchart regarding the operation from the arbitrary position to the patient getting on / off position in this system.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に移動させる」Ｓ４０では、治療台制御部３は治療台操作装置２から制御信号を入力され、制御信号を治療台５１に出力し、治療台５１を任意の治療位置から患者乗降位置上空の設定位置に移動させる。 In “S40, the treatment table control unit moves the treatment table to a setting position above the patient entry / exit position”, the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 51. Then, the treatment table 51 is moved from an arbitrary treatment position to a set position above the patient getting on / off position.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させる」Ｓ４１では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置で停止させる。 In “S41, the treatment table controller stops the treatment table at a set position above the patient entry / exit position”, the treatment table control unit 3 outputs a control signal to the treatment table 51, and sets the treatment table 51 to a set position above the patient entry / exit position. Stop at.
　「治療台制御部は治療台、及び治療台と連動した床昇降機構を患者乗降位置に下降させる」Ｓ４２では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置から患者乗降位置に下降させ、治療台５１と連動した床昇降機構６１を床高さから患者乗降位置に下降させる。 “The treatment table control unit lowers the treatment table and the floor lifting mechanism linked to the treatment table to the patient boarding position” In S42, the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 is transferred to the patient. The patient is lowered from the set position above the boarding / alighting position to the patient boarding / alighting position, and the floor lifting mechanism 61 interlocked with the treatment table 51 is lowered from the floor height to the patient boarding / alighting position.
　「治療台制御部は治療台、及び治療台と連動した床昇降機構を患者乗降位置で停止させる」Ｓ４３では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１及び治療台５１と連動した床昇降機構６１を患者乗降位置で停止させる。 “The treatment table control unit stops the treatment table and the floor lifting mechanism linked to the treatment table at the patient getting on / off position”. In S43, the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 and the treatment table. The floor lifting mechanism 61 interlocked with the platform 51 is stopped at the patient getting on / off position.
　図１１は、本システムでの患者乗降位置から任意の位置への動作に関するフローチャートである。 FIG. 11 is a flowchart regarding the operation from the patient boarding / exiting position to an arbitrary position in this system.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に上昇させ、治療台と連動した床昇降機構を床高さに上昇させる」Ｓ５０では、治療台制御部３は治療台操作装置２から制御信号を入力され、制御信号を治療台５１に出力し、治療台５１を患者乗降位置から患者乗降位置上空の設定位置に移動させ、治療台５１と連動した床昇降機構６１を患者乗降位置から床高さに上昇させる。 “The treatment table control unit raises the treatment table to a set position above the patient entry / exit position and raises the floor lifting mechanism linked to the treatment table to the floor height”. In S50, the treatment table control unit 3 performs the treatment table operation device 2. The control signal is input to the treatment table 51, the control signal 51 is output to the treatment table 51, the treatment table 51 is moved from the patient entry / exit position to the set position above the patient entry / exit position, and the floor lifting mechanism 61 linked to the treatment table 51 is moved to the patient entry / exit position. From floor to floor height.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させ、治療台と連動した床昇降機構を床高さで停止させる」Ｓ５１では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置で停止させ、治療台５１と連動した床昇降機構６１を床高さで停止させる。 “The treatment table control unit stops the treatment table at a set position above the patient entry / exit position and stops the floor lifting mechanism linked to the treatment table at the floor height”. In S51, the treatment table control unit 3 sends a control signal to the treatment table. 51, the treatment table 51 is stopped at the set position above the patient boarding / alighting position, and the floor lifting mechanism 61 interlocked with the treatment table 51 is stopped at the floor height.
　「治療台制御部は治療台を任意の治療位置に移動させる」Ｓ５２では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置から任意の治療位置に移動させる。 “The treatment table control unit moves the treatment table to an arbitrary treatment position” In S52, the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 is moved to an arbitrary position from the set position above the patient boarding / exiting position. Move to treatment position.
　「治療台制御部は治療台を任意の治療位置で停止させる」Ｓ５３では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を任意の治療位置で停止させる。 “The treatment table control unit stops the treatment table at an arbitrary treatment position” In S53, the treatment table control unit 3 outputs a control signal to the treatment table 51, and stops the treatment table 51 at an arbitrary treatment position.
　本実施例によれば、床昇降機構６１と治療台５１をシステム制御１で同期させることなく連動して動かせるため、システム制御１の処理負荷が低減される。また、床昇降機構６１を動かす独立した駆動装置を設ける必要がないため、制御と設置が容易となる。
According to the present embodiment, the floor lifting mechanism 61 and the treatment table 51 can be moved in conjunction with each other without being synchronized by the system control 1, so that the processing load of the system control 1 is reduced. Further, since there is no need to provide an independent drive device for moving the floor lifting mechanism 61, control and installation are facilitated.
　実施例１及び実施例２において、床下に降下するアーム部１７の水平断面形状が下側リンクから上側リンクまで同一ではない場合には、床昇降機構６が患者乗降位置に降下する途中若しくは降下した後に、アーム部１７側壁と床面１５の間にわずかな開口部が床面に生じ、治療スタッフが開口部を含む床面に脚を踏み入れる可能性がある。わずかな開口部を含む確かな安定性が確保し辛い床面領域に脚を踏み入れる可能性を回避するために、わずかな開口部を覆う床面を形成する機構を別途設けることが有効となる。本実施例では、実施例１のシステムに床形成機構が備わったシステムを説明する。 In Example 1 and Example 2, when the horizontal cross-sectional shape of the arm portion 17 descending below the floor is not the same from the lower link to the upper link, the floor lifting mechanism 6 is lowered or lowered during the lowering to the patient getting-on / off position. Later, a slight opening may occur between the side wall of the arm portion 17 and the floor 15 on the floor, and the treatment staff may step on the floor including the opening. In order to avoid the possibility of stepping into the floor area where it is difficult to ensure reliable stability including a slight opening, it is effective to separately provide a mechanism for forming a floor covering the slight opening. In the present embodiment, a system in which the floor forming mechanism is provided in the system of the first embodiment will be described.
　図１２、本実施例の患者位置決めシステムの構成図である。実施例１の構成に加えて、床形成機構８と、システム制御部１から制御信号に基づき床形成機構８を制御する床形成機構制御部７を備える。 FIG. 12 is a block diagram of the patient positioning system of the present embodiment. In addition to the configuration of the first embodiment, a floor forming mechanism 8 and a floor forming mechanism control unit 7 that controls the floor forming mechanism 8 based on a control signal from the system control unit 1 are provided.
