[0034] In order to make it easy to understand the technical means, creative features, objectives and effects achieved by the present invention, the present invention will be further explained below in conjunction with specific drawings.
[0035] figure 1 The multi-robot type intraoperative radiotherapy apparatus according to an embodiment of the present invention is shown in an initial stowed state to facilitate the transportation of the multi-robot type intraoperative radiotherapy apparatus.
[0036] Such as figure 1 As shown, a multi-manipulator type intraoperative radiotherapy apparatus according to an embodiment of the present invention includes: a base 100, a main manipulator 200, a linear accelerator radiation head 300, a left manipulator 401, a left end gripper 402, Right robotic arm 501, right robotic arm end gripper 502, two-dimensional motion platform 601, and ray blocker 602.
[0037] The base 100 includes a base body 101, and a left support leg 102 and a right support leg 103 fixedly connected to both sides of the base body. Preferably, the bottom of the base body 101 can be equipped with casters, for example figure 1 The two casters 104 shown are equipped with a caster under each of the left and right supporting legs. The casters can be motor-driven ordinary casters or universal casters. The doctor can remotely control the motors of the four casters to make the multi-manipulator type The intraoperative radiotherapy device is transported to the designated treatment location in the operating room and fixed.
[0038] The base of the main manipulator 200 is fixedly connected to the upper part of the base body 101. Preferably, the main manipulator 200 adopts but is not limited to a six-degree-of-freedom tandem manipulator architecture. Each joint of the main manipulator 200 is driven by a motor, and each joint is Equipped with position detection sensors to monitor the rotation angle of each joint in real time.
[0039] The linear accelerator radiation head 300 is fixedly connected to the end of the main mechanical arm 200. Through automatic control technology, the main mechanical arm 200 can drive the linear accelerator radiation head 300 to move to any desired position and angle.
[0040] The base of the left robotic arm 401 is fixedly connected to the left side of the base body 101. Preferably, the left robotic arm 401 adopts but is not limited to a six-degree-of-freedom tandem robotic arm architecture. Each joint of the left robotic arm 401 can be driven by a motor, and each The joints can be equipped with position detection sensors for real-time monitoring of the rotation angle of each joint. The left end gripper 402 is fixedly connected to the end of the left mechanical arm 401. Preferably, the left end gripper 402 of the robotic arm can hold the ultrasound probe 403 or other imaging equipment, and can also be automatically or manually replaced to hold the treatment light limiting tube 404. Through automatic control technology, the left mechanical arm 401 can drive the ultrasound probe 403 or the treatment light-limiting tube 404 to move to any desired position and angle.
[0041] The base of the right mechanical arm 501 is fixedly connected to the right side of the base body 101. Preferably, the right mechanical arm 501 adopts but is not limited to a six-degree-of-freedom tandem mechanical arm architecture. Each joint of the right mechanical arm 501 can be driven by a motor, and each The joints can be equipped with position detection sensors for real-time detection of the rotation angle of each joint. The right mechanical arm end clamp 502 is fixedly connected to the end of the right mechanical arm 501 for clamping the analog light limiting tube 503. Preferably, the right mechanical arm 501 can work in a power assist mode to assist the clinician to manually place the analog light limiting tube 503 to any desired position and angle.
[0042] Although it is described above that the main robot arm 200, the left robot arm 401, and the right robot arm 501 each have a six-degree-of-freedom tandem robot arm architecture, it should be understood that the present invention is not limited thereto. Rather, through position design, etc., each robot arm has multiple degrees of freedom, such as 2 degrees of freedom, 3 degrees of freedom, 4 degrees of freedom, etc., among which 3 degrees of freedom or more are preferable, and more preferably 4 degrees of freedom or more. , For example, 6 degrees of freedom, which can realize convenient manipulation of related components and realize different positions and orientations. It should be understood that the structure of the robotic arm and its precise control are known and mature technologies in this technical field, and therefore will not be described in detail here.
[0043] The two-dimensional motion platform 601 is installed on the two supporting legs of the base 100. The ray blocker 602 is a rectangular metal plate with a certain thickness and is installed on the two-dimensional motion platform 601. The two-dimensional motion platform 601 can drive the ray blocker 602 Performing linear movement in the x and y directions makes the central axis of the electron beam emitted from the linear accelerator radiation head 300 incident on or near the center of the ray blocker 602.
[0044] Such as figure 1 As shown, each mechanical arm of the multi-manipulator type intraoperative radiotherapy apparatus can be in a stowed state to facilitate the transportation of the intraoperative radiotherapy apparatus. The four wheels 104 at the bottom of the base 100 can be driven by motors, and the doctor can pass The movement of each wheel driving motor is remotely controlled, and the intraoperative radiotherapy device is transported to the designated treatment position in the operating room and fixed.
[0045] figure 2 The multi-robot type intraoperative radiotherapy apparatus according to an embodiment of the present invention is shown in a simulated positioning state. Such as figure 2 As shown, the right mechanical arm end holder 502 can clamp the analog light limiting tube 503, and the treatment bed 700 is fixed in the operating room. Preferably, the treatment bed 700 can perform lifting and rotating movements.
