WO2018120605A1 - Robot pour radiothérapie - Google Patents

Robot pour radiothérapie Download PDF

Info

Publication number
WO2018120605A1
WO2018120605A1 PCT/CN2017/085286 CN2017085286W WO2018120605A1 WO 2018120605 A1 WO2018120605 A1 WO 2018120605A1 CN 2017085286 W CN2017085286 W CN 2017085286W WO 2018120605 A1 WO2018120605 A1 WO 2018120605A1
Authority
WO
WIPO (PCT)
Prior art keywords
bottom plate
support member
robot
coupled
supporting member
Prior art date
Application number
PCT/CN2017/085286
Other languages
English (en)
Chinese (zh)
Inventor
邓启泉
何惠玉
蓝培钦
Original Assignee
广东恒聚医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东恒聚医疗科技有限公司 filed Critical 广东恒聚医疗科技有限公司
Publication of WO2018120605A1 publication Critical patent/WO2018120605A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

Definitions

  • the present invention relates to the field of medical device technology, and more particularly to a robot for radiotherapy.
  • Medical devices refer to instruments, equipment, instruments, in vitro diagnostic reagents, calibrators, materials, and related articles that are used directly or indirectly in the human body, mainly through physical means, rather than through pharmacology, immunology, and metabolism. Obtaining, even with these methods, is only an auxiliary function. Medical devices are mainly used for disease prevention, diagnosis, monitoring, treatment and mitigation, diagnosis, treatment, monitoring, mitigation and functional compensation of injuries, testing, replacement, regulation and support of physiological structures or physiological processes, support and maintenance of life. , pregnancy control; provide information for medical or diagnostic purposes by examining samples from the human body. In radiation therapy, the mechanical arm used for medical treatment can support and position the patient. Therefore, the robotic arm requires multi-degree of freedom to move, and the structure is compact, and high-precision positioning can be achieved.
  • the positioning bed used for radiation therapy on the market belongs to the non-vertical positioning robotic arm device, which has a longer cantilever and lower positioning accuracy.
  • the positioning method of the positioning bed is not high in positioning method, and the lying position treatment is a treatment head. Rotational treatment, and the treatment head is less flexible, and the large load and long distance lifting and lowering easily lead to the treatment point deviating from the rotation axis, which seriously affects the treatment effect, and the structure is complicated, which is not conducive to detection and maintenance.
  • the invention is based on the above-mentioned prior art problems, and innovatively proposes a robot for radiotherapy, which realizes multi-degree of freedom activities and achieves precise positioning through a compact combination of a plurality of motion mechanisms, and is convenient, flexible, and space-saving, and solves the existing use.
  • the positioning bed for radiation therapy has a longer cantilever, lower positioning accuracy, lower flexibility, complicated structure, is not conducive to detection and maintenance, and the lifting of a large load and a long distance is likely to cause the treatment point to deviate from the rotational axis and seriously affect the treatment.
  • the technical problem of the effect is based on the above-mentioned prior art problems, and innovatively proposes a robot for radiotherapy, which realizes multi-degree of freedom activities and achieves precise positioning through a compact combination of a plurality of motion mechanisms, and is convenient, flexible, and space-saving, and solves the existing use.
  • the positioning bed for radiation therapy has a longer cantilever, lower positioning accuracy, lower flexibility, complicated structure,
  • a robot for radiotherapy comprising: a first bottom plate, a lifting mechanism, a first supporting member, a second supporting member, a rotating mechanism, and a second bottom plate;
  • the lifting mechanism is connected to the first bottom plate, the first supporting member is connected to the lifting mechanism, and the lifting mechanism is configured to drive the first supporting member to move in a vertical direction;
  • the second support member is fixedly coupled to the first support member, the rotating mechanism is coupled to the second support member, the second bottom plate is coupled to the rotating mechanism, and the rotating mechanism is configured to drive the The second bottom plate rotates in a vertical direction.
  • the robot for radiotherapy further includes: a first translation mechanism and a third support;
  • the first translation mechanism is coupled to the second bottom plate, the third support member is coupled to the first translation mechanism, and the first translation mechanism is configured to drive the third support member to move in a first horizontal direction .
  • the robot for radiotherapy further includes: a third bottom plate, a second translation mechanism, and a fourth support member;
  • the third bottom plate is fixedly coupled to the third support member, the second translation mechanism is coupled to the third bottom plate, the fourth support member is coupled to the second translation mechanism, and the second translation mechanism And driving the fourth support to move in a second horizontal direction, the second horizontal direction intersecting the first horizontal direction.
  • the robot for radiotherapy further includes: a fourth bottom plate, a first tilting mechanism, and a fifth supporting member;
  • the fourth bottom plate is fixedly coupled to the fourth support member, the first tilting mechanism is coupled to the fourth bottom plate, the fifth support member is coupled to the first tilting mechanism, and the first tilting mechanism And driving the fifth support to rotate in a third horizontal direction, the third horizontal direction being parallel to the first horizontal direction.
  • the robot for radiotherapy further includes: a second tilting mechanism and a sixth support;
  • the second tilting mechanism is coupled to the fifth support member, and the sixth support member is coupled to the A second tilting mechanism for driving the sixth support member to rotate about a fourth horizontal direction, and a fourth horizontal direction intersecting the first horizontal direction.
