WO2021149888A1 - Multi-radiation cancer treatment robot - Google Patents

Abstract

The present invention relates to a multi-radiation cancer treatment robot comprising: a body rotatably mounted to a ceiling and having a structure suspended therefrom; a plurality of arms having multiple joints to allow unfolding or folding of the arms and mounted to the opposite sides of the body; and a plurality of radiation accelerators mounted to and supported by each of the plurality of arms to be rotatable in the forward-backward direction or the leftward-rightward direction. According to the present invention, each robot may be provided with a plurality of radiation accelerators and thus can reduce the treatment time.

Description

Multi-radiation cancer treatment robot

The present invention relates to a multi-radiation cancer treatment robot for responding to the increasing demand of cancer treatment patients every year.

The number of cancer patients is increasing every year.

Radiation therapy, along with surgery and chemotherapy, is one of the three major therapies for tumor treatment.

Among the radiation used for medical purposes, therapeutic radiation is applied to the tumor of a cancer patient and prevents the cancer cells from multiplying any more, so that the cancer cells die at the end of their lifespan or are used to alleviate the pain of the patient.

Such radiation therapy is used to prevent recurrence in cases where cancer cells are likely to remain after surgery, when surgery is not possible, when radiation therapy is more effective than surgery, and in combination with surgery and radiation therapy to improve the patient's quality of life. If you want to increase the anti-cancer drug, it can be performed to maximize the anti-cancer effect together with anti-cancer drug treatment.

Radiation therapy has recently been in the spotlight as a cancer treatment method because it has the advantage of being able to treat accurately and efficiently and there is no pain.

In particular, as computed tomography (CT) and magnetic resonance imaging (MRI) have become more common to accurately locate tumors or cancer cells, the radiation therapy device can only attack tumors while minimizing damage to surrounding tissues.

Recently, in order to respond to the demand for cancer treatment, radiation cancer treatment equipment is being introduced from abroad.

Representative examples include gamma knives (Sweden) and linear accelerators (USA).

However, gamma knives and linear accelerators not only cause inconvenience to the patient by fixing the patient's body using a body stabilizing frame for accurate radiation irradiation, but also have a problem that the linear accelerator takes a long time to treat with one accelerator. there is.

On the other hand, the CyberKnief Robotic Radiosurgery System (hereinafter referred to as “CyberKnife System”), a radiation tumor treatment equipment using a robot and image tracking technology, was developed by Accuray, USA, and during treatment. By accurately irradiating radiation by automatically tracking, detecting, and correcting tumor and patient movements, damage to healthy tissues around the tumor can be minimized, which has the advantage of not requiring a body stabilization frame.

In addition, the cyberknife system has a wide range of irradiation angles in three-dimensional space using the existing six-degree-of-freedom industrial robot.

However, a radiation cancer treatment robot using a radiation source does not need to rotate the radiation source, so 5 degrees of freedom is sufficient.

For this reason, since the cyberknife system uses an industrial robot higher than the required specification, the size of the driving motor used in the robot becomes larger than necessary, thereby increasing the size of the entire system and increasing the manufacturing cost.

In addition, the cyberknife system cannot improve the user's discomfort or easily reflect the user's needs with full income, and there is a problem in that the physical and psychological burden of the patient is large due to the long treatment time.

In addition, the conventional radiation cancer treatment apparatus has a limitation in expanding the range of the beam transmission angle of radiation by installing a couch used as a patient operating table next to the cancer treatment robot. For example, a cancer treatment robot has a limitation in irradiating radiation to a patient's tumor in vertical and horizontal directions due to interference with the couch. To improve this, the relative position of the couch and the robot should be optimized.

The present invention was created to solve the above-mentioned problems, and has a first object to provide a multi-radio cancer treatment robot capable of reducing the treatment time.

A second object of the present invention is to provide a multi-radiation cancer treatment robot capable of reducing the size and manufacturing cost of a system by optimizing it for radiation treatment with sufficient 5 degrees of freedom instead of the existing 6 degree of freedom industrial robot.

A third object of the present invention is to provide a multi-radio cancer treatment robot that can secure a wide range of beam delivery angles of a radiation source.

A fourth object of the present invention is to provide a multi-radiation cancer treatment robot capable of preventing sagging due to the additional installation of a radiation accelerator.

The first object described above can be achieved by installing two radiation accelerators per one cancer treatment robot and irradiating radiation to the same lesion at the same time or irradiating each lesion to several lesions.

The second object described above can be achieved by being implemented with 5 degrees of freedom by including the first to fifth rotational shafts and the first to fifth driving motors respectively driving them.

The third object described above is achieved by installing the robot vertically upward from the patient's operating table and hanging from the ceiling, and the upper part of the robot body is installed on the ceiling rotatable 360 degrees using the first rotating shaft and the first driving motor driving it. can be

The fourth object described above is a robot body, first and second arms disposed in front and rear of the robot body, respectively, and a first radiation accelerator and a second radiation accelerator mounted on the first and second arms, respectively, a first rotation axis It can be rotatable around and can be achieved by forming a closed loop.

A multi-radiation cancer treatment robot according to an aspect of the present invention includes a body rotatably mounted in a structure suspended from a ceiling; a plurality of arms having multiple joints so as to be expandable or foldable and respectively mounted on both sides of the body; and a plurality of radiation accelerators rotatably mounted and supported on each of the plurality of arms in a front-rear direction or a left-right direction.

According to one aspect of the invention, the body, a shoulder; and a first side body and a second side body extending perpendicularly to both sides of the shoulder and mounting the plurality of arms.

According to an aspect of the present invention, the body includes a first rotational shaft formed to protrude upward from the central portion of the shoulder, and the body includes a supporter for rotatably supporting the first rotational shaft by 360 degrees. It may be installed in the form of hanging from the ceiling.

According to one aspect of the present invention, the supporter, a base formed in a cylindrical shape; a flange portion extending in the circumferential direction from the upper end of the base; a plurality of projections projecting radially from the flange portion; and a plurality of fastening holes formed in each of the plurality of protrusions.

According to an aspect of the present invention, the plurality of arms may include: a plurality of first arms disposed in front of the first and second side bodies; and a plurality of second arms disposed behind the first and second side bodies.

According to an aspect of the present invention, each of the plurality of first arms and the plurality of second arms has one side coupled to a lower portion of each of the first and second side bodies by a second rotation shaft, and the other side is coupled to the second side body. A plurality of first rotation links rotated about the second rotation axis; and a plurality of second rotational links having one side coupled to the other side of the plurality of first rotational links by a third rotational shaft, and the other side rotating around the third rotational shaft.