[0046] In an example, the human body 800 is fixed on the treatment bed 700, and the human body 800 is placed in a position convenient for radiotherapy by moving the multi-robot intraoperative radiotherapy device and rotating or lifting the treatment bed 700. Preferably, the right mechanical arm end clamper 502 clamps the analog light limiting tube 503, and each movement joint of the right mechanical arm 501 has power-assisted motors and joint position detection sensors. The doctor can manually operate the right mechanical arm 501 to drive the analog light limiting tube 503 is aimed at the pre-illumination range in the surgical field of the human body 800, and the position of the end of the simulated light limiting tube 503 can be accurately determined by the joint position sensors of the right mechanical arm 501.
[0047] image 3 The multi-robot type intraoperative radiotherapy apparatus according to an embodiment of the present invention is shown in an imaging state.
[0048] In one example, the left end gripper 402 of the left robotic arm holds an ultrasound probe 403 or other imaging equipment, each joint of the left robotic arm 401 can be driven by a motor, and the automatic control system can be based on the end position parameters of the simulated light limiter 503, The left mechanical arm 401 is driven to drive the ultrasonic probe 403 or other imaging equipment into the analog light limiting tube 503. Each motion joint of the left robotic arm 401 has a position detection sensor, which can determine the position of the ultrasound probe 403 or other imaging equipment in real time through the spatial position calculation algorithm, and further determine the position of the tumor, normal tissue, and important organs in the image, and then The physicist can use the radiotherapy planning system and the obtained images to design an intraoperative radiotherapy plan, determine the electron beam irradiation angle, direction, position, and irradiation dose and irradiation time.
[0049] Preferably, after obtaining the target area image, the left mechanical arm 401 can automatically remove the ultrasound probe 403 or other imaging equipment from the analog light limiting tube 503, and automatically or manually replace the ultrasound probe 403 or other imaging equipment with treatment The light limiting tube 404 is convenient for the next radiation treatment. Preferably, the left robotic arm end holder 402 can hold the ultrasound probe 403 or other imaging equipment, and can also hold the treatment light limiting tube 404.
[0050] Figure 4 The multi-mechanical arm type intraoperative radiotherapy apparatus according to an embodiment of the present invention is shown in a treatment state.
[0051] Such as Figure 4 As shown, the left robotic arm end holder 402 can hold the ultrasound probe 403 or other imaging equipment, and can also be automatically or manually replaced to hold the treatment light limiting tube 404. Through automatic control technology, the left robotic arm 401 can drive the ultrasound The probe 403 or the treatment light limiting tube 404 moves to any desired position and angle.
[0052] In one example, after obtaining the target area image, the left robotic arm holder 402 can automatically remove the ultrasound probe 403 or other imaging equipment from the analog light limiting tube 503, and automatically or manually remove the ultrasound probe 403 or other imaging devices. The imaging device is replaced with a treatment light-limiting tube 404 to facilitate subsequent radiation treatment.
[0053] In one example, the left robotic arm end holder 402 holds the treatment light-limiting tube 404, and the left robotic arm holder 402 can automatically place the treatment light-limiting tube 404 in the simulated light-limiting tube 503. The placement angle, direction, and position of the barrel 404 are determined by the intraoperative radiotherapy planning system. Preferably, the main mechanical arm 201 automatically drives the linear accelerator radiation head 300 to fit the upper end surface of the treatment light limiting tube 404 according to the irradiation angle and direction determined by the radiotherapy planning system. Preferably, the two-dimensional motion platform 601 can automatically perform a two-dimensional plane motion, thereby driving the ray blocker 602 to move to a certain position, so that the center of the electron beam is incident on or near the geometric center of the ray blocker 602 to attenuate or block Rays passing through the human body and the treatment bed.
[0054] From the imaging stage to the radiotherapy stage described above, the right manipulator 501 can fix the position of the analog light limiting tube 503, and the multi-manipulator system can establish a coordinate system based on the position of the analog light limiting tube 503, that is to say , From the imaging stage to the radiotherapy stage, various operations are performed in the same coordinate system. This can improve the consistency of various operations, thereby improving the accuracy of the intraoperative program.
[0055] Preferably, after the intraoperative radiotherapy is finished, the main mechanical arm 201 can automatically return the linear accelerator radiation head 300 to figure 1 In the standby position shown, the left robotic arm holder 402 can automatically remove the treatment light limiting tube 404 from the analog light limiting tube 503 and return to figure 2 Standby position shown. Finally, with the help of the right mechanical arm 501, the clinician manually moves the simulated light limiting tube 503 from the surgical field of view of the human body 800 to the standby position to complete the intraoperative radiotherapy.
[0056] The principle of the present invention has been described above with reference to specific embodiments. Those skilled in the art will understand that the present invention is not limited to the above-mentioned embodiments, but many modifications and changes in details and forms can be made without departing from the spirit and scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
