Treatment bed panel adjusting device and treatment bed

Abstract

The invention discloses a treatment couch panel adjusting device and a treatment couch, the treatment couch panel adjusting device comprises adjusting assemblies, a driving part and a bidirectional rotating assembly, the adjusting assemblies are arranged at the two ends of a treatment couch panel in the first direction, and the adjusting assemblies are located at the first end of the treatment couch panel in the second direction; the adjusting assembly comprises a rod, an output pin shaft and a bearing seat, the first end of the rod is rotationally connected with the bearing seat, the output pin shaft is rotationally connected with the second end of the rod through a spherical hinge joint, and the rod is obliquely arranged in the Y direction; the driving piece is connected with the bearing seat and drives the bearing seat to slide in the second direction; the bidirectional rotating assembly and the adjusting assembly are oppositely arranged in the second direction, and the bidirectional rotating assembly has the bidirectional rotating freedom degree rotating around the first direction and the second direction. According to the treatment bed panel adjusting device, angle adjustment of the treatment bed panel in the first direction and the second direction is achieved through combination of the adjusting assembly, the driving part and the bidirectional rotating assembly, and the orientation and angle of the treatment bed panel are changed.

Description

Technical Field

[0001] The present application relates to the technical field of radiological equipment, and in particular to a treatment bed panel adjustment device and a treatment bed. Background Art

[0002] When using radiological equipment to treat patients, it is usually necessary to accurately locate the patient's affected area to ensure consistency in body position during CT positioning and accelerator treatment, as well as consistency in body position during each fractionated treatment.

[0003] Therefore, there is an urgent need for a treatment bed that can accurately locate the patient's diseased area. Summary of the Invention

[0004] The present application proposes a treatment bed panel adjustment device for adjusting the orientation of the treatment bed panel so that the treatment bed can accurately position the patient's affected area. The present application also proposes a treatment bed.

[0005] In order to achieve the above-mentioned purpose, the present application provides a treatment bed panel adjustment device, comprising an adjustment component, a driving member and a bidirectional rotation component.

[0006] The adjustment assembly is provided at both ends of the treatment bed panel along the first direction, and the adjustment assembly is located at the first end of the treatment bed panel along the second direction. The adjustment assembly includes a rod, an output pin shaft and a bearing seat.

[0007] The bearing seat is slidably arranged on the bottom support structure of the treatment bed, and the bearing seat is connected to the driving member, and the driving member is used to drive the bearing seat to slide along the second direction.

[0008] The first end of the rod is rotatably connected to the bearing seat, and the second end of the rod is connected to the output pin shaft via a ball joint. The rotation axis of the first end of the rod is parallel to the first direction, and the rod is tilted along the second direction. The output pin shaft is connected to the treatment bed panel.

[0009] The bidirectional rotation assembly and the adjustment assembly are arranged opposite to each other along the second direction, and the bidirectional rotation assembly has bidirectional rotational freedom of rotation about a first direction and a second direction. One of the first-direction rotation portion and the second-direction rotation portion of the bidirectional rotation assembly is fixedly connected to the bottom support structure, and the other of the first-direction rotation portion and the second-direction rotation portion is fixedly connected to the treatment bed panel.

[0010] The first direction and the second direction are any set of two directions perpendicular to each other on a horizontal plane.

[0011] Preferably, in the above-mentioned treatment bed panel adjustment device, the bearing seat is connected to the bottom support structure via a sliding assembly;

[0012] The sliding assembly includes a sliding rail and a sliding block, the sliding rail is connected to the bottom supporting structure, and the sliding block is connected to the bearing seat.

[0013] Preferably, in the above-mentioned treatment bed panel adjustment device, the output pin is connected to the treatment bed panel via a connecting assembly;

[0014] The connecting assembly includes a first connecting plate and a second connecting plate,

[0015] The first connecting plate is arranged along the second direction, and the first connecting plate is connected to the output pin shaft.

[0016] The second connecting plate is arranged along the first direction, two ends of the second connecting plate are respectively connected to the two first connecting plates, and the second connecting plate is connected to the treatment bed panel.

[0017] Preferably, in the above-mentioned treatment bed panel adjustment device, a long strip through hole is provided on the first connecting plate for the second end of the rod to pass through, the long strip through hole is opened along the second direction, and the output pin shaft is connected to the side of the second connecting plate close to the treatment bed panel.

[0018] Preferably, in the above-mentioned treatment bed panel adjustment device, the driving member is a screw assembly.

[0019] Preferably, in the above-mentioned treatment bed panel adjustment device, the bidirectional rotation component is a Hooke's hinge component.

[0020] Preferably, in the above-mentioned treatment bed panel adjustment device, the treatment bed panel has a first preset rotation angle α around the first direction, and a second preset rotation angle β around the second direction, with counterclockwise being the positive direction.