According to an aspect of the present invention, the plurality of radiation accelerators may include: a first radiation accelerator mounted on the plurality of first arms; and a second radiation accelerator mounted on the plurality of second arms.

According to one aspect of the present invention, both side surfaces of the first arm are rotatably coupled to the other side of the plurality of second rotation links by a plurality of fourth rotation shafts in the front-rear direction, and the first radiation accelerator is accommodated therein. 1 housing; and a second housing having both side surfaces rotatably coupled to the other side of the plurality of second rotation links of the second arm in the front-rear direction by a plurality of fourth rotation shafts and accommodating the second radiation accelerator, wherein The first radiation accelerator is rotatably coupled to the front surface and the rear surface of the first housing in the left and right directions by a fifth rotation shaft, respectively, and the second radiation accelerator is on the front surface and the rear surface of the second housing, respectively It may be rotatably coupled by a fifth rotation shaft, and the fourth rotation shaft and the fifth rotation shaft may be disposed perpendicular to each other.

According to another aspect of the present invention, the body rotating about the first axis of rotation in the upper center; a supporter installed on the ceiling and coupled to the first rotation shaft to rotatably support the body 360 degrees while suspended from the ceiling; A first rotary link disposed to face each other on the front and rear of the body and rotating about a second axis of rotation with respect to both lower ends of the body and a third axis of rotation with respect to an end of the first rotary link. a first arm to an L-th arm each provided with a second rotation link and mounted on both lower ends of the body to be expandable or foldable, respectively; first to M-th housings respectively mounted to the ends of the second rotary links of the first to L-th arms to be rotatably mounted about a fourth rotary shaft; It is accommodated inside each of the first and second housings, and is rotatably mounted in the left and right directions about a fifth rotational shaft mounted on the front and rear surfaces of each of the first and second housings, respectively, in the patient's one or A first radiation accelerator to an N-th radiation accelerator for irradiating a plurality of radiation to a plurality of lesions, wherein L, M, and N may be a natural number of 2 or more.

According to another aspect of the present invention, each of L, M, and N may be 2.

According to another aspect of the present invention, the first axis of rotation extends vertically to the center of the upper portion of the body and is vertically disposed, and each of the second axis of rotation to the fourth axis of rotation is located from both sides in the left and right direction of the body. direction and are disposed parallel to each other, the fifth rotational shaft may extend in the front and rear directions from the front and rear surfaces of the first to Mth housings and may be disposed perpendicular to the first to the fourth rotational shafts. .

According to another aspect of the present invention, a first driving unit for rotating the first rotating shaft; a second driving unit for rotating the second rotating shaft; a third driving unit for rotating the third rotating shaft; a fourth driving unit for rotating the fourth rotating shaft; and a fifth driving unit for rotating the fifth rotation shaft, wherein the first to Lth radiation accelerators respectively mounted on the first to Lth arms may be driven independently of each other.

According to another aspect of the present invention, the first driving part is mounted on the inside of the supporter, the second driving part is mounted on the lower side of one side of the body, and the third driving part is mounted on the other end of the first rotary link. mounted, the fourth driving unit may be mounted on the other end of the second rotation link, and the fifth driving unit may be mounted on the first to Mth housings.

According to another aspect of the present invention, each of the first driving unit to the fifth driving unit may include a driving motor; and a gearbox having one side connected to the driving motor and the other side connected to one of the first to fifth rotating shafts to transmit power of the driving motor to the rotating shaft.

According to another aspect of the present invention, each of the second rotational axis to the fourth rotational axis is disposed in plurality to face each other on both sides in the left and right lateral directions of the body, and the fifth rotational axis is a front of the first to Mth housings. A plurality of the first to fifth driving units are disposed to face each other on the front and rear surfaces, and each of the first rotating shaft and the second rotating shaft to the fourth rotating shaft disposed on either side of both sides in the left and right lateral directions of the body , and may be independently connected to a fifth rotation shaft disposed on either side of both sides of the first to Mth housings in the front and rear directions.

According to another aspect of the present invention, each of the first rotation link and the second rotation link is arranged in plurality to face each other on both sides in the left and right lateral directions of the body, and to face each other on both sides in the left and right lateral directions of the body The plurality of second rotation links arranged may be connected by a connecting link.

The effect of the present invention configured as described above will be described as follows.

First, by installing two radiation accelerators per one multi-radiation cancer treatment robot, the treatment time can be shortened by simultaneously treating the same lesion with two radiation irradiated from two radiation accelerators or treating several lesions at the same time, It can reduce the patient's contractual and psychological burden due to the long treatment time.

Second, the multi-radiation cancer treatment robot is installed to be rotatable 360 degrees around the first rotational axis disposed perpendicular to the ceiling, and is not installed next to the patient's operating table (couch). It is possible to irradiate the radiation beam to the lesion of the cancer patient at various angles without any further treatment, and to increase the range of the irradiation angle (transmission angle) of the radiation beam.

Third, the multi-radiation cancer treatment robot commonly uses a first rotation axis as 5 degrees of freedom, and a first radiation accelerator and a second radiation accelerator are mounted on a plurality of first arms and a plurality of second arms on both sides of the robot body, respectively. , the plurality of first and second arms and the first and second radiation accelerators form a closed-loop or closed-chain form, so that deflection due to attachment of two heavy radiation accelerators can prevent

Fourth, the multi-radiation cancer treatment robot has a second rotational axis to a fifth rotational axis on each of the first and second arms respectively equipped with the first and second radiation accelerators, and each rotational axis is supported at both ends, and two heavy radiation accelerators are provided. can support the load stably.

Fifth, each of the first and second arms includes first and second rotation links connected by multiple joints by second to fourth rotation axes, and each rotation link rotates about the second to third rotation axes to be folded. or deployed, the distance between the lesion and the radiation source can be adjusted, and each of the first and second radiation accelerators can adjust the irradiation angle of the radiation source by rotating in the front and rear directions about the fourth rotation axis.

Sixth, each of the first and second radiation accelerators rotates in the left and right directions around the fifth rotation axis, so that the radiation angle of the radiation can be finely adjusted.

Seventh, since the multi-radiation cancer treatment robot can be installed in a narrower space than the existing radiation cancer treatment system, economic costs can be reduced.