　図１３は、治療台５及び床昇降機構６及び床形成機構８の概念図である。治療台５の床に掘られたピット１３に床形成機構８を備えており、床昇降機構６及び治療台５が下降しているとき、下降停止あるいは下降中に床形成機構８が床面２１を形成する。床面２１形成により、床面１６下降後の床面１５のわずかな開口部が生じる領域に治療スタッフが脚を踏み入れることを防止する。床形成機構８は、治療台５の治療台昇降機構１４と独立した駆動機構を持ち、床面１５の一部であって床面１５に設けられた開口部の一部を塞ぐように設置された床面２１を左右に水平に移動させることができる。床昇降機構６は、その一方で床面１６を支持し、他方で駆動機構を介してピット１３壁面に固定されている。ピット１３壁面に沿って床面に対して水平に設置されたレールの上を駆動機構により左右に水平移動する。 FIG. 13 is a conceptual diagram of the treatment table 5, the floor lifting mechanism 6 and the floor forming mechanism 8. The floor forming mechanism 8 is provided in the pit 13 dug in the floor of the treatment table 5, and when the floor lifting mechanism 6 and the treatment table 5 are lowered, the floor formation mechanism 8 is moved to the floor surface 21 while being lowered or lowered. Form. Formation of the floor surface 21 prevents the treatment staff from stepping into a region where a slight opening of the floor surface 15 after the floor surface 16 descends. The floor forming mechanism 8 has a drive mechanism independent of the treatment table raising / lowering mechanism 14 of the treatment table 5, and is installed so as to close a part of the floor 15 and an opening provided in the floor 15. The floor surface 21 can be moved horizontally from side to side. The floor lifting mechanism 6 supports the floor surface 16 on the one hand, and is fixed to the wall surface of the pit 13 via the drive mechanism on the other hand. The pit 13 moves horizontally on the rail horizontally installed on the floor along the wall surface by the drive mechanism.
　本実施例では、アーム部１７の上下あるリンクの内、上側リンクの水平断面積が下側リンクの水平断面積よりも小さい構造となっている。そのため、床面１５に形成される開口部は、下側リンクがちょうど通過できるような形状であり、アーム部１７が降下している途中は、下側リンク側壁と床面１５の開口部縁の隙間がほぼ無い状態となる。しかし、下側リンクがすべて床面１５の下まで下降し、上側リンク側壁と開口部縁が近接する状態となると、下側リンクと上側リンクの体積差分だけ、上側リンク側壁と床面１５の開口部縁の間にわずかな開口部が生じる。通常、アーム部１７が床面１５の上に出ているときは、床面１６が床面１５の開口部を覆い、床面２１は床面１５の下に退避した状態となるが、アーム部１７の下側リンクが床面１５下に降下した後は、隙間を低減させるように床形成機構８が床面２１を移動させる。さらに、床面１５と床面２１の高さの差を低減するように床面２１を昇降する機構を床形成機構８が備えていてもよい。 In this embodiment, of the links above and below the arm portion 17, the horizontal cross-sectional area of the upper link is smaller than the horizontal cross-sectional area of the lower link. Therefore, the opening formed in the floor 15 is shaped to allow the lower link to pass through, and the lower link side wall and the opening edge of the floor 15 are in the middle of the lowering of the arm 17. There is almost no gap. However, when all the lower links are lowered below the floor surface 15 and the upper link side wall and the opening edge are close to each other, the opening of the upper link side wall and the floor surface 15 is increased by the volume difference between the lower link and the upper link. A slight opening occurs between the edges. Normally, when the arm portion 17 is above the floor surface 15, the floor surface 16 covers the opening of the floor surface 15 and the floor surface 21 is retracted below the floor surface 15. After the lower link 17 is lowered below the floor 15, the floor forming mechanism 8 moves the floor 21 so as to reduce the gap. Further, the floor forming mechanism 8 may include a mechanism for raising and lowering the floor surface 21 so as to reduce the difference in height between the floor surface 15 and the floor surface 21.
　本実施例においては、アーム部１７の上側リンクが下側リンクより小さい場合について説明したが、上側リンクが下側リンクより大きい場合であっても、下側リンク側壁と開口部縁の隙間を低減するように床形成機構８を適宜出し入れすることで同様の効果を奏する。 In this embodiment, the case where the upper link of the arm portion 17 is smaller than the lower link has been described. However, even when the upper link is larger than the lower link, the gap between the lower link side wall and the opening edge is reduced. As described above, the same effect can be obtained by appropriately taking in and out the floor forming mechanism 8.
　図１４は、本システムでの任意の位置から患者乗降位置への動作に関するフローチャートである。 FIG. 14 is a flowchart relating to the operation from an arbitrary position to the patient getting on / off position in the present system.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に移動させる」Ｓ６０では、治療台制御部３は治療台操作装置２から制御信号を入力され、制御信号を治療台５に出力し、治療台５を任意の治療位置から患者乗降位置上空の設定位置に移動させる。 In “S60, the treatment table control unit moves the treatment table to a setting position above the patient entry / exit position”, the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5. Then, the treatment table 5 is moved from an arbitrary treatment position to a set position above the patient getting on / off position.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させる」Ｓ６１では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置で停止させる。 “The treatment table control unit stops the treatment table at a set position above the patient getting on / off position” In S61, the treatment table control unit 3 outputs a control signal to the treatment table 5, and the treatment table 5 is set at the set position above the patient getting on / off position. Stop at.
　「床昇降機構制御部は床昇降機構を患者乗降位置に下降させる」Ｓ６２では、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構を床高さから患者乗降位置に下降させる。 In “S62, the floor lifting mechanism control unit lowers the floor lifting mechanism to the patient getting on / off position”, the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4. The floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 to lower the floor lifting mechanism from the floor height to the patient getting on / off position.
　「床昇降機構制御部は床昇降機構を患者乗降位置で停止させる」Ｓ６３では、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構６を患者乗降位置で停止させる。 In “S63, the floor lifting mechanism control unit stops the floor lifting mechanism at the patient getting on / off position”, the system control unit 1 outputs a control signal to the floor lifting mechanism control unit 4. The floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, and stops the floor elevating mechanism 6 at the patient getting on / off position.