[0021] The sliding distance L4 of the bearing seat of one of the adjustment components along the second direction is

[0022]

[0023] The sliding distance L5 of the bearing seat (13) of the other adjusting assembly (1) along the second direction is

[0024]

[0025] The projection of the center of the bidirectional rotating assembly on the plane where the treatment bed panel is located is A, the projections of the centers of the two ball joints (14) of the adjustment assembly on the plane where the treatment bed panel (8) is located are B and C respectively, and L7 is the distance between A and the straight line where B and C are located;

[0026] L1 is the distance between the center of the bidirectional rotating assembly and A;

[0027] L2 is the distance between the axis of rotation of the rod and the bearing seat and the center of the ball joint;

[0028] L3 is the distance between the center of the spherical joint and its own projection;

[0029] L6 is the distance between the center of the ball joint of the adjustment assembly and the center of the bidirectional rotation assembly along the first direction;

[0030] H1 is the vertical distance between the center of the bidirectional rotating assembly and the rotation axis along the vertical direction.

[0031] Preferably, in the above-mentioned treatment bed panel adjustment device, the third preset rotation angle of the treatment bed panel around the vertical direction is γ,

[0032] The translation vector of the treatment bed panel (8) is

[0033]

[0034] Wherein, W1 is the distance between the center and the isocenter of the bidirectional rotation assembly along the first direction;

[0035] L9 is the distance between the center and the isocenter of the bidirectional rotation assembly along the second direction;

[0036] H2 is the distance between the center and the isocenter of the bidirectional rotation assembly in the vertical direction.

[0037] Preferably, the above-mentioned treatment bed panel adjustment device further comprises a movable plate, which is arranged between the bottom support structure and the treatment bed panel, and the adjustment component, the driving member and the bidirectional rotation component are arranged on the movable plate;

[0038] Alternatively, the bottom supporting structure is a bottom plate, and the bottom plate is arranged in a horizontal direction.

[0039] A treatment bed comprises a treatment bed panel and a treatment bed panel adjusting device, wherein the treatment bed panel adjusting device is the treatment bed panel adjusting device described in any one of the above solutions.

[0040] The present invention provides a therapeutic bed panel adjustment device, comprising an adjustment assembly, a drive member, and a bidirectional rotation assembly. The adjustment assembly is provided at both ends of the therapeutic bed panel in a first direction, and the adjustment assembly is located at the first end of the therapeutic bed panel in a second direction. The adjustment assembly comprises a rod, an output pin, and a bearing seat. The first end of the rod is rotatably connected to the bearing seat, and the output pin is rotatably connected to the second end of the rod via a ball joint. The rod is tilted along the Y direction. The drive member is connected to the bearing seat of the adjustment assembly, driving the bearing seat to slide along the second direction. The bidirectional rotation assembly and the adjustment assembly are arranged relative to each other in the second direction. The bidirectional rotation assembly has bidirectional rotational freedom of rotation about the first and second directions. The first-direction rotation portion of the bidirectional rotation assembly is fixedly connected to the bottom support structure, and the second-direction rotation portion of the bidirectional rotation assembly is fixedly connected to the therapeutic bed panel. The therapeutic bed panel adjustment device disclosed in the present invention achieves angular adjustment of the therapeutic bed panel in the first and second directions through the combination of the adjustment assembly, the drive member, and the bidirectional rotation assembly, thereby changing the orientation and angle of the therapeutic bed panel.

[0041] The present application also provides a treatment bed, comprising a treatment bed panel and a treatment bed panel adjustment device disclosed in any one of the above-mentioned solutions. Since the treatment bed panel adjustment device has the above-mentioned technical effects, the treatment bed having the treatment bed panel adjustment device also has the same technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or prior art descriptions. Obviously, the drawings described below are only some examples or embodiments of the present application. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on the provided drawings, and the present application can also be applied to other similar scenarios based on the provided drawings. Unless it is obvious from the language context or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0043] Figure 1 This is a schematic diagram of the structure of the therapeutic bed panel adjustment device of the present application;

[0044] Figure 2 This is a schematic diagram of the structure of the therapeutic bed panel adjustment device of the present application;

[0045] Figure 3 This is a schematic diagram of the structure of the adjustment component of the treatment bed panel adjustment device of the present application;

[0046] Figure 4 This is a schematic diagram of the structure of the connection between the output pin shaft and the ball joint of the therapeutic bed panel adjustment device of the present application;

[0047] Figure 5This is a schematic structural diagram of the bidirectional rotating assembly of the therapeutic bed panel adjustment device of the present application;

[0048] Figure 6 This is a schematic diagram of the spatial coordinate system of the treatment bed panel adjustment device of this application. Figure 1 ;

[0049] Figure 7 Schematic diagram of the spatial coordinate system of the treatment bed panel adjustment device of this application Figure 2 ;

[0050] Figure 8 A schematic diagram of the isocenter conversion of the treatment bed panel adjustment device of this application;

[0051] Figure 9 A schematic diagram of the force analysis of the panel adjustment device of the treatment bed in this application;

[0052] Figure 10 This is a schematic diagram of the principle of the roll movement of the treatment bed panel adjustment device of this application.

[0053] The accompanying drawings are as follows:

[0054] 1-adjustment assembly; 11-rod; 12-output pin; 13-bearing seat; 14-ball joint; 2-driving member; 3-bidirectional rotation assembly; 31-first direction rotation part; 32-second direction rotation part; 4-bottom support structure; 5-sliding assembly; 51-slide rail; 52-slider; 6-connecting assembly; 61-first connecting plate; 611-long strip through hole; 62-second connecting plate; 7-movable plate; 8-treatment bed panel. DETAILED DESCRIPTION

[0055] The present application will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are merely for explaining the related application and are not intended to limit the application. The described embodiments are merely a portion of the embodiments of the present application and are not intended to be exhaustive. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in the present application without creative effort are intended to fall within the scope of protection of the present application.