Eighth, the multi-radiation cancer treatment robot has the advantage of being able to easily supplement and improve the system by immediately reflecting the discomfort of the patient and the needs of the user by developing it with a domestic proprietary technology rather than importing it from abroad.

1 is a conceptual diagram for explaining a multi-radiation cancer treatment robot according to the present invention.

FIG. 2 is a plan view taken along II-II of FIG. 1 .

3 is a side view taken along III-III of FIG. 2 ;

4 is a front view taken along IV-IV of FIG. 2 ;

5 is a conceptual diagram for explaining the connection relationship between the first to fifth rotational axes of five degrees of freedom and the first to fifth driving motors for operating the first radiation accelerator of the multi-radiation cancer treatment robot according to the present invention.

6 is an exploded view of FIG. 1 .

7 is a side view of the exploded view of FIG. 6 viewed in the X-axis direction.

FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 2 , and is a conceptual diagram illustrating a connection relationship between a radiation accelerator and a fifth driver.

9 is a conceptual diagram for explaining a multi-joint of a 5-DOF robot according to the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have a meaning or role distinct from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

1 is a conceptual diagram for explaining a multi-radiation cancer treatment robot according to the present invention. FIG. 2 is a plan view taken along II-II of FIG. 1 . 3 is a side view taken along III-III of FIG. 2 ; 4 is a front view taken along IV-IV of FIG. 2 ;

5 is a view showing the first to fifth rotational axes 151,153,155,157,159 and first to fifth driving motors 1521,1541,1561 of 5 degrees of freedom for operating the first radiation accelerator 170 of the multi-radiation cancer treatment robot according to the present invention. ,1581,1601) is a conceptual diagram for explaining the connection relationship.

6 is an exploded view of FIG. 1 . 7 is a side view of the exploded view of FIG. 6 viewed in the X-axis direction.

FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 2 , and is a conceptual diagram illustrating a connection relationship between the radiation accelerators 170 and 172 and the fifth driver 160 , 160 .

The radiation accelerators 170 and 172 are configured to generate radiation used for the purpose of treating cancer or tumor, and irradiate the radiation at a preset angle.

The radiation accelerators 170 and 172 may include a case 1701 , a radiation irradiator, and a collimator 1702 .

The case 1701 forms the exterior of the radiation accelerators 170 and 172 . The case 1701 may be formed in a rectangular box shape.

The radiation irradiator is provided inside the case 1701 and is configured to irradiate radiation such as x-rays.

The collimator 1702 extends downward from one side of the case 1701 and may be formed in a cylindrical shape. The collimator 1702 may be formed to be stepped in a cylindrical shape having different diameters from the center to the bottom of the case 1701 .

The collimator 1702 is provided under the radiation irradiator, and is configured to align the radiation irradiated from the radiation irradiator.

The multi-radiation cancer treatment robot of the present invention is equipped with a plurality of radiation accelerators 170 and 172 per unit in order to shorten the treatment time. The multi-radiation cancer treatment robot is configured to irradiate a plurality of radiation with a plurality of radiation accelerators 170 and 172 .

The plurality of radiation accelerators 170 and 172 may be composed of a first radiation accelerator 170 to an N-th radiation accelerator. N is a natural number greater than or equal to 2. In this embodiment, N is 2, and the plurality of radiation accelerators may include a first radiation accelerator 170 and a second radiation accelerator 172 .

To this end, the multi-radiation cancer treatment robot may be a two-armed robot.

The plurality of radiation accelerators 170 and 172 are respectively mounted at both ends of the two-armed robot, and are configured to irradiate a plurality of radiation to at least one or more lesions. A plurality of radiations may be simultaneously irradiated to one lesion or may be irradiated to lesions located at different positions.

The multi-radiation cancer treatment robot includes a body 100 .

The body 100 may be formed in an upside-down U-shape. The body 100 may include a shoulder 110 and a plurality of side bodies 111 and 112 .

The shoulder 110 has a rectangular cross-sectional shape and may extend horizontally in the left and right lateral directions (X-axis direction in FIG. 1 ). The shoulder 110 is positioned above the side bodies 111 and 112 to connect the plurality of side bodies 111 and 112 .

In FIG. 1 , the X-axis direction means the left and right lateral directions with respect to the body 100 , the Y-axis direction means the front-back direction with respect to the body 100 , and the Z-axis direction is up and down with respect to the body 100 . means direction. The X-axis, Y-axis and Z-axis directions are orthogonal to each other.

A first connection part may extend in a vertical downward direction from one end of the shoulder 110 , and a second connection part may extend in a vertical downward direction to the other end of the shoulder 110 .

The plurality of side bodies 111 and 112 may include a first side body 111 and a second side body 112 . Each of the plurality of side bodies 111 and 112 may be formed to extend in a vertical direction (Z-axis direction).

Among the plurality of side bodies 111 and 112 , the first side body 111 may be connected to the first connector, and the second side body 112 may be connected to the second connector. The first side body 111 and the second side body 112 may be vertically spaced apart from each other in the X-axis direction.

Each of the first and second side bodies 111 and 112 may include a plurality of side bars, upper coupling parts, and lower coupling parts 1110 and 1120 .

The plurality of side bars may be formed in a cylindrical shape. The plurality of side bars are disposed in a vertical direction in parallel to the side surface of the body 100 . The plurality of side bars may be two. The plurality of side bars may be configured to be changeable in length.

For example, the sidebar itself may be formed to have a length-adjustable structure, or may be configured to be able to replace sidebars having different lengths.

The upper coupling portion is fastened to the upper end of the side bar. The upper coupling portion may be formed in a rectangular shape. A portion of the upper coupling portion may be respectively inserted into and coupled to the connection portion of the shoulder 110 .

The lower coupling portions 1110 and 1120 may be formed in a cylindrical shape. The upper portions of the lower coupling portions 1110 and 1120 may be coupled to the lower portion of the side bar.

The body 100 may be installed rotatably 360 degrees in a structure suspended from the ceiling in order to secure various transmission angles of the radiation beam and to optimize the relative positions of the patient operating table and the robot.

To this end, the supporter 140 is installed on the ceiling. The supporter 140 may be formed in a hollow cylindrical shape. The circumferential surface of the supporter 140 is vertically disposed. At the upper end of the supporter 140 , the flange portion 142 is formed to extend outwardly in the radial direction.

The supporter 140 is configured to rotatably support the body 100 by 360 degrees.

The flange portion 142 includes a base 141 and a plurality of protrusions 143 . The base 141 may be formed in a ring shape along the circumferential direction on the radially inner side of the flange portion 142 . The plurality of protrusions 143 may be horizontally protruded from the base 141 in a radial direction.