　「治療台制御部は治療台を患者乗降位置に下降させる」Ｓ６４では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置から患者乗降位置に下降させる。 “The treatment table controller lowers the treatment table to the patient entry / exit position” In S64, the treatment table control unit 3 outputs a control signal to the treatment table 5, and moves the treatment table 5 from the set position above the patient entry / exit position to the patient entry / exit position. To lower.
　「治療台制御部は治療台を患者乗降位置で停止させる」Ｓ６５では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置で停止させる。 “The treatment table controller stops the treatment table at the patient getting on / off position” In S65, the treatment table control unit 3 outputs a control signal to the treatment table 5 and stops the treatment table 5 at the patient getting on / off position.
　「床形成機構制御部は床形成機構を床開口部に移動させる」Ｓ６６では、システム制御部１は制御信号を床形成機構制御部７に出力する。ただちに、床形成機構制御部７は制御信号を床形成機構８に出力し、床形成機構８を退避位置から床開口部に移動させる。 “In the floor formation mechanism control unit moves the floor formation mechanism to the floor opening” S66, the system control unit 1 outputs a control signal to the floor formation mechanism control unit 7. Immediately, the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the retracted position to the floor opening.
　なお、床昇降機構６の下降の動きと、治療台５の下降の動きと、床形成機構８の移動の動きを連動させても良い。 It should be noted that the downward movement of the floor lifting mechanism 6, the downward movement of the treatment table 5, and the movement of the floor forming mechanism 8 may be linked.
　図１５は、本システムでの患者乗降位置から任意の位置への動作に関するフローチャートである。 FIG. 15 is a flowchart regarding the operation from the patient boarding / exiting position to an arbitrary position in this system.
　「床形成機構制御部は床形成機構を退避位置に移動させる」Ｓ７０では、治療台制御部３は制御信号を治療台操作装置２から入力され、制御信号をシステム制御部１に出力する。ただちに、システム制御部１は制御信号を床形成機構制御部７に出力する。ただちに、床形成機構制御部７は制御信号を床形成機構８に出力し、床形成機構８を床開口部から退避位置に移動させる。 “In the floor forming mechanism control unit moves the floor forming mechanism to the retracted position” S70, the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the system control unit 1. Immediately, the system control unit 1 outputs a control signal to the floor forming mechanism control unit 7. Immediately, the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the floor opening to the retracted position.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に上昇させる」Ｓ７１では、治療台制御部３は治療台操作装置２から制御信号を入力され、制御信号を治療台５に出力し、治療台５を患者乗降位置から患者乗降位置上空の設定位置に上昇させる。 In “S71, the treatment table controller raises the treatment table to a set position above the patient entry / exit position”, the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 5. Then, the treatment table 5 is raised from the patient getting on / off position to a set position above the patient getting on / off position.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させる」Ｓ７２では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置で停止させる。 “The treatment table control unit stops the treatment table at a set position above the patient boarding / exiting position” In S72, the treatment table control unit 3 outputs a control signal to the treatment table 5, and sets the treatment table 5 at the set position above the patient getting on / off position. Stop at.
　「床昇降機構制御部は床昇降機構を床高さに上昇させる」Ｓ７３では、治療台制御部３は制御信号をシステム制御部１に出力し、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構６を治療台５が患者乗降位置にある際の高さから床面１５の高さに上昇させる。 In “the floor lifting mechanism control unit raises the floor lifting mechanism to the floor height” S73, the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism. Output to part 4. The floor elevating mechanism control unit 4 outputs a control signal to the floor elevating mechanism 6, and raises the floor elevating mechanism 6 from the height when the treatment table 5 is at the patient getting on / off position to the height of the floor surface 15.
　「床昇降機構制御部は床昇降機構を床高さで停止させる」Ｓ７４では、治療台制御部３は制御信号をシステム制御部１に出力し、システム制御部１は制御信号を床昇降機構制御部４に出力する。床昇降機構制御部４は制御信号を床昇降機構６に出力し、床昇降機構６を床面１５の高さで停止させる。 “The floor lifting mechanism control unit stops the floor lifting mechanism at the floor height” In S74, the treatment table control unit 3 outputs a control signal to the system control unit 1, and the system control unit 1 controls the floor lifting mechanism. Output to part 4. The floor lifting mechanism control unit 4 outputs a control signal to the floor lifting mechanism 6 and stops the floor lifting mechanism 6 at the height of the floor 15.
　なお、床昇降機構６の上昇の動きと、治療台５の上昇の動きと、床形成機構８の移動の動きを連動させても良い。 Note that the upward movement of the floor lifting mechanism 6, the upward movement of the treatment table 5, and the movement of the floor forming mechanism 8 may be linked.
　「治療台制御部は治療台を任意の治療位置に移動させる」Ｓ７５では、治療台制御部３は制御信号を治療台５に出力し、治療台５を患者乗降位置上空の設定位置から任意の治療位置に移動させる。 In "S75, the treatment table control unit moves the treatment table to an arbitrary treatment position", the treatment table control unit 3 outputs a control signal to the treatment table 5, and the treatment table 5 is moved to an arbitrary position from the set position above the patient boarding / exiting position. Move to treatment position.
　「治療台制御部は治療台を任意の治療位置で停止させる」Ｓ７６では、治療台制御部３は制御信号を治療台５に出力し、治療台５を任意の治療位置で停止させる。 In “S76, the treatment table control unit stops the treatment table at an arbitrary treatment position”, the treatment table control unit 3 outputs a control signal to the treatment table 5 and stops the treatment table 5 at an arbitrary treatment position.
　本実施例によれば、床形成機構８があることで、治療台下側アームが下降した後に生じる床開口部を塞ぐことができ、治療スタッフがわずかな開口部を含む確かな安定性が確保し辛い床面領域に脚を踏み入れることを防止する。
According to the present embodiment, the floor forming mechanism 8 can close the floor opening that occurs after the lower arm of the treatment table descends, and the treatment staff ensures a certain stability including a slight opening. Prevents you from stepping into difficult floor areas.
　本実施例では、実施例２のシステムに床形成機構が備わったシステムを説明する。 In the present embodiment, a system in which the floor forming mechanism is provided in the system of the second embodiment will be described.