[0056] It should be noted that, for ease of description, only the portions relevant to the relevant applications are shown in the accompanying drawings. In the absence of conflict, the embodiments and features in the embodiments of this application may be arbitrarily combined with each other, as long as the combined technical features are not mutually contradictory. All feasible feature combinations are technical contents explicitly described herein. Any of the multiple sub-features contained in the same statement can be applied independently, and does not necessarily have to be applied together with other sub-features.

[0057] As used in this application and the claims, unless the context clearly indicates an exception, the terms "a," "an," "an," and / or "the" are not intended to refer to the singular and may include the plural, unless the context clearly indicates otherwise. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements. The phrase "comprises a..." does not preclude the presence of additional identical elements in the process, method, product, or apparatus that includes the elements.

[0058] In the description of the embodiments of this application, unless otherwise specified, " / " represents or. For example, A / B can represent A or B. "And / or" in this article is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "plurality" means two or more than two.

[0059] This solution discloses a treatment bed panel adjustment device for adjusting the orientation of the treatment bed panel 8 .

[0060] The treatment bed panel adjustment device includes an adjustment component 1, a drive member 2, and a bidirectional rotation component 3. The adjustment component 1 is provided at both ends of the treatment bed panel 8 along the first direction, and the adjustment component 1 is located at the first end of the treatment bed panel 8 along the second direction.

[0061] The driving member 2 is connected to the adjustment assembly 1. Optionally, driving members 2 are also provided at both ends of the treatment bed panel 8 along the first direction. In some embodiments, at least one adjustment assembly 1 is provided at one end of the treatment bed panel 8 in the first direction, and at least one adjustment assembly 1 at the end of the treatment bed panel 8 in the first direction is connected to the driving member 2.

[0062] The bidirectional rotating assembly 3 is located between the treatment bed panel 8 and the bottom supporting structure 4 , and is connected to the treatment bed panel 8 and the bottom supporting structure 4 .

[0063] It should be noted here that the second direction and the first direction are any set of two directions perpendicular to each other on a horizontal plane. For the convenience of subsequent description, the first direction is named as the X direction and the second direction is named as the Y direction.

[0064] like Figure 2 and Figure 3 As shown, the adjustment assembly 1 includes a rod 11, an output pin 12 and a bearing seat 13. The output pin 12 and the bearing seat 13 are respectively located at the two ends of the length direction of the rod 11. For the convenience of subsequent description, the end of the rod 11 connected to the bearing seat 13 is named the first end, and the end of the rod 11 connected to the output pin 12 is named the second end.

[0065] The first end of rod 11 is rotatably connected to bearing seat 13, and output pin 12 is rotatably connected to the second end of rod 11 via ball joint 14. Rod 11 is tilted along the Y direction. The rotation axis of the first end of rod 11 is parallel to the first direction, and output pin 12 can rotate at various angles along the circumference of ball joint 14.

[0066] The bearing seat 13 of the adjustment component 1 is slidably arranged on the bottom support structure 4 of the treatment bed. The driving member 2 is connected to the bearing seat 13 of the adjustment component 1, and the driving member 2 drives the bearing seat 13 to move along the Y direction.

[0067] The bidirectional rotation assembly 3 is arranged relative to the adjustment assembly 1 along the second direction. The bidirectional rotation assembly 3 has bidirectional rotational freedom around the first direction and the second direction. The bidirectional rotation assembly 3 includes a first direction rotation portion 31 and a second direction rotation portion 32. One of the first direction rotation portion 31 and the second direction rotation portion 32 is fixed to the bottom support structure 4, and the other of the first direction rotation portion 31 and the second direction rotation portion 32 is fixed to the treatment bed panel 8. For example, Figure 2 As shown, the first direction rotating portion 31 of the bidirectional rotating assembly 3 is fixedly connected to the bottom supporting structure 4 , and the second direction rotating portion 32 of the bidirectional rotating assembly 3 is fixedly connected to the treatment bed panel 8 .

[0068] The driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the X direction to move synchronously or asynchronously to adjust the direction and angle of the treatment bed panel 8.

[0069] In the initial state, the bearing seats 13 at both ends of the treatment bed panel 8 along the X direction are aligned, and the treatment bed panel 8 remains horizontal.

[0070] The driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the X direction to move synchronously. The synchronous movement means that the movement directions and speeds of the bearing seats 13 located at both ends of the treatment bed panel 8 are consistent. The bearing seat 13 pushes the first end of the rod 11 to move, and then the second end of the rod 11 rises or falls. The rod 11 drives the treatment bed panel 8 to rise or fall through the output pin shaft 12. At the same time, the treatment bed panel 8 rotates around the X direction through the first direction rotating part 31 of the bidirectional rotating component 3, changing the direction and angle of the treatment bed panel 8.

[0071] As an example, Figure 1 and Figure 2 As shown, the X direction is the width direction of the treatment bed panel 8, and the Y direction is the length direction of the treatment bed panel 8. Figure 2Taking the example shown above as an example, the rod 11 tilts to the right along the Y direction, and the driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the X direction to move synchronously to the right. The bearing seat 13 pushes the first end of the rod 11 to move, and the second end of the rod 11 rises. The rod 11 drives the treatment bed panel 8 to rise through the output pin shaft 12. At the same time, the treatment bed panel 8 rotates around the X direction through the first direction rotating part 31 of the bidirectional rotating assembly 3, changing the direction and angle of the treatment bed panel 8.