A plurality of fastening holes 144 may be formed to penetrate through the protrusion 143 . A fastening member such as a screw penetrates the fastening hole 144 and fastens the flange part 142 to the ceiling, so that the flange part 142 may be fixed to the ceiling.

The flange portion 142 is not limited to being fixed to the ceiling, and may be combined with a transfer unit that transfers in vertical and horizontal directions.

In this case, the robot can be transported in the vertical and horizontal directions in the form of a gantry.

The first rotation shaft 151 is formed to protrude vertically upward from the upper surface of the shoulder 110 . The first rotation shaft 151 is formed in a cylindrical shape. The first rotation shaft 151 may be formed in the longitudinal center of the shoulder 110 .

The first rotation shaft 151 is formed in the center of the body 100 when the body 100 is viewed from the top in the Z-axis direction, and can support the load of the body 100 .

The first rotation shaft 151 may be accommodated in the supporter 140 . The first rotation shaft 151 may be coupled to the inside of the supporter 140 and rotatably supported. The first bearing is mounted inside the supporter 140 . The first rotation shaft 151 may be rotatably supported with respect to the supporter 140 by a first bearing.

The first driving unit 152 may be mounted inside the supporter 140 . The first driving unit 152 may include a first driving motor 1521 and a first gearbox 1522 .

The first driving motor 1521 is configured to provide power for rotating the first rotation shaft 151 .

The first gearbox 1522 includes a plurality of gears. The first gearbox 1522 may be respectively connected to the first driving motor 1521 and the first rotation shaft 151 . The first gearbox 1522 is configured to control the rotational speed of the first driving motor 1521 by connecting the first driving motor 1521 and the first rotating shaft 151 at a constant gear ratio.

The multi-radiation cancer treatment robot is configured to include a plurality of first arms 120 and a plurality of second arms 130 to mount a plurality of radiation accelerators 170 and 172 and to irradiate radiation at various angles.

The first arm 120 and the second arm 130 are disposed to face each other in the front-rear direction (Y-axis direction) of the body 100 .

The plurality of first arms 120 is configured to mount the first radiation accelerator 170 , and the plurality of second arms 130 are configured to mount the second radiation accelerator 172 .

The plurality of first arms 120 and the plurality of second arms 130 are disposed in opposite directions on the body 100 and differ only in that the first and second radiation accelerators 170 and 172 are operated independently of each other, They may have the same configuration as each other.

The plurality of first arms 120 are first and second arms to be deployed or folded toward the front of the body 100 in the lower coupling portions 1110 and 1120 of the first side body 111 and the second side body 112 . The two side bodies 111 and 112 are mounted in parallel to the lower coupling portions 1110 and 1120, respectively.

The plurality of second arms 130 is a first side body such that it is deployed or folded toward the rear of the body 100 at the lower coupling portions 1110 and 1120 of the first side body 111 and the second side body 112 . 111 and the lower coupling portions 1110 and 1120 of the second side body 112 are mounted in parallel with each other.

One end of each of the first arm 120 and the second arm 130 is disposed to overlap the lower coupling portions 1110 and 1120 of each of the first and second side bodies 111 and 112 in the X-axis direction and is rotatably mounted do.

The first radiation accelerator 170 may be rotatably mounted between the other ends of each of the plurality of first arms 120 .

A second radiation accelerator 172 may be rotatably mounted between the other ends of each of the plurality of second arms 130 .

The plurality of first arms 120 and the plurality of second arms 130 may be configured as multi-joints to be deployed or folded in opposite directions.

Each of the plurality of first arms 120 may be composed of a first rotation link 121 to a K-th rotation link. K is a natural number greater than or equal to 2. In this embodiment, the plurality of first arms 120 is configured of a plurality of first rotation links 121 and a plurality of second rotation links 122 .

One end of the first rotation link 121 is rotatably coupled to the lower coupling portions 1110 and 1120 of the side bodies 111 and 112 by the second rotation shaft 153, and the other end of the first rotation link 121 is The second rotation shaft 153 may be rotated in the vertical direction.

One end of the second rotary link 122 is rotatably coupled to the other end of the first rotary link 121 by a third rotary shaft 155, and the other end of the second rotary link 122 is a third rotary shaft ( 155) can be rotated in the vertical direction.

The first radiation accelerator 170 is rotatably coupled to the other end of the second rotation link 122 by the fourth rotation shaft 157 . The first radiation accelerator 170 may be rotated in the vertical direction about the fourth rotation shaft 157 .

Each of the plurality of first rotation links 121 may be configured to include a first shaft accommodating part 1211 , a second shaft accommodating part 1212 and a link member.

The first shaft accommodating part 1211 may be formed at one end of the first rotation link 121 . The second shaft accommodating part 1212 may be formed at the other end of the first rotation link 121 . Each of the first and second shaft accommodating parts 1212 may be formed in a cylindrical shape. The first and second shaft accommodating parts 1212 may be configured to accommodate the second and third rotation shafts 155 .

One side of the link member is connected to the first shaft accommodating part 1211, and the other side of the link member is connected to the second shaft accommodating part 1212, the first shaft accommodating part 1211 and the second shaft accommodating part 1212 made to connect The link member may be formed in the form of a plate or a plurality of circular bars.

The first shaft accommodating part 1211 of each of the plurality of first rotation links 121 may be rotatably coupled to the lower coupling parts 1110 and 1120 of the first and second side bodies 111 and 112, respectively. The first shaft accommodating part 1211 is disposed to overlap with the lower coupling parts 1110 and 1120 of the side bodies 111 and 112 in the X-axis direction.

A shaft coupling part may be formed in the first shaft accommodating part 1211 of the first rotation link 121 . The second rotation shaft 153 extends in the X-axis direction inside the first shaft accommodating part 1211 , and is coupled to the shaft coupling part of the first shaft accommodating part 1211 of the first rotation link 121 .

The second driving part 154 may be mounted on a side surface of the lower coupling part 1110 of the first side body 111 . The second driving unit 154 may include a second driving motor 1541 , a second gearbox 1542 , and a second rotation shaft 153 .

The second driving motor 1541 may be mounted on an outer surface of the lower coupling part 1120 of the first side body 111 or the second side body 112 .

One side of the second gearbox 1542 may be connected to the second driving motor 1541 to receive power.

The other side of the second gearbox 1542 is connected to the second rotation shaft 153 and is configured to rotate the second rotation shaft 153 .

