Patient posture adjustment device

Abstract

The present disclosure relates to a patient posture adjustment device arranged at the end of a patient positioning device, the patient positioning device comprising a carrying body and a posture adjustment mechanism arranged on the carrying body, the carrying body having a carrying position for carrying a patient, and the posture adjustment mechanism comprising at least a first adjustment structure arranged on the carrying body and used to drive the carrying body to move in a first direction so that the tumor position of the patient on the carrying position is aligned with the nozzle of a treatment device, wherein the first direction is perpendicular to the plane in which the carrying position is located, and based on this, the carrying body itself has the first adjustment structure that can drive the carrying body to move in the first direction, and the posture adjustment of the patient can be realized through the first adjustment structure, so that the tumor position of the patient on the carrying position is aligned with the nozzle of the treatment device, without the need for a positioning mechanical arm, and the positioning mechanical arm is not driven to move during the posture adjustment of the patient, which is convenient and has high precision.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, and in particular to a patient posture adjustment device. Background Technology

[0002] In proton radiotherapy systems, patient positioning and posture adjustment are achieved through robotic arms. The robotic arm consists of three parts: the upper arm, the forearm, and the wrist joint. Adjusting the patient's position and posture requires complex calculations using trigonometric functions to determine the movement of each part of the robotic arm.

[0003] In essence, adjusting the patient's posture and positioning the patient can be divided into two independent stages. The positioning device moves the patient to a designated position, and the posture adjustment device adjusts the patient's posture and treatment angle to better receive treatment. However, based on the existing structure of the robotic arm, adjusting the patient's posture requires at least the coordinated movement of the forearm and wrist joints. In other words, during the posture adjustment, the patient's position may also move unnecessarily, making the adjustment cumbersome and inaccurate. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this disclosure provides a patient posture adjustment device and a patient positioning system.

[0005] In a first aspect, this disclosure provides a patient posture adjustment device, disposed at the end of a patient positioning device, including a support body and a posture adjustment mechanism disposed on the support body;

[0006] The support body has a support position for supporting the patient, and the posture adjustment mechanism includes at least a first adjustment structure. The first adjustment structure is disposed on the support body and is used to drive the support body to move along a first direction so that the tumor position of the patient located on the support position is directly opposite the nozzle of the treatment device, wherein the first direction is a direction perpendicular to the plane where the support position is located.

[0007] Furthermore, the first adjustment structure includes a first motor, a first lead screw shaft, and a first lead screw nut; the first lead screw shaft is arranged along the first direction and is connected to the output shaft of the first motor for transmission; the first lead screw nut is sleeved on the outer wall of the first lead screw shaft; and the bearing body is fixed on the first lead screw nut.

[0008] Furthermore, a safety cover is provided on the back of the bearing body, the first lead screw shaft is disposed inside the safety cover, the end of the safety cover near the bearing body has a clearance opening, and the side of the bearing body near the safety cover passes through the clearance opening and is fixed to the first lead screw nut.

[0009] Further, the posture adjusting mechanism further comprises a second adjusting structure arranged on a side of the first adjusting structure away from the bearing body and configured to drive the bearing body to rotate with the second direction, the third direction and the fourth direction as the rotation axis, so as to adjust the posture of the patient on the bearing position in the second direction, the third direction and the fourth direction, wherein the second direction and the third direction are in the same plane, the second direction is parallel to the horizontal plane, and the third direction is perpendicular to the second direction; and the fourth direction is perpendicular to the plane where the second direction and the third direction are located.

[0010] Further, the first adjusting structure comprises a first driving structure, an upper fixed plate, a lower fixed plate and two groups of support frames arranged between the upper fixed plate and the lower fixed plate; the upper fixed plate and the lower fixed plate are oppositely arranged, the bearing body is fixed on a side of the upper fixed plate away from the lower fixed plate, one end of the support frame is in sliding connection with the upper fixed plate, and the other end of the support frame is fixed opposite to the lower fixed plate; and the first driving structure is configured to drive the support frame to extend or retract, so as to drive the upper fixed plate to move in the direction of approaching or moving away from the lower fixed plate, and drive the bearing body to move in the first direction.

[0011] Further, the first driving structure comprises a second motor, a second screw shaft and two second nut seats; the two groups of support frames are respectively fixed on the two second nut seats, the second screw shaft is in transmission connection with the output shaft of the second motor, the two second nut seats are spaced apart and sleeved on the second screw shaft in the axial direction of the second screw shaft, and can move in the direction of approaching or moving away from each other, so as to drive the corresponding support frame to extend or retract, so as to drive the upper fixed plate to move in the direction of approaching or moving away from the lower fixed plate, and drive the bearing body to move in the first direction.