[0072] The driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the X direction to move asynchronously. Specifically, the driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the X direction to move in the same direction but at inconsistent speeds, or the driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the X direction to move in inconsistent directions.

[0073] The driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the Y direction to move in the same direction but at different speeds. For the convenience of description, the two adjustment components 1 are named as the first adjustment component 1 and the second adjustment component 1 respectively. It is assumed that the driving speed of one of the driving members 2 on the bearing seat 13 of the first adjustment component 1 is less than the driving speed of the other driving member 2 on the bearing seat 13 of the second adjustment component 1, and the rising height of the second end of the rod 11 of the first adjustment component 1 is lower than the rising height of the second end of the rod 11 of the second adjustment component 1. Under the action of the ball joint 14, the treatment bed panel 8 rotates around the Y direction and X direction simultaneously through the first direction rotating part 31 and the second direction rotating part 32 of the bidirectional rotating component 3, thereby changing the direction and angle of the treatment bed panel 8.

[0074] The directions in which the driving member 2 drives the bearing seats 13 located at both ends of the treatment bed panel 8 along the X direction are inconsistent. For the convenience of description, the two adjustment components 1 are named the first adjustment component 1 and the second adjustment component 1 respectively. Assume that one of the driving members 2 drives the bearing seat 13 of the first adjustment component 1 to move to the right, and the other driving member 2 drives the bearing seat 13 of the second adjustment component 1 to move to the left. The second end of the rod 11 of the first adjustment component 1 rises, and the rod 11 of the first adjustment component 1 drives the treatment bed panel 8 to rise through the output pin shaft 12. The second end of the rod 11 of the second adjustment component 1 falls, and the rod 11 of the second adjustment component 1 drives the treatment bed panel 8 to fall through the output pin shaft 12. The treatment bed panel 8 is rotated by the second direction rotating part 32 of the two-way rotating component 3 to change the direction and angle of the treatment bed panel 8.

[0075] The treatment bed panel adjustment device disclosed in the present application realizes angle adjustment of the treatment bed panel 8 in a first direction and a second direction by combining an adjustment component 1, a driving component 2 and a bidirectional rotation component 3, thereby changing the direction and angle of the treatment bed panel 8.

[0076] In some embodiments of the present application, the bearing seat 13 is connected to the bottom support structure 4 through a sliding assembly 5, and the sliding assembly 5 includes a slide rail 51 and a slider 52, wherein the slide rail 51 is installed on the bottom support structure 4, and the slider 52 is installed on the bearing seat 13, and the extension direction of the slide rail 51 is the Y direction.

[0077] Through the above-mentioned sliding assembly 5, the bearing seat 13 of the second adjustment assembly 1 can be slidably connected to the bottom supporting structure 4 along the Y direction, so that it can slide along the Y direction.

[0078] Optionally, the sliding assembly 5 corresponds to the adjusting assembly 1 one-to-one, thereby improving the stability and reliability of the adjusting assembly 1 moving along the Y direction.

[0079] The slider 52 and the bearing seat 13 may be an integrated structure or a split structure.

[0080] In some other embodiments, the sliding assembly 5 includes a slide groove and a slider. The slide groove is provided on the bottom supporting structure 4 , and the bearing seat 13 is provided with a slider that cooperates with the slide groove.

[0081] The sliding assembly 5 is not limited to the above embodiment, and may also be in other forms, which are not specifically limited here.

[0082] In some embodiments, the output pin 12 is connected to the treatment bed panel 8 via the connecting assembly 6;

[0083] Specifically, the connecting assembly 6 includes a first connecting plate 61 and a second connecting plate 62, and the first connecting plate 61 and the second connecting plate 62 are stacked in a vertical direction, as shown in FIG. Figure 2 As shown, the first connecting plate 61 is located above the second connecting plate 62;

[0084] The first connecting plate 61 is arranged along the second direction and is connected to the output pin shaft 12.

[0085] The second connecting plate 62 is arranged along the first direction, and the two ends of the second connecting plate 62 are respectively connected to the two first connecting plates 61, and the second connecting plate 62 is connected to the treatment bed panel 8. The first connecting plate 61 and the treatment bed panel 8 are respectively located on both sides of the plane where the second connecting plate 62 is located.

[0086] Optionally, the second connecting plates 62 are provided at both ends of the first connecting plate 61 along the second direction, and the second connecting plate 62 may also be provided at the middle portion of the first connecting plate 61 along the second direction.

[0087] In this embodiment, the connection area between the adjustment component 1 and the treatment bed panel 8 is increased by the connection component 6, thereby improving the reliability of the adjustment component 1 driving the treatment bed panel 8 to move. At the same time, the movement of the adjustment components 1 at both ends of the X direction can be transmitted through the second connection plate 62 of the connection component 6, thereby improving the reliability of the orientation adjustment of the treatment bed panel 8.