The second gearbox 1542 includes a plurality of gears. The second gearbox 1542 may be connected to the second driving motor 1541 and the second rotation shaft 153 . The second gearbox 1542 is configured to transmit power to the second rotation shaft 153 by adjusting the rotational speed of the second driving motor 1541 to a constant gear ratio.

The second driving motor 1541 and the second gear box 1542 may be integrally formed.

One side of the second rotation shaft 153 is connected to the second gearbox 1542 , and the other side of the second rotation shaft 153 is the shaft coupling part of the first shaft accommodating part 1211 of the first rotation link 121 . By being coupled, it is possible to transmit power to the first rotary link 121 .

The first shaft accommodating part 1211 of the first rotation link 121 rotates together with the second rotation shaft 153 with respect to the lower coupling part 1110 of the first side body 111, and the first rotation link 121 ) of the second shaft accommodating part 1212 may be rotated about the second rotation shaft 153 .

A second bearing may be mounted inside the lower coupling portion 1110 of the first side body 111 . The second bearing may rotatably support the second rotation shaft 153 .

The lower coupling portions 1110 and 1120 of the side bodies 111 and 112 may have hollow portions therein, and both sides of the lower coupling portions 1110 and 1120 may be opened in the X-axis direction.

The lower cover may be mounted to the lower coupling parts 1110 and 1120 so as to cover one side open in the X-axis direction of the lower coupling parts 1110 and 1120 . The second gearbox 1542 may be mounted and supported on the lower cover. A power transmission shaft may extend from the second gearbox 1542 , and the power transmission shaft may pass through the lower cover and be connected to the second rotation shaft 153 .

The first shaft accommodating part 1211 of the first rotation link 121 may be mounted on the other side of the lower coupling parts 1110 and 1120 open in the X-axis direction.

In order to rotate the third rotation shaft 155 , the third driving part 156 is mounted on the second shaft receiving part 1212 of the first rotation link 121 . The third driving unit 156 includes a third driving motor 1561 and a third gearbox 1562 . The third driving unit 156 and the second driving unit 154 are only connected to different rotating shafts to drive different rotating shafts, and may be configured in the same way.

The third rotation shaft 155 is mounted to be accommodated in the first shaft accommodating part 1211 of the second rotation link 122 .

The second shaft accommodating part 1212 of the first rotation link 121 and the first shaft accommodating part 1211 of the second rotation link 122 may be disposed to overlap in the X-axis direction. The third driving motor 1561 and the third gear box 1562 may be integrally mounted to the second shaft accommodating part 1212 of the first rotation link 121 .

One side of the third gearbox 1562 may be connected to the third driving motor 1561 to receive power from the third driving motor 1561 . The other side of the third gearbox 1562 is connected to the third rotation shaft 155 to transmit power to the third rotation shaft 155 .

The first shaft accommodating portion 1221 of the second rotation link 122 is configured to rotate together with the third rotation shaft 155 . The first shaft accommodating part 1221 of the second rotation link 122 is rotatably coupled to the second shaft accommodating part 1212 of the first rotation link 121 by the third rotation shaft 155 .

A third bearing may be mounted on the second shaft accommodating part 1212 of the first rotation link 121 . The third bearing rotatably supports the third rotation shaft 155 accommodated in the first shaft accommodating part 1221 of the second rotation link 122 .

The housings 171 and 173 for accommodating the radiation accelerators 170 and 172 are provided for mounting the radiation accelerators 170 and 172 to the plurality of first arms 120 or the plurality of second arms 130 . The housings 171 and 173 may be configured in a rectangular box shape.

The housings 171 and 173 include a first housing 171 accommodating the first radiation accelerator 170 and a second housing 173 accommodating the second radiation accelerator 172 . The first housing 171 and the second housing 173 are configured to separately accommodate the first radiation accelerator 170 and the second radiation accelerator 172, respectively, but the first housing 171 and the second housing 173 Each shape and structure may be identically configured unless otherwise specified.

The housings 171 and 173 may be formed to surround the front, rear, left, and right sides of the radiation accelerators 170 and 172 . Upper portions of the housings 171 and 173 are formed to be open, and lower portions of the housings 171 and 173 are configured to support the radiation accelerators 170 and 172 .

A fourth rotation shaft 157 may be coupled to both side surfaces of the housings 171 and 173 , respectively. The housings 171 and 173 accommodating the radiation accelerators 170 and 172 are rotatably configured together with the fourth rotation shaft 157 .

Shaft coupling portions are formed on both sides of the housings 171 and 173 to be coupled to the fourth rotation shaft 157 .

In order to rotate the fourth rotation shaft 157 , a fourth driving unit 158 is mounted on one side surface of the housings 171 and 173 . The fourth driving unit 158 includes a fourth driving motor 1581 and a fourth gearbox 1582 . The fourth driving motor 1581 and the fourth gearbox 1582 may be configured in the same way as the second driving motor 1541 and the second gearbox 1542 .

One side of the fourth gearbox 1582 is connected to the fourth driving motor 1581 to receive power, and the other side of the fourth gearbox 1582 is connected to the fourth rotation shaft 157 via the power transmission shaft to power can convey

The housings 171 and 173 in which the radiation accelerators 170 and 172 are accommodated may rotate in the front-rear direction of the body 100 about the fourth rotation shaft 157 .

Each of the plurality of second rotation shafts 153 to fourth rotation shafts 157 is disposed to extend in the X-axis direction.

The first rotation link 121 is the second rotation axis 153 as the center, the second rotation link 122 is the third rotation axis 155 as the center, and the radiation accelerators 170 and 172 are the fourth rotation axis 157 as the center. can be rotated respectively.

Meanwhile, the fifth rotation shaft 159 may be rotatably mounted on the front and rear surfaces of the housings 171 and 173 , respectively. A fifth bearing may be rotatably mounted on the front and rear surfaces of the housings 171 and 173 , respectively. The fifth bearing may rotatably support the fifth rotation shaft 159 with respect to the housings 171 and 173 .

The plurality of fifth rotation shafts 159 are arranged to extend in the Y-axis direction.

One side of the fifth rotational shaft 159 is coupled to the radiation accelerators 170 and 172, and the other side of the fifth rotational shaft 159 is coupled to the fifth bearing, and the radiation accelerators 170 and 172 are connected to the housing by the fifth rotational shaft 159. 171,173) can be rotated left and right in the lateral direction.