　図１６、本実施例の患者位置決めシステムの構成図である。実施例２の構成に、床形成機構８とその制御をする床面形成機構制御部７を備える。 FIG. 16 is a block diagram of the patient positioning system of the present embodiment. The configuration of the second embodiment includes a floor forming mechanism 8 and a floor surface forming mechanism control unit 7 that controls the floor forming mechanism 8.
　図１７、は治療台及び床昇降機構及び床形成機構の概念図である。治療台の床に掘られたピットに床形成機構を備えており、床昇降機構６１及び治療台５１が下降しているとき、下降停止あるいは下降中に床形成機構８が床面２１を形成する。床形成により、床下降後の床の開口部に治療スタッフがわずかな開口部を含む確かな安定性が確保し辛い床面領域に脚を踏み入れることを防止する。 FIG. 17 is a conceptual diagram of the treatment table, the floor lifting mechanism and the floor forming mechanism. The floor forming mechanism is provided in the pit dug in the floor of the treatment table, and when the floor lifting mechanism 61 and the treatment table 51 are lowered, the floor formation mechanism 8 forms the floor surface 21 while stopping or descending. . The floor formation prevents the treatment staff from stepping into the floor area that is difficult to ensure, ensuring that the treatment staff includes a small opening in the floor opening after descending the floor.
　図１８は、本システムでの任意の位置から患者乗降位置への動作に関するフローチャートである。 FIG. 18 is a flowchart regarding the operation from an arbitrary position to the patient boarding / alighting position in this system.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に移動させる」Ｓ８０では、治療台制御部３は治療台操作装置２から制御信号を入力され、制御信号を治療台５１に出力し、治療台５１を任意の治療位置から患者乗降位置上空の設定位置に移動させる。 In “S80, the treatment table control unit moves the treatment table to a setting position above the patient entry / exit position”, the treatment table control unit 3 receives a control signal from the treatment table operation device 2, and outputs the control signal to the treatment table 51. Then, the treatment table 51 is moved from an arbitrary treatment position to a set position above the patient getting on / off position.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させる」Ｓ８１では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置で停止させる。 In “S81, the treatment table controller stops the treatment table at a setting position above the patient entry / exit position”, the treatment table control unit 3 outputs a control signal to the treatment table 51, and sets the treatment table 51 to a setting position above the patient entry / exit position. Stop at.
　「治療台制御部は治療台、及び治療台と連動した床昇降機構を患者乗降位置に下降させる」Ｓ８２では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置から患者乗降位置に下降させ、治療台５１と連動した床昇降機構を床高さから患者乗降位置に下降させる。 “The treatment table control unit lowers the treatment table and the floor lifting mechanism linked to the treatment table to the patient getting on / off position” In S82, the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 is transferred to the patient. The patient is lowered from the set position above the boarding / alighting position to the patient boarding / alighting position, and the floor lifting mechanism linked to the treatment table 51 is lowered from the floor height to the patient boarding / alighting position.
　「治療台制御部は治療台、及び治療台と連動した床昇降機構を患者乗降位置で停止させる」Ｓ８３では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１及び治療台５１と連動した床昇降機構を患者乗降位置で停止させる。 “The treatment table control unit stops the treatment table and the floor lifting mechanism linked with the treatment table at the patient getting on / off position” In S83, the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 and the treatment table The floor lifting mechanism interlocked with the platform 51 is stopped at the patient getting on / off position.
　「床形成機構制御部は床形成機構を床開口部に移動させる」Ｓ８４では、システム制御部１は制御信号を床形成機構制御部７に出力する。ただちに、床形成機構制御部７は制御信号を床形成機構８に出力し、床形成機構８を退避位置から床開口部に移動させる。 “In the floor forming mechanism control unit moves the floor forming mechanism to the floor opening” S84, the system control unit 1 outputs a control signal to the floor forming mechanism control unit 7. Immediately, the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the retracted position to the floor opening.
　図１９は、本システムでの患者乗降位置から任意の位置への動作に関するフローチャートである。 FIG. 19 is a flowchart regarding the operation from the patient boarding / exiting position to an arbitrary position in this system.
　「床形成機構制御部は床形成機構を退避位置に移動させる」Ｓ９０では、治療台制御部３は制御信号を治療台操作装置２から入力され、制御信号をシステム制御部１に出力する。ただちに、システム制御部１は制御信号を床形成機構制御部７に出力する。ただちに、床形成機構制御部７は制御信号を床形成機構８に出力し、床形成機構８を床開口部から退避位置に移動させる。 In “90, the floor forming mechanism control unit moves the floor forming mechanism to the retracted position”, the treatment table control unit 3 receives a control signal from the treatment table operating device 2, and outputs the control signal to the system control unit 1. Immediately, the system control unit 1 outputs a control signal to the floor forming mechanism control unit 7. Immediately, the floor forming mechanism control unit 7 outputs a control signal to the floor forming mechanism 8 to move the floor forming mechanism 8 from the floor opening to the retracted position.
　「治療台制御部は治療台を患者乗降位置上空の設定位置に上昇させ、治療台と連動した床昇降機構を床高さに上昇させる」Ｓ９１では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置から患者乗降位置上空の設定位置に移動させ、治療台５１と連動した床昇降機構を患者乗降位置から床高さに上昇させる。 “The treatment table controller raises the treatment table to a set position above the patient entry / exit position and raises the floor lifting mechanism linked to the treatment table to the floor height”. In S91, the treatment table control unit 3 sends a control signal to the treatment table. 51, the treatment table 51 is moved from the patient getting on / off position to a set position above the patient getting on / off position, and the floor lifting mechanism linked to the treatment table 51 is raised from the patient getting on / off position to the floor height.
　「治療台制御部は治療台を患者乗降位置上空の設定位置で停止させ、治療台と連動した床昇降機構を床高さで停止させる」Ｓ９２では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置で停止させ、治療台５１と連動した床昇降機構を床高さで停止させる。 “The treatment table control unit stops the treatment table at a set position above the patient entry / exit position and stops the floor lifting mechanism linked to the treatment table at the floor height”. In S92, the treatment table control unit 3 sends a control signal to the treatment table. 51, the treatment table 51 is stopped at a set position above the patient getting on / off position, and the floor lifting mechanism interlocked with the treatment table 51 is stopped at the floor height.