  • the lifting mechanism includes a first screw rod, the first screw rod is pivotally connected to the first bottom plate, a central axis of the first screw rod extends in a vertical direction, and the first support member is screwed to the Said first screw; and / or
  • the rotating mechanism includes a rotating member and a bearing, the bearing is located between the second supporting member and the rotating member, and the second bottom plate is fixedly coupled to the rotating member; and/or
  • the first translation mechanism includes a second screw rod, the second screw rod is pivotally connected to the second bottom plate, and a central axis of the second screw rod extends in a horizontal direction, and the third support member is screwed On the second screw; and/or
  • the second translation mechanism includes a third screw rod, the third screw rod is pivotally connected to the third bottom plate, the fourth support member is screwed to the third screw rod, and the third screw rod is The central axis intersects the center axis of the second lead screw; and/or
  • the first tilting mechanism includes a first rotating shaft, the first rotating shaft is pivotally connected to the fourth bottom plate, and the fifth supporting member is fixedly coupled to the first rotating shaft, and the central axis of the first rotating shaft is parallel The central axis of the second lead screw; and/or
  • the second tilting mechanism includes a second rotating shaft, the second rotating shaft is pivotally connected to the fifth supporting member, and the sixth supporting member is fixedly coupled to the second rotating shaft, and a central axis of the second rotating shaft is The central axes of the first rotating shafts intersect with each other.
  • the lifting mechanism further includes a first nut, a first rail and a first slider, the first rail is fixedly connected to the first bottom plate, one end of the first slider is slidably connected to the first rail, and the other end is fixedly connected to the first support
  • the first nut is screwed to the first screw rod, and the first support member is fixedly coupled to the first nut.
  • the rotating mechanism further includes a positioning member, the bearing includes an inner ring and an outer ring, the outer ring is in close contact with the inner wall of the second supporting member, the inner ring is in close contact with the outer wall of the positioning member, and the inner ring is fixedly connected with the rotating member.
  • the first translation mechanism further includes a second nut, a second slider and a second rail, and the second rail Fixedly connected to the second bottom plate, one end of the second sliding block is slidably connected to the second guiding rail, the other end is fixedly connected to the third supporting member, the second nut is screwed to the second screw rod, and the third supporting member is fixedly connected to the second guiding rod Nut.
  • the second translation mechanism further includes a third nut, a third slider, and a third rail.
  • the third rail is fixedly connected to the third bottom plate.
  • One end of the third slider is slidably connected to the third rail, and the other end is fixedly connected to the third rail.
  • the fourth support member is screwed to the third screw rod, and the fourth support member is fixedly connected to the third nut.
  • the first tilting mechanism further includes a first fixing member, and the fifth supporting member is fixedly coupled to both ends of the first rotating shaft by the first fixing member.
  • the second tilting mechanism further includes a second fixing member fixedly coupled to both ends of the second rotating shaft by the second fixing member.
  • the lifting mechanism further includes a first driving device and a first transmission device, the first driving device driving the first screw rod through the first transmission device;
  • the rotating mechanism further includes a second driving device and a second transmission device, the second driving device driving the rotating member through the second transmission device;
  • the first translation mechanism further includes a third driving device and a third transmission device, the third driving device passing the third transmission device and the second screw;
  • the second translation mechanism further includes a fourth driving device and a fourth transmission device, the fourth driving device passing through the fourth transmission device and a third screw;
  • the first inclined structure further includes a fifth driving device and a fifth driving device, wherein the fifth driving device drives the first rotating shaft through the fifth transmitting device;
  • the second tilting mechanism further includes a sixth driving device and a sixth transmitting device, the sixth driving device driving the second rotating shaft through the sixth transmitting device.
  • the embodiment of the invention connects a robot formed by compact combination of a plurality of motion mechanisms through a flange to a treatment seat, thereby realizing multi-degree of freedom activities and achieving precise positioning, thereby completing flexibility and precision.
  • Radiotherapy the robot itself is flexible and space-saving, and solves the problem that the existing positioning bed for radiation therapy has a long cantilever, low positioning accuracy, low flexibility, complicated structure, unfavorable detection and maintenance, and large load and long distance.
  • the lifting and lowering is easy to cause the treatment point to deviate from the rotation axis, thereby seriously affecting the technical effect of the treatment effect; the lifting mechanism, the rotating mechanism, the first translation mechanism, the second translation mechanism, the first tilting mechanism, and the second tilting mechanism are sequentially connected, such a connection sequence
  • the robot for radiotherapy provided by the embodiment of the invention maintains high vertical precision and rotation precision in a large distance lifting movement, and the six motion mechanisms are unique in function, and each motion mechanism is relatively independent in function realization, mutual No interference, easy for future inspection and maintenance.