The fifth driving unit 160 is configured to rotate the fifth rotation shaft 159 . The fifth driving unit 160 may include a fifth driving motor 1601 and a fifth gearbox 1602 . The fifth driving motor 1601 generates power for rotating the fifth rotation shaft.

One side of the fifth gearbox 1602 is connected to the fifth driving motor 1601 , and the other side of the fifth gearbox 1602 is connected to the fifth rotation shaft 159 . The fifth gearbox 1602 is configured to transmit the power of the fifth driving motor 1601 to the fifth rotation shaft.

The fifth driving motor 1601 and the fifth gearbox 1602 may be integrally formed. The integral fifth driving unit 160 may be mounted on the rear surfaces of the housings 171 and 173 .

A predetermined distance in the X-axis direction is formed uniformly between both side surfaces of the radiation accelerator case 1701 and the inner surfaces of the housings 171 and 173 . The left and right rotation angles of the radiation accelerators 170 and 172 may be determined according to a distance between the radiation accelerators 170 and 172 and the housings 171 and 173 .

The plurality of second arms 130 may have the same configuration as the plurality of first arms 120 . The mounting structure of the second radiation accelerator 172 may be the same as that of the first radiation accelerator 170 . However, the first and second radiation accelerators 170 and 172 may be separately mounted on the first and second arms 130 , and may be independently driven by the first and second arms 130 .

Each of the plurality of first arms 120 is composed of a pair of first rotation links 121 and a pair of second rotation links 122 respectively disposed on the left and right first and second side bodies 111 and 112, The lower coupling portions 1110 and 1120 of any one of the first and second side bodies 111 and 112, the second shaft accommodating portion 1212 of the first rotary link 121 and the second rotary link One second driving unit 154 to a fourth driving unit 158 may be respectively mounted to the second shaft accommodating unit 1222 of 122 .

The first rotation link 121 and the second rotation link 122 to which the third driving unit 156 and the fourth driving unit 158 are mounted are the driving-side rotation links, and the third driving unit 156 and the fourth driving unit 158 are mounted. ) The first rotary link 121 and the second rotary link 122 are not mounted is a driven side rotary link. The driving-side first and second rotation links 122 and the driven-side first and second rotation links 122 are disposed on opposite sides in the X-axis direction.

A connection link 174 is disposed between the first shaft accommodating part 1211 of the plurality of second rotation links 122 . The plurality of connection links 174 include a first connection link 174 disposed between the first shaft accommodating portion 1221 of the second rotation link 122 of the plurality of first arms 120 , and a plurality of second It may be composed of a second connection link 174 disposed between the first shaft accommodating portion 1221 of the second rotation link 122 of the arm 130 .

The first connection link 174 rotates the plurality of first arms 120 mounted on the first and second side bodies 111 and 112 together, and the second connection link 174 includes the plurality of second arms 130 . are made to rotate together.

Each of the first and second connection links 174 may be formed in an arc-shaped curved surface.

The connecting link 174 may extend to a length of an arc shorter than the semi-circumference of the first shaft accommodating part 1211 of the second rotary link 122 . Fastening portions at both ends of the connection link 174 may be formed in the form of a flange to be bent in the radial direction of the connection link 174 .

A plurality of fastening holes may be formed to be spaced apart from each other in the fastening part. A fastening member such as a screw passes through the plurality of fastening holes, respectively, so that the connecting link 174 and the first shaft accommodating part 1221 of the second rotary link 122 can be fastened.

One end of the first rotation link 121 of the first arm 120 and one end of the first rotation link 131 of the second arm 130 have a first side body 111 or a second side body 112 . may be disposed to overlap the lower coupling portions 1110 and 1120 in the X-axis direction.

The driving-side first shaft accommodating part 1211 of the first rotation link 121 of the first arm 120 is formed on the inner side surface of the lower coupling parts 1110 and 1120 of the first side body 111 of the second arm ( 130) of the first rotary link 131 may be coupled by the driven-side first shaft accommodating portion 1311 and the support shaft.

The driving-side first shaft accommodating portion 1211 of the first rotational link 121 of the first arm 120 and the driven-side first shaft accommodating portion 1311 of the first rotational link 131 of the second arm 130 ) are made to rotate independently of each other.

For example, a bearing may be mounted inside the driven-side first shaft accommodating part 1311 of the first rotation link 131 of the second arm 130 . This bearing may rotatably support the driven-side second shaft accommodating part 1312 of the first rotation link 131 of the second arm 130 with respect to the support shaft.

The radiation accelerators 170 and 172 are accommodated in the housings 171 and 173 in the form of a square box, and each of the first and second radiation accelerators 170 and 172 is first and Both ends may be supported by the second side bodies 111 and 112 , respectively.

9 is a conceptual diagram for explaining a multi-joint of a 5-DOF robot according to the present invention.

The multi-radiation cancer treatment robot of the present invention is configured with 5 degrees of freedom.

The cancer treatment robot of the present invention consists of five joints (181,182,183,184,185).

The first joint 181 among the five joints 181 , 182 , 183 , 184 , 185 is supported in a suspended form on a support installed on the ceiling, and is disposed on the upper portion of the body 100 . The supporter 140 and the upper portion of the body 100 are connected via a first rotation shaft 151 , and a first joint 181 may be formed.

The first side body 111 and the second side body 112 on both sides of the body 100 may be rotated 360 degrees around the first rotation shaft 151 while being suspended from the ceiling by the supporter 140 .

The first rotation shaft 151 extends in the Z-axis direction, and both sides of the body 100 may rotate in the left and right lateral directions. The first rotation shaft 151 may be rotated by receiving power from the first driving motor 1521 .

The second joint 182 among the five joints 181 , 182 , 183 , 184 , 185 is supported by the lower coupling portions 1110 and 1120 of each of the first and second side bodies 111 and 112 , and is disposed under the body 100 . The lower coupling portions 1110 and 1120 of the first and second side bodies 111 and 112 and the first rotation link 121 may be connected by a second rotation shaft 153 to form a second joint 182 .

The second rotation shaft 153 extends in the X-axis direction, and the first rotation link 121 moves in the vertical direction about the second rotation shaft 153 with respect to the lower coupling portions 1110 and 1120 of the side bodies 111 and 112 . can rotate

Of the five joints (181,182,183,184,185), the third joint 183 is the second shaft accommodating part 1212 of the first rotary link 121 and the first shaft accommodating part 1221 of the second rotary link 122. The coupling between each other formed by wealth The second shaft accommodating part 1212 of the first rotation link 121 and the first shaft accommodating part 1221 of the second rotation link 122 may be coupled by a third rotation shaft 155 .