[0088] like Figure 2 As shown, a long strip through hole 611 is opened on the first connecting plate 61 , and the long strip through hole 611 is opened along the second direction. The second end of the rod 11 passes through the long strip through hole 611 , and the output pin shaft 12 is connected to the upper surface of the second connecting plate 62 .

[0089] The long strip through hole 611 provides space for the swing of the rod 11 and provides a guide for the movement of the rod 11 .

[0090] The output pin shaft 12 is arranged along the first direction, the width of the elongated through hole 611 along the first direction is smaller than the length of the output pin shaft 12 along the first direction, and the two ends of the length direction of the output pin shaft 12 are fixedly connected to the first connecting plate 61 on both sides of the elongated through hole 611.

[0091] In some embodiments, the driving member 2 is a screw assembly, the nut of the screw assembly is connected to the bearing seat 13, and the screw of the screw assembly is connected to the motor.

[0092] In some embodiments, such as Figure 5 As shown, the bidirectional rotating component 3 is a Hooke's hinge component.

[0093] A Hooke's joint, also known as a cross universal joint, consists of a cross shaft, bearings, and connecting components. The cross shaft consists of two perpendicular shafts, typically with conical ends. Bearings are mounted on the ends of the shafts to reduce friction and wear, while improving rotational accuracy and flexibility. The connecting components include a static hinge body and a dynamic hinge body, which are connected to the ends of the cross shaft through holes and bearings.

[0094] Optionally, the Hooke's joint assembly of this solution is a two-degree-of-freedom Hooke's joint assembly having two rotational degrees of freedom.

[0095] In addition, in the technical solution of the present application, a corresponding mechanism motion diagram and simplified model can be established according to the specific structure of the support device of the treatment bed panel 8 mentioned above.

[0096] For example, in a specific embodiment of the present application, the mechanism motion diagram of the above-mentioned treatment bed panel adjustment device can be as follows: Figure 6 and Figure 7 shown.

[0097] According to the above-mentioned schematic diagram of the mechanism movement, a corresponding space coordinate system can be established and various parameters can be set, so that the relationship between different rotation angles and various parameters can be derived.

[0098] For example, a corresponding space coordinate system may be established with the center of the bidirectional rotating component 3 as the origin O.

[0099] like Figure 6 and Figure 7 As shown, the width direction of the treatment bed panel 8 can be used as the X-axis of the spatial coordinate system, the length direction of the treatment bed panel 8 can be used as the Y-axis of the spatial coordinate system, and the height direction can be used as the Z-axis of the spatial coordinate system, thereby establishing a spatial coordinate system with the center of the bidirectional rotating component 3 as the origin O.

[0100] In the spatial coordinate system, the rotational motions around the X, Y, and Z axes are respectively defined as pitch motion, yaw motion, and roll motion.

[0101] Assume that the Z-direction distance from the center O of the bidirectional rotating assembly 3 to the center of the first end of the rod 11 is H1, and the distance to the lower surface of the treatment bed panel 8 is L1. In the YOZ plane, the angle between the treatment bed panel 8 and the Y axis is α (i.e., the rotation angle about the first direction is α). In the XOZ plane, the angle between the treatment bed panel 8 and the X axis is β (i.e., the rotation angle about the second direction is β). The counterclockwise direction is considered the positive direction.

[0102] set up Figure 7 The left adjustment component 1 is the first adjustment component 1, and the right adjustment component 1 is the second adjustment component 1. The distance from the center of the first end of the adjustment component 1 to the center of the second end is L2, and the distance from the center of the second end of the adjustment component 1 to the lower surface of the treatment bed panel 8 is L3.

[0103] Assume that the angle between the line connecting the first end center and the second end center of the first adjustment component 1 and the Z axis is θ1, and the angle between the line connecting the first end center and the second end center of the second adjustment component 1 and the Z axis is θ2. The distance from the first end center of the first adjustment component 1 to the XOZ plane is L4, the distance from the first end center of the second adjustment component 1 to the XOZ plane is L5, and the distance from the first end center of the first adjustment component 1 to the YOZ plane is equal to the distance from the first end center of the second adjustment component 1 to the YOZ plane, which is L6.

[0104] After the above-mentioned space coordinate system is established and various parameters are set, the two-degree-of-freedom rotation of the treatment couch panel 8 can be analyzed accordingly.

[0105] For example, as an example, in a specific embodiment of the present application, the lower surface of the treatment bed panel 8 can be regarded as a plane in space. Therefore, the center of the bidirectional rotation component 3, the projections of the ball joints of the first adjustment component 1 and the second adjustment component 1 on the plane can be set as A, B and C respectively, and the center of the second end of the first adjustment component 1 is set as point D, the center of the second end of the second adjustment component 1 is set as point E, the center of the first end of the first adjustment component 1 is set as point F, and the center of the first end of the second adjustment component 1 is set as point G.

[0106] Therefore, the spatial coordinates of the above points in the spatial coordinate system can be obtained according to the various parameters set above:

[0107] The coordinates of point A are: ;

[0108] The coordinates of point B are: ;

[0109] The coordinates of point C are: ;

[0110] The coordinates of point D are: ;

[0111] The coordinates of point E are: ;

[0112] The coordinates of point F are: ;

[0113] The coordinates of point G are: .

[0114] In addition, the plane ABC where points A, B, and C are located can be regarded as being translated L1 from the XOY plane, first rotated by an angle β in the positive direction around the Y axis, and then rotated by an angle α in the positive direction around the X axis.