  • FIG. 1 is a schematic structural diagram of a robot for radiotherapy according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a lifting mechanism of a robot for radiotherapy according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a rotating mechanism of a robot for radiotherapy according to an embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of a first translation mechanism of a robot for radiotherapy according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a second translation mechanism of a robot for radiotherapy according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a first tilting mechanism of a robot for radiotherapy according to an embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of a second tilting mechanism of a robot for radiotherapy according to an embodiment of the present invention.
  • 101 a vertical fixing base; 102, a first bottom plate; 103, a first guide rail; 104, a first screw; 105, a first slider; 106, a first support member; 107, a first reducer; 108, a first drive device; 109, a first reduction gearbox; 110, a first nut; 111, a first support base; a second support member; 202, a second driving device; 203, a second speed reducer; 204, a pinion; 205, a large gear; 206, a rotating member; 207, a first bearing; 208, a second bearing; 209, a positioning member 301, second bottom plate; 302, second screw; 303, third support; 304, first pulley; 305, third transmission; 306, third drive; 307, second nut; a second slider; 309, a second support base; 310, a second guide rail; 401, a third bottom plate; 402, a third lead screw; 403,
  • the present invention provides a preferred embodiment of a robot for radiotherapy, comprising a first bottom plate 102, a lifting mechanism, a first support member 106, a second support member 201, a rotating mechanism, a second bottom plate 301, a first translation mechanism, a third support member 303, a third bottom plate 401, a second translation mechanism, a fourth support member 403, a fourth bottom plate 501, a first tilting mechanism, a fifth support member 504, and a second a tilting mechanism and a sixth support member 603;
  • the lifting mechanism is coupled to the first bottom plate 102, the first support member 106 is coupled to the lifting mechanism, the lifting mechanism is configured to drive the first support member 106 to move in a vertical direction;
  • the second support member 201 is fixed Connected to the first support member 106, the rotating mechanism is coupled to the second support member 201, the second bottom plate 301 is coupled to the rotating mechanism, and the rotating mechanism is configured to drive the second bottom plate 301 to rotate in
  • the fourth bottom plate 501 is fixedly coupled to the fourth support member 403, the first tilting mechanism is coupled to the fourth bottom plate 501, the fifth support member 504 is coupled to the first tilting mechanism, and the first tilting mechanism is configured to drive the fifth support member 504.
  • Rotating in a horizontal direction, and the direction is parallel to a direction in which the third support member 303 moves;
  • the second tilting mechanism is coupled to the fifth support member 504,
  • the sixth support member 603 is coupled to the second tilting mechanism, and the second tilting mechanism is configured to drive
  • the sixth support member 603 is rotated about the horizontal direction, and the direction intersects with the direction in which the third support member 303 moves.
  • the first bottom plate 102 is fixedly coupled to the vertical fixing base 101, the lifting mechanism is coupled to the first bottom plate 102, and the lifting mechanism drives the first support member 106 to move in the vertical direction, so the first support member 106 is provided to move in the vertical direction.
  • the rotating mechanism since the second support member 201 is fixedly coupled to the first support member 106, the rotating mechanism is coupled to the second support member 201, and the rotating mechanism drives the second bottom plate 301 to rotate in a vertical direction, so that the second bottom plate 301 is provided with a vertical The degree of freedom of movement in the straight direction and the degree of freedom of rotation in the vertical direction; since the first translation mechanism is coupled to the second bottom plate 301, the first translation mechanism drives the third support member 303 to move in the first horizontal direction, and thus the third support member The 303 has a degree of freedom of movement in the vertical direction, a degree of freedom of rotation in the vertical direction, and a degree of freedom of movement in the first horizontal direction; since the third bottom plate 401 is fixedly coupled to the third support member 303, the second translation mechanism is coupled In the third bottom plate 401, the second translation mechanism drives the fourth support member 403 to move in the second horizontal direction, and the second horizontal direction intersects the first horizontal direction, so that the fourth The struts 403 are provided with four degrees of freedom
  • the lifting mechanism bottom plate 102 is mounted on the side of the vertical fixing base 101, and the lifting mechanism bottom plate 102 and the vertical fixing base 101 are required to maintain a high-precision fit and the ground. Keep it vertical.
  • the lifting mechanism can be driven by a cylinder, a hydraulic mechanism, a gear, a belt or other mechanism, preferably using a screw drive.
  • the lifting mechanism includes a first screw 104, and the first screw 104 is pivotally connected.
  • the central axis of the first screw rod 104 extends in the vertical direction, and the first support member 106 is screwed to the first screw rod 104, so when the first screw rod 104 rotates, the first support will be driven.
  • the member 106 moves in the vertical direction, has high transmission precision, can achieve precise transmission, and has low noise, and does not adversely affect the treatment of the patient;
  • the rotating mechanism includes the rotating member 206 and the bearing, and the bearing is located at the second supporting member 201 and rotates Between the pieces 206, the rotating member 206 can be stably rotated with respect to the second supporting member 201, and the noise is low, and the same does not adversely affect the treatment of the patient;
  • the first translation mechanism can adopt a cylinder, a hydraulic mechanism, a gear,
  • the belt or other mechanism is driven, preferably by a screw drive, the first translation mechanism includes a second screw 302, the second screw 302 is pivotally connected to the second bottom plate 301, and the central axis of the second screw 302