The third rotation shaft 155 is disposed parallel to the X-axis, and the second rotation link 122 may relatively rotate in the vertical direction with respect to the first rotation link 121 about the third rotation shaft 155 .

The fourth joint 184 of the five joints 181 , 182 , 183 , 184 , 185 is formed in the second shaft accommodating portion 1222 of the second rotary link 122 . The housings 171 and 173 in which the radiation accelerators 170 and 172 are accommodated are rotatably coupled to the second shaft accommodating part 1212 of the second rotation link 122 about the fourth rotation shaft 157 .

The fourth rotation shaft 157 is disposed parallel to the X-axis. The radiation accelerators 170 and 172 may rotate together with the housings 171 and 173 in the front-rear direction or in the vertical direction about the fourth rotation shaft 157 .

Among the five joints (181,182,183,184,185), the fifth joint 185 is formed on the front and rear surfaces of the housings 171 and 173, respectively.

The front and rear surfaces of the radiation accelerators 170 and 172 are respectively rotatably coupled to and supported by the front and rear surfaces of the housings 171 and 173 by a fifth rotation shaft 159 . The radiation accelerators 170 and 172 may rotate left and right with respect to the housings 171 and 173 about the fifth rotation axis 159 .

The second rotation shaft 153 to the fourth rotation shaft 157 may be disposed parallel to each other.

The fifth rotation shaft 159 may extend in the Y-axis direction.

The fifth rotation shaft 159 is disposed in a direction perpendicular to the first rotation shaft 151 and the second to fourth rotation shafts 157 .

The first radiation accelerator 170 and the second radiation accelerator 172 each share a first joint 181 and have a constant radius on both sides of the body 100 around the first joint 181 and can rotate 360 degrees. .

The first and second radiation accelerators 170 and 172, respectively, are folded or deployed in multiple joints of the second joint 182 to the fourth joint 184 in the front-back direction by the first arm 120 and the second arm 130. and movable in the vertical direction.

Each of the first and second radiation accelerators 170 and 172 may be tilted left and right by the fifth joint 185 while being accommodated in the housings 171 and 173 . The left and right tilting angles θ of the radiation accelerators 170 and 172 may be finely adjusted to a preset angle. For example, the preset tilting angle θ may be within a range of 0 degrees to 10 degrees.

The plurality of first arms 120 and the plurality of second arms 130 to which the first and second radiation accelerators 170 and 172 are mounted, respectively, may include a pair of second to fifth joints 182, 183, 184, and 185, respectively.

For example, the plurality of first arms 120 includes a pair of second to fifth joints 182 , 183 , 184 , and 185 .

Among the plurality of first arms 120 , one first arm 120 mounted on the first side body 111 may include second to fifth joints 182 , 183 , 184 , and 185 .

The second to fifth joints 182 , 183 , 184 , and 185 provided in one first arm 120 mounted on the first side body 111 may be driving joints. The drive joint refers to a joint in which a drive motor is connected to a rotary shaft provided for each joint to drive the rotary shaft.

The other first arm 120 mounted on the second side body 112 among the plurality of first arms 120 may include second to fifth joints 182 , 183 , 184 , and 185 .

The second to fifth joints 182 , 183 , 184 , and 185 provided on the other first arm 120 mounted on the second side body 112 may be driven joints. The driven joint refers to a joint that performs joint motion while following the drive joint without the drive motor being connected to the rotation shaft provided for each joint.

Each of the pair of second to fourth joints 182 , 183 , and 184 is spaced apart from each other to correspond to each other in the X-axis direction (left and right lateral directions).

A pair of fifth joints 185 are spaced apart from each other to correspond to each other in the Y-axis direction (front and back direction).

Each of the second to fifth joints 182, 183, 184, and 185 may rotate independently of each other.

Therefore, according to the present invention, two radiation accelerators 170 and 172 are mounted per one multi-radiation cancer treatment robot to treat the same lesion simultaneously with two radiations irradiated from the two radiation accelerators 170 and 172, or to treat several lesions at the same time. By treating, the treatment time can be shortened, and the patient's contractual and psychological burden due to the long treatment time can be reduced.

In addition, the multi-radiation cancer treatment robot is installed to be rotatable 360 degrees around the first rotational axis 151 disposed perpendicular to the ceiling, and is not installed next to the patient operating table (couch). It is possible to irradiate the radiation beam to the lesion of the cancer patient at various angles without constraining the angle, and to increase the range of the radiation beam irradiation angle (transmission angle).

In addition, the multi-radiation cancer treatment robot commonly uses the first rotational axis 151 as 5 degrees of freedom, and has a plurality of first arms 120 and a plurality of second arms 130 on both sides of the robot body 100 . A first radiation accelerator 170 and a second radiation accelerator 172 are mounted, respectively, and a plurality of first and second arms 130 and first and second radiation accelerators 170 and 172 are one closed-loop (Closed-Loop). ) or by forming a closed-chain shape, it is possible to prevent sagging due to attachment of two heavy radiation accelerators 170 and 172 (see FIG. 2 ).

In addition, the multi-radiation cancer treatment robot is provided with a second rotation shaft 153 to a fifth rotation shaft 159 on each of the first and second arms 130 to which the first and second radiation accelerators 170 and 172 are respectively mounted. , Each of the rotation shafts is supported at both ends, so that the load of the two heavy radiation accelerators 170 and 172 can be stably supported.

In addition, each of the first and second arms 130 is provided with first and second rotation links 122 connected to multiple joints by second to fourth rotation shafts 157, and each rotation link includes the second to fourth rotation shafts 157. The distance between the lesion and the radiation source can be adjusted by being rotated about the third rotation axis 155 and folded or unfolded, and each of the first and second radiation accelerators 170 and 172 rotates in the front and rear directions about the fourth rotation axis 157 . By doing so, the irradiation angle of the radiation source can be adjusted.

Furthermore, each of the first and second radiation accelerators 170 and 172 rotates in the left and right directions around the fifth rotation shaft 159, so that the irradiation angle of the radiation can be finely adjusted.

In addition, since the multi-radiation cancer treatment robot can be installed in a narrower space than the existing radiation cancer treatment system, economic costs can be reduced.

In addition, the multi-radiation cancer treatment robot has the advantage of being able to easily supplement and improve the system by immediately reflecting the discomfort of the patient and the needs of the user by developing it with domestic technology rather than importing it from abroad.