[0115] Assume that the vertical distance from point A to the line BC is L7, then:

[0116] A1 (0, 0, L1), B1 (a, L7, L1), C1 (b, L7, L1);

[0117] A1, B1, and C1 represent the spatial coordinates of point A, point B, and point C in the spatial coordinate system after the treatment bed panel 8 is translated by L7 from the XOY plane along the Z axis, respectively. a is a positive number and b is a negative number.

[0118] According to the knowledge of spatial geometry, the corresponding matrices for the positive rotation of α around the X-axis and β around the Y-axis are:

[0119] and ;

[0120] Then we have:

[0121] ;

[0122] Substituting the coordinates of A1, B1, and C1, we get:

[0123]

[0124] This coordinate should be equal to the coordinates listed previously, so we have:

[0125] ;

[0126] Similarly, we can get:

[0127] .

[0128] Substituting the above information into the Z coordinate of point B, we get:

[0129] ;

[0130] Substituting the above information into the Z coordinate of point C, we get:

[0131] Similarly, we can get:

[0132] .

[0133] Substituting the above information into the Y coordinate of point B, we get:

[0134] ;

[0135] Substituting the above information into the Y coordinate of point C, we get:

[0136] .

[0137] L2sinθ1 and L2sinθ2 can be derived from L2cosθ1 and L2cosθ2, so the relationship between L4, L5 and α and β can be derived.

[0138]

[0139] According to the first preset rotation angle α of the treatment bed panel 8 around the first direction (that is, the rotation angle around the first direction is α), and the second preset rotation angle β of the treatment bed panel 8 around the second direction (that is, the rotation angle around the second direction is β), the center distance between the two adjustment components relative to the bidirectional rotation component 3 is calculated, and then the movement distance of the two adjustment components is obtained.

[0140] In addition, the technical solution of this application also allows for isocenter conversion. The isocenter is the core mechanical reference point of radiotherapy equipment such as linear accelerators. It is defined as the intersection of the gantry rotation axis, the collimator rotation axis, and the treatment bed rotation axis. The point where these three axes coincide is called the isocenter. During treatment, the center of the target area is moved to the isocenter position by adjusting the treatment bed. The gantry and collimator are then rotated around the isocenter. This ensures uniform dose distribution in the target area when irradiated from different angles, while reducing the dose to surrounding normal tissue.

[0141] For example, as an example, Figure 9 As shown, in a specific embodiment of the present application, the center of the bidirectional rotation assembly 3 can be set as point O, the isocenter as point O', and the distance between point O' and point O in the Z direction is H2, and the distance in the Y direction is L9. Assume that in the initial state, the rotation angles of the support device of the treatment table panel 8 are 0. Because the isocenter is not the actual mechanical rotation center, during rotation, the support device of the treatment table panel 8 needs to rotate the same angle as the isocenter, and then compensate through translation in the X, Y, and Z directions to achieve the same effect as rotating about the isocenter.

[0142] When the isocenter O' is rotated in the YOZ plane by an angle of α (i.e., the rotation angle around the first direction is α), as shown in the following example: Figure 10 As shown in the figure, the two sets of dotted lines represent the results of rotation around O' and rotation around point O. Therefore, if you want to achieve the effect of rotating at the isocenter, in addition to rotating by the same angle, you also need to translate point O to point I.

[0143] According to the actual effect of rotation, in order to facilitate calculation, the rotation order of the composite angle can be set as: β-α-γ, that is, Yaw-Pitch-Roll. With the isocenter point O' as the origin, a new coordinate system X'Y'Z' is established, where the X' axis is parallel to the X axis, the Y' axis is parallel to the Y axis, and the Z' axis is parallel to the Z axis. In the coordinate system, the coordinates of point O are ,exist In the coordinate system, After rotating in sequence according to the compound angle rotation sequence, point O becomes point I. The vector between the original point O and point I is the required translation distance of the treatment bed after rotating around point O with the same compound angle.

[0144] According to the spatial coordinate conversion method, I (l, m, n) has the following formula:

[0145]

[0146]

[0147] .

[0148] Given the coordinate expressions of point O and point I, we can know the distance required for translation after rotation.

[0149] Motion velocity analysis and singularity verification

[0150] Assume that the movable plate α=0, β=0 、 Length is , then you can 、 use Express.

[0151]

[0152] but

[0153]

[0154]

[0155] make

[0156]

[0157] The above formula can be transformed into

[0158]

[0159]

[0160] because Both are unknown quantities. By taking the derivative of time t on both sides at the same time, we can get the relationship between the angle and the speed of the slider.

[0161]

[0162] Similarly,

[0163]

[0164] make

[0165]

[0166]

[0167] The above formula can be simplified to

[0168]

[0169]

[0170] According to the matrix format,

[0171]

[0172]

[0173] When the determinant is not zero, its inverse is the velocity Jacobian matrix. When the determinant of this matrix is ​​zero, there is no inverse, and a singular point exists. Substituting the current design parameters into Mathematica, we check whether the determinant is zero within the rotation angle range of ±3°. The result is False, indicating that there are no singular points within the current design range.