  • the third support member 303 is screwed to the second screw rod 302.
  • the central axis of the second screw rod 302 extends in the horizontal direction. Therefore, when the second screw rod 302 rotates, the third support member 303 is driven.
  • the central axis of the second screw 302 moves; the second translation mechanism can be driven by a cylinder, a hydraulic mechanism, a gear, a belt or other mechanism, preferably using a screw drive, and the second translation mechanism includes a third screw 402, a third wire
  • the rod 402 is pivotally connected to the third bottom plate 401, the fourth support member 403 is screwed to the third screw rod 402, and the central axis of the third screw rod 402 intersects with the central axis of the second screw rod 302, preferably differently.
  • the first tilting mechanism includes a first rotating shaft 502, and the first rotating shaft 502
  • the fifth support member 504 is fixedly connected to the first rotating shaft 502.
  • the central axis of the first rotating shaft 502 is parallel to the central axis of the second screw shaft 302.
  • the second tilting mechanism includes a second rotating shaft 601.
  • the second rotating shaft 601 is pivotally connected to the fifth supporting member 504.
  • the sixth supporting member 603 is fixedly coupled to the second rotating shaft 601.
  • the central axis of the second rotating shaft 601 and the center of the first rotating shaft 502 The intersecting axes of the axes are preferably perpendicular to each other, so that when the second rotating shaft 601 rotates, the sixth supporting member 603 is rotated about the central axis of the second rotating shaft 601; since the flange 701 is fixedly coupled to the sixth supporting member 603, A seat for the patient can be mounted on the flange 701, so that the seat can realize a flexible movement of six degrees of freedom; or directly fix the seat to the sixth support member 603, and the seat can achieve six The flexible movement of the degree of freedom, it can be understood that if the seat is directly connected to the first support member 106, the second support member 201, the third support member 303, the fourth support member 403, and the fifth through the flange or directly
  • the support member 504 can realize one degree of freedom of the seat, two degrees of freedom, three degrees of freedom, four degrees of
  • the lifting mechanism further includes a first nut 110, a first support base 111, a first guide rail 103, a first slider 105, a first driving device 108 and a first transmission device, and the first guide rail 103 is fixedly connected to
  • the first bottom plate 102 preferably, the two lifting straight-line first guide rails 103 are parallel to each other and are always perpendicular to the ground, and each of the lifting straight-line first guide rails 103 is respectively provided with two first sliders 105 to constitute a moving pair;
  • the first support The seat 111 is connected to the first screw rod 104 through a bearing to form a rotating pair for supporting both ends of the first screw rod 104.
  • the first slider 105 is slidably connected to the first rail 103, and the other end is fixedly connected to the first rail.
  • the first nut 110 is screwed to the first screw 104
  • the first support member 106 is fixedly coupled to the first nut 110
  • the first driving device 108 is preferably a motor
  • the first transmission device includes a first speed reducer 107 and The first reduction gear box 109; when the lifting mechanism is opened, the motor drives the first screw rod 104 through the first speed reducer 107 and the first reduction gear box 109, preferably, the motor output power is transmitted to the first reduction gear box via the first speed reducer 107.
  • the first reduction gearbox 109 is connected The shaft is connected to the first screw 104.
  • the first reduction box 109 can play a self-locking function during the lifting process; since the first nut 110 is screwed to the first screw 104, the first The support member 106 is fixedly coupled to the first nut 110. Therefore, the first screw rod 104 drives the first support member 106 to perform the lifting movement by the first nut 110, and at the same time, since one end of the first slider 105 is slidably coupled to the first guide rail 103, One end is fixedly connected to the first support member 106, so that the first support member 106 drives the first slider 105 to move up and down along the first guide rail 103, thereby converting the rotary motion of the first screw rod 104 into a linear motion along the guide rail 103. It is beneficial to reduce the frictional resistance, perform the lifting movement stably, and reduce the noise.
  • the rotating mechanism further includes a second driving device 202, a second transmitting device and a positioning member 209, wherein the second supporting member 201 is preferably cylindrical, and the rotating member 206 is also preferably cylindrical, positioned The member 209 is also preferably cylindrical.
  • the second driving device 202 is preferably a motor.
  • the second transmission device includes a second speed reducer 203, a pinion gear 204 and a large gear 205. The motor output end is connected to the speed reducer 203, and the speed reducer 203 is connected small.
  • the gear 204, the pinion 204 meshes with the large gear 205 to obtain the required gear ratio, and the inner ring of the large gear 205 is fixedly fixed to the outer surface of the rotating member 206, so that the movement of the large gear 205 is transmitted to the rotating member 206;
  • the bearing is preferably two
  • the first bearing 207 and the second bearing 208 are included, and each of the bearings includes an inner ring and an outer ring.
  • the outer ring is in close contact with the inner wall of the second support member 201.
  • the inner ring is closely attached to the outer wall of the positioning member 209, and the inner ring is
  • the rotating member 206 is fixedly connected, so that the rotating member 206 can rotate relative to the second supporting member 201, and the coaxiality of the rotating member 206 and the second supporting member 201 can be ensured to improve the precision of the rotation and improve the working efficiency; when the motor is turned on When passed