　「治療台制御部は治療台を任意の治療位置に移動させる」Ｓ９３では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を患者乗降位置上空の設定位置から任意の治療位置に移動させる。 In “93, the treatment table control unit moves the treatment table to an arbitrary treatment position”, the treatment table control unit 3 outputs a control signal to the treatment table 51, and the treatment table 51 is moved to an arbitrary position from the set position above the patient getting on / off position. Move to treatment position.
　「治療台制御部は治療台を任意の治療位置で停止させる」Ｓ９４では、治療台制御部３は制御信号を治療台５１に出力し、治療台５１を任意の治療位置で停止させる。 “The treatment table control unit stops the treatment table at an arbitrary treatment position” In S94, the treatment table control unit 3 outputs a control signal to the treatment table 51, and stops the treatment table 51 at an arbitrary treatment position.
　本実施例によれば、床昇降機構と治療台５１をシステム制御１で同期させることなく連動して動かせる。また、床形成機構８があることで、治療台下側アームが下降した後に生じる床開口部を塞ぐことができ、治療スタッフがわずかな開口部を含む確かな安定性が確保し辛い床面領域に脚を踏み入れることを防止する。
According to the present embodiment, the floor lifting mechanism and the treatment table 51 can be moved in conjunction with each other without being synchronized by the system control 1. In addition, the floor formation mechanism 8 can close the floor opening that occurs after the lower arm of the treatment table descends, and it is difficult for the treatment staff to ensure reliable stability including a slight opening. Prevents you from stepping on your feet.
　本実施例では、実施例１～４のシステムで、床昇降機構が２段階で動作するシステムを説明する。 In this embodiment, a system in which the floor lifting mechanism operates in two stages in the systems of Embodiments 1 to 4 will be described.
　図２０に本実施例の患者位置決めシステムの構成図を示す。本実施例のシステムにおいて床昇降機構は２つあり、そのうち第一床昇降機構６はシステムの元となる実施例１と機能がほぼ等しい。新たに第二床昇降機構９が設けられ、床昇降機構制御部４からの制御信号に基づき動作する。 FIG. 20 shows a configuration diagram of the patient positioning system of the present embodiment. In the system of the present embodiment, there are two floor elevating mechanisms, and the first floor elevating mechanism 6 has substantially the same function as that of the first embodiment that is the basis of the system. A second floor elevating mechanism 9 is newly provided and operates based on a control signal from the floor elevating mechanism control unit 4.
　図２１、は治療台５及び床昇降機構の概念図である。床昇降機構は２つの駆動軸を持ち、それぞれ異なる床面を昇降させる。つまり、第一床昇降機構６は床面１６を昇降させ、第二床昇降機構９は床面２２を昇降させる。 FIG. 21 is a conceptual diagram of the treatment table 5 and the floor lifting mechanism. The floor elevating mechanism has two drive shafts and raises and lowers different floor surfaces. That is, the first floor lifting mechanism 6 moves the floor 16 up and down, and the second floor lifting mechanism 9 lifts the floor 22.
　本実施例における治療台５の患者乗降位置は、実施例１のような天板１１とアーム部１７のリンクが三段に重なるポジションとは異なり、アーム部１７の下側リンク１７ｂと上側リンク１７ａが間の関節により一定の角度をもって重なるポジションに設定される。そのため、それぞれのリンクに対応するように、下側リンク１７ｂを床下に降下させるために降下・退避する床面１６とは別個に、アーム部１７の上側リンク１７ａを下側リンク１７ｂとは異なる位置で床下に降下させる際に降下・退避する床面２２が設けられている。
これにより本実施例における患者乗降位置は、ピット１３の設置位置により制約がある治療台５の昇降部１８真上の領域、つまりアーム部１７のリンクが重なったホームポジションに限られず、患者が乗降する位置を柔軟に設定することができる。 The patient boarding / alighting position of the treatment table 5 in this embodiment is different from the position in which the link between the top plate 11 and the arm portion 17 overlaps in three stages as in the first embodiment, and the lower link 17b and the upper link 17a of the arm portion 17. Is set to a position where the joints overlap with each other at a certain angle. Therefore, in order to correspond to each link, the upper link 17a of the arm portion 17 is positioned differently from the lower link 17b separately from the floor surface 16 that is lowered and retracted to lower the lower link 17b below the floor. Is provided with a floor surface 22 that descends and retreats when it is lowered below the floor.
Thereby, the patient boarding / alighting position in this embodiment is not limited to the area just above the lifting / lowering part 18 of the treatment table 5, which is restricted by the installation position of the pit 13, that is, the home position where the link of the arm part 17 overlaps. The position to perform can be set flexibly.
　本システムでの任意の位置から患者乗降位置への動作、及び患者乗降位置から任意の位置への動作に関するフローチャートは、基本的にはシステムの元となる実施例１～４のフローチャートに等しい。ただし、床昇降機構制御部４が制御信号を各床昇降機構に出力し、各床昇降機構を昇降させるとき、まず第一の床昇降機構６を動作させ、下側リンク１７ｂを受け入れる目標位置に向かって降下させた後に、上側リンク１７ａの下面が床面１５の高さに到達することを確認した後に、ただちに、制御信号を床昇降機構に出力し、第二の床昇降機９を動作させ、目標位置で停止させる。 The flowchart regarding the operation from the arbitrary position to the patient getting-on / off position and the operation from the patient getting-on / off position to the arbitrary position in this system is basically the same as the flowcharts of the first to fourth embodiments that are the basis of the system. However, when the floor elevating mechanism control unit 4 outputs a control signal to each floor elevating mechanism to elevate each floor elevating mechanism, first, the first floor elevating mechanism 6 is operated to reach the target position for receiving the lower link 17b. After confirming that the lower surface of the upper link 17a has reached the height of the floor surface 15 immediately after being lowered, a control signal is output to the floor lifting mechanism to operate the second floor lifting machine 9, Stop at the target position.
　本実施例によれば、治療台５の２つのリンクに対して２つの異なる床面が昇降することで、患者乗降位置を治療位置であるノズル等の近くに設定することができるため、治療位置と患者乗降位置の間を治療台５が短い時間で移動でき、治療時間を短縮できる。 According to the present embodiment, the two different floors move up and down with respect to the two links of the treatment table 5 so that the patient getting on / off position can be set close to the nozzle or the like as the treatment position. The treatment table 5 can move in a short time between the patient entry / exit positions and the treatment time can be shortened.