[0174] The treatment bed panel adjustment device disclosed in the present application also includes a movable plate 7, which is arranged between the bottom support structure 4 and the treatment bed panel 8. The movable plate 7 is provided with an adjustment component 1, a driving member 2 and a bidirectional rotation component 3;

[0175] Alternatively, the bottom supporting structure 4 is a bottom plate, and the bottom plate is arranged in a horizontal direction.

[0176] In some embodiments, the movable plate 7 can rotate around the vertical direction, and the present application can also analyze the rolling motion.

[0177] For example, in a specific embodiment of the present application, the movable plate 7 is rotatably connected to the bottom support structure 4 (the center of the bidirectional rotation component 3 is located directly above the rotation axis of the movable plate 7), and the swing component drives the movable plate 7 to rotate in the vertical direction. The swing component includes a screw drive component and a swing arm. The screw drive component is arranged along a first direction, driving the swing arm to adjust its position in the first direction, and the swing arm is connected to the nut of the screw drive component. Driven by the screw drive component, the swing arm drives the movable plate 7 to rotate accordingly around the rotation axis, thereby realizing a roll motion (i.e., a rotation motion around the Z axis). The basic principle of this motion is as follows: Figure 10 shown.

[0178] Let P be the center of the rotating shaft, PQ be the distance L8 from the center of the rotating shaft to the screw drive assembly, r be the distance between the center of the rotating shaft and the swing arm along the X direction, and the roll rotation angle γ, r = L8tanγ.

[0179] Therefore, through the above method, the distance that the screw drive assembly drives the swing arm to move can be calculated according to the rotation angle of the movable plate 7.

[0180] Force analysis

[0181] like Figure 9As shown in the figure, assuming that the load acts on a point J on the movable plate 7, the center of gravity of the treatment bed panel 8 corresponds to a point K on the movable plate 7, the center of the two-way rotating component 3, the ball joint of the first adjustment component 1 and the second adjustment component 1 are projected on the plane as A, B and C respectively, and the movable plate coordinate system is established with point A as the origin of the coordinate system. An axis parallel to BC is drawn from point A as Axis, make an axis perpendicular to BC from point A. Axis, make an axis perpendicular to the movable plate from point A Axis, the positive direction can refer to the positive direction of the OXYZ coordinate system. Set point J to The axis distance is ,arrive The axis distance is , K point to The axis distance is , the gravity of the load is M, and the gravity of the bed panel is N.

[0182] Analyzing the forces acting on the movable plate separately, it is subjected to the load and the gravity of the treatment bed panel 8 in a vertically downward direction. At points B and C, there is no force along the direction of the slide rail because they are connected to the bearing seat. Instead, they are subjected to forces perpendicular to the movable plate 7 and along the movable plate 7 and perpendicular to the slide rail. The force at point A is balanced with that at other points.

[0183] Analyzing the forces acting on the rod and ball joint separately, the ball joint is subject to a force perpendicular to movable plate 7, transmitted from movable plate 7, and a force along movable plate 7 and perpendicular to the upper rail. The rod is subject to the rail's reaction force, the vertical upward thrust from the driver parallel to the rail, the horizontal force, and the force from the bearing seat restricting the rod's movement along the X-axis. The resultant forces acting on the ball joint and rod are balanced, and the rod can be considered a two-force rod on the plane of the rod.

[0184] The force perpendicular to the movable plate 7 can be obtained through force balance.

[0185] The component of M in the direction perpendicular to the movable plate is , the component of force N in the direction perpendicular to the movable plate is , according to the moment balance, respectively around or The resultant moment of the axis rotation is 0, and the force perpendicular to the movable plate at point B is , the force perpendicular to the movable plate at point C is The force can be obtained through force balance.

[0186]

[0187] Conclusion

[0188]

[0189] Let the force at point B along the movable plate and perpendicular to the slide rail be , the force at point C along the movable plate and perpendicular to the slide rail is .

[0190] The force at point B or point C is transferred to the spherical joint and decomposed into the connecting rod motion plane and the plane perpendicular to the connecting rod motion plane.

[0191] In the OXYZ coordinate system, take point B as an example

[0192] The force in the Z direction is (Direction Z axis negative)

[0193] The force in the Y direction is (Direction Y-axis negative)

[0194] The force in the X direction is

[0195] Because the two-bar structure

[0196]

[0197] From this we can find

[0198]

[0199] The lateral force at point B is

[0200] The thrust of the driving member at the bearing seat is equal to the force in the Y direction

[0201]

[0202] The reaction force of the bearing seat on the rod is equal to the force in the Z direction

[0203]

[0204] The lateral force on the rod is equal to the force in the X direction

[0205]

[0206] The same applies to point C.

[0207] The present application also discloses a treatment bed, comprising a treatment bed panel 8 and a treatment bed panel adjustment device, wherein the treatment bed panel adjustment device is the treatment bed panel adjustment device described in any one of the above solutions.

[0208] Since the treatment bed panel adjustment device has the above-mentioned technical effects, the treatment bed with the treatment bed panel adjustment device also has the same technical effects, which will not be described in detail here.