  • the second speed reducer 203, the pinion gear 204, and the large gear 205 drive the rotary member 206 to rotate in the vertical direction, and since the bearing is used, the noise is low during the rotation.
  • the first translation mechanism further includes a second nut 307, a second slider 308, a second rail 310, a third driving device 306, a third transmission device 305, a second support base 309, and a second support base.
  • 309 is coupled to the second lead screw 302 by a bearing to form a rotating pair for supporting both ends of the second lead screw 302.
  • the third driving device 306 is preferably a motor, and the motor has a first pulley 304, and a third transmission device 305 is preferably a belt; the second rail 310 is fixedly connected to the second bottom plate 301.
  • the two lifting straight second rails 310 are respectively provided with two second sliders 308, which constitute a moving pair, and one end of the second slider 308 Slidingly connected to the second rail 310, the other end is fixedly connected to the third support member 303, the second nut 307 is screwed to the second screw rod 302, and the third support member 303 is fixedly connected to the second nut 307; when the motor is turned on, The second screw 302 is rotated by the first pulley 304 and the belt, and the third support 303 is driven to slide along the central axis of the second screw 302 via the second nut 307 while being slidably connected by one end of the second slider 308.
  • the other end is fixedly connected to The third support member 303, so that the third support member 303 slides the second slider 308 along the second guide rail 310, is beneficial for reducing frictional resistance, stably performing horizontal movement, and capable of reducing noise.
  • the second translation mechanism further includes a third nut 407, a third slider 408, a third rail 410, a fourth driving device 406, a fourth transmission device 405, a third support base 409, and a third support base.
  • 409 is connected to the third screw rod 402 through a bearing to form a rotating pair for supporting the third wire
  • the rod 402, the fourth driving device 406 is preferably a motor, the motor has a second pulley 404, the fourth transmission 405 is preferably a belt;
  • the third rail 410 is fixedly connected to the third bottom plate 401, preferably, two lifting straight lines
  • the three guide rails 410 are respectively provided with two third sliding blocks 408, which constitute a moving pair.
  • One end of the third sliding block 408 is slidably connected to the third guiding rail 410, and the other end is fixedly connected to the fourth supporting member 403, and the third nut 407 is screwed.
  • the third support member 403 is fixedly coupled to the third nut 407.
  • the motor is turned on, the third screw rod 402 is rotated by the second pulley 404 and the belt, and the fourth nut 407 is driven by the third nut 407.
  • the support member 403 slides along the central axis of the third screw rod 402.
  • the fourth support member 403 drives the first support member 403.
  • the three sliders 408 slide along the third guide rail 410, which is advantageous for reducing frictional resistance, stably performing horizontal movement, and capable of reducing noise.
  • the first tilting mechanism further includes a first fixing member 503, a fourth supporting base 505, a fifth driving device 506 and a fifth transmission device; the fourth supporting base 505 is fixedly connected to the fourth bottom plate 501 at one end, and One end is connected to the first rotating shaft 502 through a bearing to form a rotating pair for supporting the first rotating shaft 502.
  • the first fixing member 503 is preferably a holding block, the holding block is locked by a bolt, and the fifth supporting member 504 is fixed by the holding block.
  • the fifth driving device 506 drives the first rotating shaft 502 through the fifth transmission device
  • the fifth driving device 506 is preferably a motor
  • the fifth transmission device includes a third speed reducer 507 and a second reduction gear box. 508 and the first coupling 509, the output end of the motor is connected to the second reduction gear box 508, and the self-locking function is realized to prevent the first rotating shaft 502 from accidentally twisting the second reduction gear box 508 to connect the first rotating shaft 502 through the first coupling 509.
  • the first rotating shaft 502 is prevented from being eccentrically twisted during the rotating process; when the motor is turned on, the first rotating shaft 502 is driven to rotate by the fifth transmission, and since the fifth supporting member 504 is fixedly coupled to the first rotating shaft 502, the fifth supporting member 504 Around the first The central axis of a rotating shaft 502 rotates synchronously.
  • the second tilting mechanism further includes a second fixing member 602, a fifth supporting base 604, a sixth driving device 605 and a sixth transmitting device.
  • the fifth supporting base 604 is fixedly connected to the fifth supporting member 504 at one end. The other end is connected to the second rotating shaft 601 through a bearing to form a rotating pair for supporting the second rotating shaft 601.
  • the second fixing member 602 is preferably a holding block, the holding block is locked by a bolt, and the sixth supporting member 603 is passed through the holding block.
  • the sixth driving device 605 drives the second rotating shaft 601 to rotate by the sixth transmission device
  • the sixth driving device 605 is preferably a motor
  • the sixth transmission device includes a fourth speed reducer 606, a third Gearbox 607 and second coupling 608, the output end of the motor is connected to the fourth speed reducer 606, and the self-locking function is implemented to prevent the second rotating shaft 601 from being accidentally twisted.
  • the fourth speed reducer 606 is connected to the second rotating shaft 601 through the second coupling 608 to prevent the second rotating shaft 601 from rotating.
  • the eccentric twist is broken; when the motor is turned on, the second rotating shaft 601 is driven to rotate by the sixth transmission mechanism. Since the sixth supporting member 603 is fixedly coupled to the second rotating shaft 601, the sixth supporting member 603 is around the center of the second rotating shaft 601. The axis rotates synchronously.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