The first driving motor 1521 to the fifth driving motor 1601 may be controlled by a controller.

Claims (16)

1. a body rotatably mounted in a structure suspended from the ceiling;

   a plurality of arms having multiple joints so as to be expandable or foldable and respectively mounted on both sides of the body;

   A multi-radiation cancer treatment robot comprising a plurality of radiation accelerators that are rotatably mounted and supported on each of the plurality of arms in the front-rear direction or in the left-right direction.
2. According to claim 1,

   The body is

   shoulder; and

   A multi-radiation cancer treatment robot extending perpendicularly to both sides of the shoulder and including a first side body and a second side body for mounting the plurality of arms.
3. 3. The method of claim 2,

   The body is

   Including a first rotation shaft formed to protrude upward from the central portion of the shoulder,

   The body is

   A multi-radiation cancer treatment robot installed in a form suspended from the ceiling by a supporter that rotatably supports the first rotational axis 360 degrees.
4. 4. The method of claim 3,

   The supporter

   Base formed in a cylindrical shape;

   a flange portion extending in the circumferential direction from the upper end of the base;

   a plurality of projections projecting radially from the flange portion; and

   Multiple radiation cancer treatment robot including a plurality of fastening holes formed in each of the plurality of protrusions.
5. 3. The method of claim 2,

   The plurality of arms,

   a plurality of first arms disposed in front of the first and second side bodies; and

   A multi-radiation cancer treatment robot comprising a plurality of second arms disposed behind the first and second side bodies.
6. 6. The method of claim 5,

   Each of the plurality of first arms and the plurality of second arms comprises:

   a plurality of first rotation links having one side coupled to a lower portion of each of the first and second side bodies by a second rotation shaft, and the other side rotating around the second rotation shaft; and

   One side is coupled to the other side of the plurality of first rotational links by a third rotational shaft, the other side is a multi-radiation cancer treatment robot comprising a plurality of second rotational links rotated about the third rotational axis.
7. 7. The method of claim 6,

   The plurality of radiation accelerators,

   a first radiation accelerator mounted on the plurality of first arms; and

   A multi-radiation cancer treatment robot including a second radiation accelerator mounted on the plurality of second arms.
8. 8. The method of claim 7,

   a first housing, both side surfaces of which are rotatably coupled to the other side of the plurality of second rotation links of the first arm by a plurality of fourth rotation shafts in the front-rear direction, and accommodate the first radiation accelerator; and

   a second housing having both sides of the second arm rotatably coupled to the other side of the plurality of second rotation links by a plurality of fourth rotation shafts in the front-rear direction and accommodating the second radiation accelerator;

   The first radiation accelerator is rotatably coupled to the front surface and the rear surface of the first housing in the left and right directions by a fifth rotation shaft, respectively,

   The second radiation accelerator is rotatably coupled to the front surface and the rear surface of the second housing by a fifth rotation shaft, respectively,

   The fourth rotational axis and the fifth rotational axis are disposed perpendicular to each other.
9. a body rotating about a first axis of rotation in the upper center;

   a supporter installed on the ceiling and coupled to the first rotation shaft to rotatably support the body 360 degrees while suspended from the ceiling;

   A first rotary link disposed to face each other on the front and rear of the body and rotating about a second axis of rotation with respect to both lower ends of the body and a third axis of rotation with respect to an end of the first rotary link. a first arm to an L-th arm each provided with a second rotation link and mounted on both lower ends of the body to be expandable or foldable, respectively;

   first to M-th housings respectively mounted to the ends of the second rotary links of the first to L-th arms to be rotatably mounted about a fourth rotary shaft;

   It is accommodated in each of the first and second housings, and is rotatably mounted in the left and right directions around a fifth rotational shaft mounted on the front and rear surfaces of each of the first and second housings, respectively, in one or A multi-radiation cancer treatment robot comprising a first radiation accelerator to an N-th radiation accelerator irradiating a plurality of radiation to a plurality of lesions, wherein L, M, and N are natural numbers of 2 or more.
10. 10. The method of claim 9,

    Each of L, M, and N is a multi-radiation cancer treatment robot.
11. 10. The method of claim 9,

    The first rotational shaft extends vertically in the upper center of the body and is vertically disposed,

    Each of the second axis of rotation to the fourth axis of rotation extends laterally from both sides in the left and right lateral directions of the body and is arranged parallel to each other,

    The fifth rotational axis extends in the front and rear directions from the front and rear surfaces of the first to Mth housings and is disposed perpendicular to the first to the fourth rotational axis.
12. 12. The method of claim 11,

    a first driving unit for rotating the first rotating shaft;

    a second driving unit for rotating the second rotating shaft;

    a third driving unit for rotating the third rotating shaft;

    a fourth driving unit for rotating the fourth rotating shaft; and

    and a fifth driving unit for rotating the fifth rotating shaft,

    The first to the N-th radiation accelerators respectively mounted on the first to L-th arms are driven independently of each other.
13. 13. The method of claim 12,

    The first driving unit is mounted inside the supporter,

    The second driving part is mounted on one side of the lower part of the body,

    The third driving unit is mounted on the other end of the first rotary link,

    The fourth driving unit is mounted on the other end of the second rotary link,

    The fifth driving unit is a multi-radiation cancer treatment robot mounted on the first to Mth housing.
14. 13. The method of claim 12,

    Each of the first driving unit to the fifth driving unit,

    drive motor; and

    One side is connected to the drive motor, the other side is connected to one of the first to fifth rotary shafts, multiple radiation cancer treatment robot comprising a gearbox for transmitting the power of the drive motor to the rotary shaft.
15. 13. The method of claim 12,

    Each of the second axis of rotation to the fourth axis of rotation is disposed in plurality to face each other on both sides in the left and right lateral directions of the body,

    A plurality of the fifth rotation shafts are disposed to face each other on the front and rear surfaces of the first to Mth housings,

    Each of the first driving unit to the fifth driving unit includes the first rotating shaft, second to fourth rotating shafts disposed on either side of both sides in the left and right lateral directions of the body, and the first to Mth housings in the front and rear directions A multi-radio cancer treatment robot that is each independently connected to a fifth rotational shaft disposed on either side.
16. 10. The method of claim 9,

    Each of the first rotation link and the second rotation link is disposed in plurality on both sides of the body in the left and right lateral directions to face each other,

    A plurality of second rotational links disposed to face each other on both sides in the left and right lateral directions of the body are connected by a connecting link.

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