Inverse solution engineering and trajectory planning algorithm for five-axis treatment table

A technology of trajectory planning and inverse engineering, applied in the direction of program control, computer control, instruments, etc., can solve problems such as complex inverse kinematics solution, multiple solutions or no solution

Active Publication Date: 2018-10-16
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

The above positioning process needs to meet the real-time requirements. Since the solution of inverse kinematics is relatively complicated, and there may be multiple solutions or no solutions, it is urgent to develop an efficient inverse kinematics algorithm for the treatment bed to accurately locate the tumor in the Target area, and relying on efficient trajectory planning algorithm to optimize the movement process and provide patients with a more comfortable treatment experience

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  • Inverse solution engineering and trajectory planning algorithm for five-axis treatment table
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  • Inverse solution engineering and trajectory planning algorithm for five-axis treatment table

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Embodiment Construction

[0068] In order to have a further understanding and understanding of the structural features of the present invention and the achieved effects, the examples and accompanying drawings used to teach are combined with detailed descriptions, as follows:

[0069] Such as Figure 7 As shown, the entire proton medical equipment is shown by a radiation device 3 , a body 4 , and a five-axis treatment bed 5 . The five-axis treatment bed 5 is installed on the ground, and the radiation device 3 is fixed on the body 4 .

[0070] Such as figure 1 As shown, the purpose of the present invention is to provide an inverse engineering and trajectory planning algorithm, especially an inverse engineering and trajectory planning algorithm for a five-axis treatment table.

[0071] It consists of the following three steps: the lesion spatial coordinate positioning method (see figure 1 , algorithm block 1), inverse solution algorithm of treatment couch kinematics (see figure 1 , algorithm block 2), ...

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Abstract

The invention discloses an inverse solution engineering and trajectory planning algorithm for a five-axis treatment table. The algorithm comprises three parts including nidus space coordinate positioning, treatment table kinematics inverse solution and efficient trajectory planning. According to the nidus space coordinate positioning method, three-dimensional coordinates, relative to the head topof a patient, of the position of a tumor are determined through imaging equipment, and in combination with relative positioning of the treatment table and the limbs of the patient, the position, relative to the treatment table, of the tumor is determined. The tumor needs to be placed on a treatment instrument target area, and through treatment table kinematics inverse solution, the positions of all joints in a target state are obtained. In order to relieve the nervous mood of the patient, the five-axis treatment table needs to keep stable operation during motion, complex motion is avoided, andthrough efficient trajectory planning, interpolation trajectory planning of a linear dead zone and linear trajectory planning of the exterior of the dead zone can be achieved. According to the algorithm, the tumor is precisely placed in the target area through the nidus space coordinate positioning method and the treatment table kinematics inverse solution algorithm, the mood control work beforetreatment is guaranteed, and the treatment effect is improved.

Description

technical field [0001] The invention relates to the field of motion control algorithms of a mechanical arm, in particular to an inverse engineering and trajectory planning algorithm of a five-axis treatment bed. Background technique [0002] Before large-scale radiotherapy equipment performs radiotherapy, it is necessary to use a five-axis treatment bed to move the tumor to the center of the target area of ​​the radiotherapy equipment and achieve precise positioning. The above positioning process needs to meet the real-time requirements. Since the solution of inverse kinematics is relatively complicated, and there may be multiple solutions or no solutions, it is urgent to develop an efficient inverse kinematics algorithm for the treatment bed to accurately locate the tumor in the Target area, and relying on efficient trajectory planning algorithm to optimize the movement process and provide patients with a more comfortable treatment experience. Contents of the invention ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/408
CPCG05B19/4086G05B2219/35356
Inventor 燕胜宋云涛程勇鲁晨熊宇潘洪涛史善爽李阳
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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