Un robot pour radiothérapie, comprenant une première plaque inférieure, un mécanisme de levage, un premier élément de support, un second élément de support, un mécanisme rotatif et une seconde plaque inférieure; le mécanisme de levage étant relié à la première plaque inférieure, le premier élément de support étant relié au mécanisme de levage, et le mécanisme de levage étant utilisé pour entraîner le premier élément de support à se déplacer le long d'une direction verticale; et le second élément de support étant relié de manière fixe au premier élément de support, le mécanisme rotatif étant relié au second élément de support, la seconde plaque inférieure étant reliée au mécanisme rotatif, et le mécanisme rotatif étant utilisé pour entraîner la seconde plaque inférieure à tourner autour de la direction verticale. Le présent produit, au moyen d'une combinaison compacte d'une pluralité de mécanismes de mouvement, réalise un mouvement dans de multiples degrés de liberté et permet un positionnement précis, étant pratique et flexible pour une utilisation et peu encombrant, résolvant les problèmes techniques que le lit de positionnement existant pour radiothérapie a un bras en porte-à-faux long, a une faible précision en positionnement, a une faible flexibilité, a une structure complexe, difficile de détecter et de réparer, et le levage de grande charge sur une longue distance peut facilement amener le point de traitement à dévier de l'axe de rotation, ce qui affecte négativement l'effet de traitement.
PCT/CN2017/085286 2016-12-31 2017-05-22 Robot pour radiothérapie WO2018120605A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611264527.0 2016-12-31
CN201611264527.0A CN106693190A (zh) 2016-12-31 2016-12-31 一种用于放疗的机器人