　以上、本発明の実施例として粒子線固定照射室治療システムに使用する治療台について説明したが、同回転照射室において実施しても同様の効果がある。同様にＸ線及び中性子線などの照射室について実施しても良い。同様にセッティング室に実施しても良い。　詳述したように、本発明によれば、床の一部が下降することで床と治療台の干渉を回避でき、天板を降下させるためにアームの可動範囲や自由度を向上させると増大してしまう天板とアームの干渉領域を現状のままにして、治療台天板高さを低減できる。その結果、患者が治療台に乗り降りしやすくなる。
As described above, the treatment table used in the particle beam fixed irradiation room treatment system has been described as an example of the present invention. Similarly, it may be carried out for irradiation chambers such as X-rays and neutron beams. Similarly, it may be carried out in the setting room. As described in detail, according to the present invention, it is possible to avoid the interference between the floor and the treatment table by lowering a part of the floor, and increase when the movable range and the degree of freedom of the arm are improved to lower the top plate. The height of the treatment table top plate can be reduced with the interference area between the top plate and the arm remaining unchanged. As a result, the patient can easily get on and off the treatment table.
　図２２は、患者がセッティング室で治療台に乗り降りする位置決めシステムの概念図である。図６は、患者がセッティング室で治療台に乗り降りする治療手順に関するフローチャートである。図２２及び図６を用いて、本発明の実施例７の位置決めシステムについて説明する。なお、上述の実施例と重複する箇所についてはその説明を省略する。 FIG. 22 is a conceptual diagram of a positioning system in which the patient gets on and off the treatment table in the setting room. FIG. 6 is a flowchart regarding a treatment procedure in which a patient gets on and off the treatment table in the setting room. A positioning system according to a seventh embodiment of the present invention will be described with reference to FIGS. 22 and 6. In addition, the description is abbreviate | omitted about the location which overlaps with the above-mentioned Example.
　図２２において、本実施例では、治療台はセッティング室１０２と治療室１０１の両方にあり、セッティング室の治療台５ａにて患者をセッティングした後、搬送装置１００に乗せて治療室に患者を搬送するオートドッキングシステムが使われる。搬送装置１００は、患者を固定した天板ごと運搬する装置であり、セッティング室の治療台５ａから手首部で分離された天板を受け入れ、治療室の治療台５ｂの手首部に搬送した天板に結合させるような装置である。 In FIG. 22, in this embodiment, the treatment table is in both the setting room 102 and the treatment room 101, and after setting the patient on the treatment table 5 a in the setting room, the treatment table is placed on the transfer device 100 and transferred to the treatment room. Auto docking system is used. The transport device 100 is a device that transports the patient together with a fixed top plate, receives the top plate separated from the treatment table 5a of the setting room at the wrist, and transports it to the wrist of the treatment table 5b of the treatment room. It is a device that can be coupled to.
　図６において、「セッティング室の治療台が任意の治療位置から患者乗降位置に移動する」Ｓ３００では、図３の手順で、セッティング室の治療台が任意の治療位置から患者乗降位置に移動する。 In FIG. 6, “the treatment room in the setting room moves from an arbitrary treatment position to the patient boarding / exiting position” S300, the treatment room in the setting room moves from the arbitrary treatment position to the patient boarding / exiting position in the procedure of FIG.
　「患者がセッティング室で治療台に乗る」Ｓ３０１では、患者が自力であるいは治療スタッフの補助を受けてセッティング室で治療台に乗り、天板に固定される。 In “301, the patient gets on the treatment table in the setting room”, the patient gets on the treatment table in the setting room by himself or with the assistance of the treatment staff and is fixed to the top plate.
　「セッティング室の治療台が患者乗降位置から任意の治療位置に移動する」Ｓ３０２では、図４の手順で、セッティング室の治療台５ａが患者乗降位置から任意の治療位置に移動する。このステップにおける任意の治療位置とは、CT装置２０横の撮像準備位置である。 “In the treatment room in the setting room moves from the patient getting on / off position to an arbitrary treatment position” S302, the treatment room 5a in the setting room moves from the patient getting on / off position to an arbitrary treatment position in the procedure of FIG. The arbitrary treatment position in this step is an imaging preparation position beside the CT apparatus 20.
　「患者の患部をＣＴ装置で撮像する」Ｓ３０３では、患者を乗せた治療台５ａがCT装置２０に入り、患者の患部をＣＴ装置で撮像する。この時、治療台５ａのアーム部の動きにより、ＣＴ装置２０の中の撮像空間に患者を搬送する天板の移動を実現する。 “In the imaging of the affected area of the patient with the CT apparatus” S303, the treatment table 5a on which the patient is placed enters the CT apparatus 20, and the affected area of the patient is imaged with the CT apparatus. At this time, the movement of the arm part of the treatment table 5a realizes the movement of the top board for transporting the patient to the imaging space in the CT apparatus 20.
　「セッティング室の治療台が任意の治療位置からオートドッキング位置に移動する」Ｓ３０４では、治療台制御部３は制御信号をセッティング室の治療台５ａに出力し、セッティング室の治療台５ａの天板をＣＴ装置２０横の任意の治療位置からオートドッキング位置に移動させる。 In “the treatment room in the setting room moves from an arbitrary treatment position to an auto-docking position” S304, the treatment table control unit 3 outputs a control signal to the treatment room 5a in the setting room, and the top plate of the treatment room 5a in the setting room. Is moved from an arbitrary treatment position beside the CT apparatus 20 to the auto-docking position.
　「治療台天板がオートドッキング位置でセッティング室の治療台から搬送装置に移動する」Ｓ３０５では、セッティング室の治療台５ａに取り付けられた治療台天板が圧空カプラにより取り外され、搬送装置１００に乗せられる。 “The treatment table top plate moves from the treatment table in the setting room to the transfer device at the auto-docking position” in S305, the treatment table top plate attached to the treatment table 5a in the setting room is removed by the pneumatic coupler and is transferred to the transfer device 100. Can be put on.
　「搬送装置により治療台天板をセッティング室から治療室に搬送される」Ｓ３０６では、治療スタッフが搬送装置１００を運び、治療台天板をセッティング室１０２から治療室１０１に搬送する。 “In the treatment device top plate is transferred from the setting room to the treatment room by the transfer device”, the treatment staff carries the transfer device 100, and the treatment table top plate is transferred from the setting room 102 to the treatment room 101.