[0209] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed, and is not intended to limit the present application. For those skilled in the art, various modifications and variations of the present application are possible. The scope of application involved in the present application is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned application concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A treatment bed panel adjustment device, characterized in that: It comprises an adjusting component (1), a driving member (2) and a bidirectional rotating component (3), The adjustment assembly (1) is provided at both ends of the treatment bed panel (8) along the first direction, and the adjustment assembly (1) is located at the first end of the treatment bed panel (8) along the second direction. The adjustment assembly (1) comprises a rod (11), an output pin shaft (12) and a bearing seat (13). The bearing seat (13) is slidably arranged on the bottom support structure (4) of the treatment bed, and the bearing seat (13) is connected to the driving member (2), and the driving member (2) is used to drive the bearing seat (13) to slide along the second direction. The first end of the rod (11) is rotatably connected to the bearing seat (13), the second end of the rod (11) is connected to the output pin shaft (12) via a ball joint (14), the rotation axis of the first end of the rod (11) is parallel to the first direction, the rod (11) is tilted along the second direction, and the output pin shaft (12) is connected to the treatment bed panel (8); The bidirectional rotation component (3) and the adjustment component (1) are arranged opposite to each other along the second direction, the bidirectional rotation component (3) has a bidirectional rotational freedom of rotation about a first direction and a second direction, one of the first direction rotation part (31) and the second direction rotation part (32) of the bidirectional rotation component (3) is fixedly connected to the bottom support structure (4), and the other of the first direction rotation part (31) and the second direction rotation part (32) is fixedly connected to the treatment bed panel (8); The first direction and the second direction are any set of two directions perpendicular to each other on a horizontal plane.

2. The treatment bed panel adjustment device according to claim 1, characterized in that: The bearing seat (13) is connected to the bottom support structure (4) via a sliding assembly (5); The sliding assembly (5) comprises a sliding rail (51) and a sliding block (52), wherein the sliding rail (51) is connected to the bottom supporting structure (4), and the sliding block (52) is connected to the bearing seat (13).

3. The treatment bed panel adjustment device according to claim 1, characterized in that: The output pin shaft (12) is connected to the treatment bed panel (8) via a connecting assembly (6); The connecting assembly (6) comprises a first connecting plate (61) and a second connecting plate (62), The first connecting plate (61) is arranged along the second direction, and the first connecting plate (61) is connected to the output pin shaft (12). The second connecting plate (62) is arranged along the first direction, the two ends of the second connecting plate (62) are respectively connected to the two first connecting plates (61), and the second connecting plate (62) is connected to the treatment bed panel (8).

4. The treatment bed panel adjustment device according to claim 3, characterized in that: The first connecting plate (61) is provided with a long strip through hole (611) for the second end of the rod (11) to pass through, the long strip through hole (611) being opened along the second direction, and the output pin shaft (12) is connected to a side of the second connecting plate (62) close to the treatment bed panel (8).

5. The treatment bed panel adjustment device according to any one of claims 1 to 4, characterized in that: The driving member (2) is a screw assembly.

6. The treatment bed panel adjustment device according to any one of claims 1 to 4, characterized in that: The bidirectional rotation assembly (3) is a Hooke's hinge assembly.

7. The treatment bed panel adjustment device according to any one of claims 1 to 4, characterized in that: The treatment bed panel (8) has a first preset rotation angle α around the first direction, and a second preset rotation angle β around the second direction, with counterclockwise being the positive direction. The sliding distance L4 of the bearing seat (13) of one of the adjustment components (1) along the second direction is The sliding distance L5 of the bearing seat (13) of the other adjusting assembly (1) along the second direction is The projection of the center of the bidirectional rotating assembly (3) on the plane where the treatment bed panel (8) is located is A, the projections of the centers of the two ball joints (14) of the adjustment assemblies (1) on the plane where the treatment bed panel (8) is located are B and C respectively, and L7 is the distance between A and the straight lines where B and C are located; L1 is the distance between the center of the bidirectional rotating assembly (3) and A; L2 is the distance between the rotation axis of the rod (11) and the bearing seat (13) and the center of the ball joint (14); L3 is the distance between the center of the spherical joint (14) and its own projection; L6 is the distance between the center of the ball joint (14) of the adjustment assembly (1) and the center of the bidirectional rotation assembly (3) along the first direction; H1 is the vertical distance between the center of the bidirectional rotating assembly (3) and the rotating axis along the vertical direction.

8. The treatment bed panel adjustment device according to claim 7, characterized in that: The third preset rotation angle of the treatment bed panel (8) around the vertical direction is γ, The translation vector of the treatment bed panel (8) is Wherein, W1 is the distance between the center and the isocenter of the bidirectional rotation component (3) along the first direction; L9 is the distance between the center and the isocenter of the bidirectional rotation assembly (3) along the second direction; H2 is the distance between the center and the isocenter of the bidirectional rotating assembly (3) in the vertical direction.

9. The treatment bed panel adjustment device according to any one of claims 1 to 4, characterized in that: It also includes a movable plate (7) arranged between the bottom support structure (4) and the treatment bed panel (8), and the adjustment component (1), the driving member (2) and the bidirectional rotation component (3) are arranged on the movable plate (7); Alternatively, the bottom supporting structure (4) is a bottom plate, and the bottom plate is arranged in a horizontal direction.

10. A treatment bed, characterized in that: It comprises a treatment bed panel (8) and a treatment bed panel adjusting device, wherein the treatment bed panel adjusting device is the treatment bed panel adjusting device according to any one of claims 1 to 9.

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