Publications (1)

Publication Number Publication Date
WO2018120605A1 true WO2018120605A1 (fr) 2018-07-05

Family

ID=58906422

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/085286 WO2018120605A1 (fr) 2016-12-31 2017-05-22 Robot pour radiothérapie

Country Status (2)

Country Link
CN (1) CN106693190A (fr)
WO (1) WO2018120605A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109646820A (zh) * 2018-12-29 2019-04-19 佛山瑞加图医疗科技有限公司 加速器机头可升降调节装置、放疗设备及控制方法
CN109771035A (zh) * 2019-02-12 2019-05-21 北京理工大学 六自由度机械手臂及采用该机械手臂的肺穿刺机器人
CN110200629A (zh) * 2019-05-20 2019-09-06 吴晓明 医疗用磁共振检测装置
CN113952630A (zh) * 2021-12-03 2022-01-21 固安翌光科技有限公司 一种光疗舱

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114733085B (zh) * 2022-05-19 2022-09-13 深圳市吉斯迪科技有限公司 一种用于人体皮肤治疗的激光手具

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0396758A1 (fr) * 1988-08-11 1990-11-14 Fanuc Ltd. Actuateur de robot industriel a action directe
CN202219504U (zh) * 2011-08-18 2012-05-16 深圳市锐能机械有限公司 机械臂
CN203031143U (zh) * 2012-12-27 2013-07-03 苏州领创激光科技有限公司 圆管轴向和周向运动支撑机构
CN104689489A (zh) * 2015-03-16 2015-06-10 瑞地玛医学科技有限公司 直线摆臂式机器人治疗床