　「治療室の治療台が任意の治療位置からオートドッキング位置に移動する」Ｓ３０７では、治療台制御部３は制御信号を治療室の治療台５ｂに出力し、治療室の治療台５ｂを任意の治療位置やその他デフォルトのポジションからオートドッキング位置に移動させる。 In "S307, the treatment table in the treatment room moves from an arbitrary treatment position to an auto-docking position", the treatment table control unit 3 outputs a control signal to the treatment table 5b in the treatment room, Move from treatment position or other default position to auto docking position.
　「治療台天板がオートドッキング位置で搬送装置から治療台に移動する」Ｓ３０８では、搬送装置１００に乗せられた治療台天板が圧空カプラにより、治療台５ｂに取り付けられる。 “In the treatment table top plate moves from the transfer device to the treatment table at the auto-docking position” S308, the treatment table top plate placed on the transfer device 100 is attached to the treatment table 5b by a pneumatic coupler.
　「治療室の治療台がオートドッキング位置から任意の治療位置に移動する」Ｓ３０９では、治療台制御部３は制御信号を治療室の治療台５ｂに出力し、治療室の治療台５ｂをオートドッキング位置から任意の治療位置に移動させる。このステップにおける任意の治療位置とは例えば粒子線治療のノズル１２正面の位置である。 In “S309, the treatment room treatment table moves from the auto-docking position to an arbitrary treatment position”, the treatment table control unit 3 outputs a control signal to the treatment room treatment table 5b, and the treatment room treatment table 5b is automatically docked. Move from position to any treatment position. The arbitrary treatment position in this step is, for example, the position in front of the nozzle 12 for particle beam treatment.
　「患者が放射線治療を受ける」Ｓ３１０では、患者は放射線治療装置により放射線治療を受ける。 In “310 Patient Receives Radiation Treatment” S310, the patient receives radiation treatment by the radiation treatment apparatus.
　本実施例によれば、放射線治療装置の患者位置決めシステムにおいて、床の一部が下降することで床と治療台の干渉を回避でき、天板とアームの干渉領域を現状のままにして、患者が天板に乗り降りするセッティング室においても、治療台天板高さを低減できる。 According to the present embodiment, in the patient positioning system of the radiotherapy apparatus, it is possible to avoid the interference between the floor and the treatment table by lowering a part of the floor, and the interference area between the top plate and the arm is left as it is. The height of the treatment table top plate can be reduced even in the setting room where the user gets on and off the top plate.
　セッティング室にて患者をセッティングした後、搬送装置に乗せて治療室に患者を搬送するオートドッキングシステムが使われるため、患者のセッティングにより治療室を占有するはずの時間を、別の患者の治療に使うことができ、放射線治療において治療効率を向上させることができる。 After setting the patient in the setting room, an auto docking system is used to transfer the patient to the treatment room by placing it on the transfer device, so that the time required to occupy the treatment room depending on the patient setting can be used for treatment of another patient. It can be used and can improve the treatment efficiency in radiotherapy.
　セッティング室に床下降下する治療台を設置し、治療室内には床下降下しない通常の治療台を設置することも可能である。治療室は一般的に、特に粒子線治療に回転ガントリー等を採用する場合、治療台を固定するピット内は他の機器が多く設置されているため、できるだけ治療室地下スペースに入る機器を低減したいという要求がある。本実施例のように、地下のスペースに比較的余裕があるセッティング室に、床下降下する治療台を設置し患者に乗り降りしてもらうことで、治療室内の設計自由度を向上させることができる。 It is also possible to install a treatment table that descends under the floor in the setting room and a normal treatment table that does not descend below the treatment room. The treatment room is generally equipped with a lot of other equipment in the pit that fixes the treatment table, especially when adopting a rotating gantry for particle beam therapy. There is a request. As in the present embodiment, the degree of freedom of design in the treatment room can be improved by installing a treatment table that descends under the floor in a setting room where there is a relatively large space in the basement and having the patient get on and off the patient.
　さらに、本実施例のアーム部が床下降下が可能な治療台により、従来より低い位置で天板を水平にできるため、搬送装置１００とのオートドッキング位置を低い位置に設定でき、搬送装置１００について従来よりも高さの低い装置を採用できる効果がある。高さの低い搬送装置１００は安定性が高いため、搬送される患者の安全性を向上させ、また患者を搬送する治療スタッフの負担も低減できる。 Furthermore, since the arm part of the present embodiment allows the top plate to be leveled at a position lower than the prior art by the treatment table capable of lowering the floor, the automatic docking position with the transport apparatus 100 can be set to a low position. There exists an effect which can employ | adopt the apparatus whose height is lower than before. Since the transport device 100 having a low height has high stability, the safety of the patient being transported can be improved, and the burden on the treatment staff transporting the patient can be reduced.
６　床昇降機構
１１　天板
１７　アーム部
１８　昇降部 6 Floor Lifting Mechanism 11 Top Plate 17 Arm 18 Lifting Unit

Claims (14)

  1. 　天板と、
    　前記天板を支持するアーム部と、
    　前記アーム部を昇降させる昇降部と、
    　床面の一部を退避させる機構とを有することを特徴とする位置決めシステム。
    With the top plate,
    An arm portion for supporting the top plate;
    An elevating part for elevating and lowering the arm part;
    And a mechanism for retracting a part of the floor surface.
  2. 　請求項１に記載の位置決めシステムであって、
    　前記昇降部若しくは、前記床面の一部を退避させる機構は、所定の高さ条件で昇降を停止させるリミットスイッチを有することを特徴とする位置決めシステム。
    The positioning system of claim 1,
    The positioning system, wherein the elevating part or the mechanism for retracting a part of the floor has a limit switch for stopping the elevating operation under a predetermined height condition.