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0626610B2 (ja) * 1991-10-23 1994-04-13 永島醫科器械株式会社 座位照射外科治療システムにおける回転中心に患部を移動できる調整装置を備えた回転椅子
CA2598262C (fr) * 2001-10-30 2012-08-14 Loma Linda University Medical Center Procede et dispositif de radiotherapie
CN203539610U (zh) * 2013-07-11 2014-04-16 佛山顺德恒健强子医疗科技有限公司 强子治疗室
CN203379504U (zh) * 2013-07-11 2014-01-08 佛山顺德恒健强子医疗科技有限公司 一种适用于固定式强子束的360度治疗装置
CN104548364B (zh) * 2013-10-28 2017-10-17 戎芳模 一种放射治疗自动定位装置
EP2944259A1 (fr) * 2014-05-15 2015-11-18 Buck Engineering & Consulting GmbH Dispositif de positionnement d'un patient
CN205108787U (zh) * 2015-09-02 2016-03-30 戴建荣 多运动自由度人体支撑装置
CN206934454U (zh) * 2016-12-31 2018-01-30 广东恒聚医疗科技有限公司 一种用于放疗的机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0396758A1 (fr) * 1988-08-11 1990-11-14 Fanuc Ltd. Actuateur de robot industriel a action directe
CN202219504U (zh) * 2011-08-18 2012-05-16 深圳市锐能机械有限公司 机械臂
CN203031143U (zh) * 2012-12-27 2013-07-03 苏州领创激光科技有限公司 圆管轴向和周向运动支撑机构
CN104689489A (zh) * 2015-03-16 2015-06-10 瑞地玛医学科技有限公司 直线摆臂式机器人治疗床

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109646820A (zh) * 2018-12-29 2019-04-19 佛山瑞加图医疗科技有限公司 加速器机头可升降调节装置、放疗设备及控制方法
CN109771035A (zh) * 2019-02-12 2019-05-21 北京理工大学 六自由度机械手臂及采用该机械手臂的肺穿刺机器人
CN110200629A (zh) * 2019-05-20 2019-09-06 吴晓明 医疗用磁共振检测装置
CN113952630A (zh) * 2021-12-03 2022-01-21 固安翌光科技有限公司 一种光疗舱
CN113952630B (zh) * 2021-12-03 2024-03-29 固安翌光科技有限公司 一种光疗舱

Also Published As

Publication number Publication date
CN106693190A (zh) 2017-05-24

Similar Documents

Publication Publication Date Title
WO2018120605A1 (fr) Robot pour radiothérapie
CN105686883A (zh) 一种冗余自由度持镜机械臂
WO2018090671A1 (fr) Système de commande magnétique de capsule de gastroscopie
CN111166471B (zh) 一种三轴交汇式主被动混合手术持镜臂
CN109091237A (zh) 微创手术器械辅助系统
CN107049705B (zh) 一种含被动滑动副的上肢康复外骨骼机构
CN203697006U (zh) 智能五轴机械手
CN105983959B (zh) 多关节机械手
CN208784756U (zh) 具有六自由度机械臂的dr机器人
CN103622751A (zh) 一种基于电机驱动锁紧的外科手术机器人被动关节
CN107157581B (zh) 一种用于体外微创手术的解耦四自由度远心机构
CN109091235A (zh) 微创手术器械辅助操作臂
CN105962876A (zh) 一种内窥镜胶囊控制器
US20230141650A1 (en) Bi-planar robotic arm device for vascular interventional surgery
CN105852975A (zh) 一种核磁兼容的乳腺介入手术装置
CN109091231A (zh) 微创手术主操作臂
CN104248448B (zh) 一种超声三维成像探头
CN210144719U (zh) 一种用于磁共振成像仪内部的六自由度针刺机器人
CN109746846A (zh) 一种用于医疗的便捷型夹取装置
CN112386269B (zh) 一种双机械臂式结构的车载血管造影机
CN208543485U (zh) 一种4轴多关节机器手臂
CN105092872A (zh) 自动加样仪及其旋转升降组件
CN108652673A (zh) 乳腺b超检查系统及检查方法
CN209734152U (zh) 一种全被动型主操作手
CN106730372B (zh) 一种用于放疗的定位系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17887351

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17887351

Country of ref document: EP

Kind code of ref document: A1