  3. 　請求項１に記載の位置決めシステムであって、
    　前記昇降部の昇降及び前記床面の一部を退避させる機構を制御する制御部を有し
    　前記床面の一部を退避させる機構は前記床面の一部を昇降させる床昇降機構であり、
    　前記制御部は、前記床昇降機構の昇降が、前記昇降部の昇降と同期して動作するように制御することを特徴とする位置決めシステム。
    The positioning system of claim 1,
    A control unit that controls a mechanism for moving up and down the lifting unit and retracting a part of the floor surface; a mechanism for retracting a part of the floor surface is a floor lifting mechanism that lifts and lowers a part of the floor surface;
    The positioning system controls the raising / lowering of the floor raising / lowering mechanism to operate in synchronization with the raising / lowering of the raising / lowering part.
  4. 　請求項３に記載の位置決めシステムであって、
    　前記制御部は、前記昇降部に伴って昇降するアーム部と、前記昇降する床面の間の高さ方向の偏差が、前記昇降する床面が下降開始する状態より小さくならないように制御する衝突防止制御機能を有することを特徴とする位置決めシステム。
    A positioning system according to claim 3,
    The control unit performs control so that a deviation in a height direction between an arm unit that moves up and down with the lifting unit and a floor surface that moves up and down does not become smaller than a state in which the floor surface that moves up and down starts to descend. A positioning system having a prevention control function.
  5. 　請求項３に記載の位置決めシステムであって、
    　前記制御部は予め測定した前記床昇降機構の下降速度を保持し、
    　前記昇降部の下降速度が前記予め測定した床昇降機構の下降速度以下になるように制御することを特徴とする位置決めシステム。
    A positioning system according to claim 3,
    The control unit holds the descent speed of the floor lifting mechanism measured in advance,
    The positioning system is controlled so that a descending speed of the elevating unit is equal to or less than a previously measured descending speed of the floor elevating mechanism.
  6. 　請求項１に記載の位置決めシステムであって、
    　前記床面の一部を退避させる機構は前記床面の一部を昇降させる床昇降機構であり、　前記アーム部が一定の高さのときに前記床昇降機構と結合若しくは分離する接続部が備えられていることを特徴とする位置決めシステム。
    The positioning system of claim 1,
    The mechanism for retreating a part of the floor surface is a floor elevating mechanism for elevating a part of the floor surface, and includes a connecting part that is coupled to or separated from the floor elevating mechanism when the arm part is at a certain height. A positioning system characterized by that.
  7. 　請求項１若しくは６のいずれかに記載の位置決めシステムであって、
    　前記アーム部の側壁と前記床面に設けられた開口部の縁の隙間を覆うような他の床面を駆動させる床面形成機構を有することを特徴とする位置決めシステム。
    A positioning system according to claim 1 or 6,
    A positioning system comprising: a floor surface forming mechanism for driving another floor surface that covers a gap between the side wall of the arm portion and the edge of the opening provided on the floor surface.
  8. 　請求項１、６若しくは７のいずれかに記載の位置決めシステムであって、
    　前記アーム部は複数のリンクを有し、
    　前記複数のリンクのそれぞれに対応する複数の前記床面の一部を退避させるように、複数の前記床面の一部を退避させる機構を有することを特徴とする位置決めシステム。
    A positioning system according to any of claims 1, 6 or 7,
    The arm portion has a plurality of links,
    A positioning system comprising a mechanism for retracting a part of the plurality of floor surfaces so as to retract a part of the plurality of floor surfaces corresponding to each of the plurality of links.
  9. 　請求項１乃至８のいずれかに記載の位置決めシステムであって、
    　セッティング室と治療室の両方に治療台が設けられ、
    　前記セッティング室から前記治療室に前記天板を搬送する搬送装置を有することを特徴とする位置決めシステム。
    A positioning system according to any one of claims 1 to 8,
    There are treatment tables in both the setting room and the treatment room,
    A positioning system comprising a transfer device for transferring the top plate from the setting room to the treatment room.
  10. 　一つ以上のリンクと、一つ以上の関節を有するアーム部と、
    　前記アーム部により支持される天板とを有し、
    　前記アーム部が床面より下に降下することを特徴とする治療台。
    One or more links and an arm having one or more joints;
    A top plate supported by the arm portion,
    The treatment table, wherein the arm part descends below the floor surface.
  11. 　請求項１０に記載の治療台であって、
    　前記床面の下にピット空間が形成され、
    　前記ピット空間に前記アーム部を昇降させる駆動装置が設置されていることを特徴とする治療台。
    The treatment table according to claim 10,
    A pit space is formed under the floor surface,
    A treatment table, wherein a driving device for moving the arm portion up and down is installed in the pit space.
  12. 　請求項１０に記載の治療台であって、
    　前記床面は開口部を有し、
    　前記開口部を塞ぐように形成された他の床面を退避させる機構とを有することを特徴とする治療台。
    The treatment table according to claim 10,
    The floor has an opening;
    And a mechanism for retracting another floor surface formed so as to close the opening.
  13. 　患者を天板に乗せるステップと、
    　前記天板を支持するアーム部の一部が床面より下に降下した状態から、床面より上に上昇させるステップと、
    　前記天板を治療照射用ノズルの正面に移動させるステップと、
    　患者に治療照射するステップと、
    　前記天板を患者乗降位置上空に移動させるステップと、
    　前記アーム部の一部が床面より下に降下する高さに前記天板を降下させるステップと、　患者を天板から下ろすステップを有することを特徴とする位置決め装置運転方法。
    Placing the patient on the top board;
    From the state where a part of the arm portion supporting the top plate is lowered below the floor surface, raising the floor surface above the floor surface;
    Moving the top plate to the front of the treatment irradiation nozzle;
    Irradiating the patient with therapeutic radiation;
    Moving the top to the patient boarding position;
    A positioning apparatus operating method comprising: a step of lowering the top plate to a height at which a part of the arm portion is lowered below the floor surface; and a step of lowering the patient from the top plate.
  14. 　請求項１３に記載の位置決め装置運転方法であって、
    　前記天板をセッティング室の治療台から搬送装置に移すステップと、
    　前記搬送装置をセッティング室から治療室に搬送するステップと、
    　前記天板を前記搬送装置から治療室の治療台に移すステップとを有することを特徴とする位置決め装置運転方法。     A positioning device operating method according to claim 13,
    Transferring the top plate from the treatment table of the setting room to the transfer device;
    Transporting the transport device from a setting room to a treatment room;
    Moving the top plate from the transport device to a treatment table in a treatment room.
PCT/JP2015/079629 2014-12-24 2015-10-21 Therapy table, positioning system, and method for operating same WO2016103879A1 (en)

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