[0012] Further, the support frame comprises a first sub-support frame and a second sub-support frame hinged and cross-arranged with the first sub-support frame; the two ends of the first sub-support frame are respectively fixed on the upper fixed plate and the lower fixed plate; the second sub-support frame is fixed opposite to the second nut seat, and the end of the second sub-support frame close to the upper fixed plate is in sliding connection with the upper fixed plate in the axial direction of the second screw shaft, and the end of the second sub-support frame close to the lower fixed plate is not in contact with the lower fixed plate.

[0013] Further, the posture adjusting mechanism further comprises a third adjusting structure; the third adjusting structure is arranged between the upper fixed plate and the bearing body, and is configured to drive the bearing body to move in the length direction and / or the width direction of the bearing position.

[0014] Further, the third adjusting structure comprises a bearing frame fixed on the upper fixed plate and a second driving structure arranged on the bearing frame; the second driving structure comprises a third motor, a third screw shaft and a third nut seat sleeved on the outer wall of the third screw shaft; the third screw shaft is arranged in the bearing frame along the length direction or the width direction of the bearing position, and the bearing body is fixed on the third nut seat.

[0015] Further, the third adjusting structure is two, and the two third adjusting structures are arranged oppositely in up and down directions, and one of the two third adjusting structures is arranged along the length direction of the bearing position, and the other of the two third adjusting structures is arranged along the width direction of the bearing position.

[0016] Further, the bearing body comprises a first support seat and a second support seat, and the second support seat is formed as the bearing position.

[0017] The first support seat is fixed on the first nut seat, the second support seat is arranged above the first support seat, and one side of the second support seat close to the first adjusting structure is provided with a back plate, and the height of the back plate is greater than the height of the first adjusting structure.

[0018] Further, the second support seat is rotationally arranged above the first support seat.

[0019] Compared with the prior art, the technical scheme provided by the embodiments of the present disclosure has the following advantages:

[0020] The patient posture adjusting device provided by the present disclosure comprises a bearing body and a posture adjusting mechanism arranged on the bearing body, wherein the bearing body has a bearing position for bearing a patient, and the posture adjusting mechanism comprises at least a first adjusting structure arranged on the bearing body and used for driving the bearing body to move in a first direction, wherein the first direction is a vertical direction. That is, the bearing body itself has a first adjusting structure for driving the bearing body to move in the first direction. The posture of the patient can be adjusted by the first adjusting structure without the need of a positioning mechanical arm, and the positioning mechanical arm is not driven to move during the adjustment of the patient's posture. Therefore, the adjustment is convenient and the precision is high. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0023] Figure 1 A structural schematic view of a patient posture adjusting device according to an embodiment of the present disclosure;

[0024] Figure 2 A structural schematic view of the patient posture adjusting device according to an embodiment of the present disclosure from another perspective, in which a first support seat and a second support seat are shown;

[0025] Figure 3 A structural schematic view of a patient posture adjusting device according to another embodiment of the present disclosure

[0026] Figure 4 A side view of the patient posture adjusting device according to an embodiment of the present disclosure, in which a patient is carried on the carrying position;

[0027] Figure 5 A structural schematic view of a first adjusting structure of a patient posture adjusting device according to another embodiment of the present disclosure;

[0028] Figure 6 A structural schematic view of a third adjusting structure of a patient posture adjusting device according to an embodiment of the present disclosure;

[0029] Figure 7 An assembly schematic view of two third adjusting structures of a patient posture adjusting device according to an embodiment of the present disclosure;

[0030] Figure 8 A use state diagram of a patient posture adjusting device according to an embodiment of the present disclosure;

[0031] Figure 9 A structural schematic view of a prior art mechanical arm.

[0032] Wherein, 1, a bearing body; 11, a bearing position; 12, a first support seat; 13, a second support seat; 14, a back plate; 2, a posture adjusting mechanism; 3, a first adjusting structure; 31, a first motor; 32, a first screw shaft; 33, a first nut seat; 4, a safety cover; 5, a second adjusting structure; 61, a first driving structure; 611, a second motor; 612, a second screw shaft; 613, a second nut seat; 62, an upper fixed plate; 63, a lower fixed plate; 64, a support frame; 641, a first sub support frame; 642, a second sub support frame; 7, a third adjusting structure; 71, a bearing frame; 72, a second driving structure; 721, a third motor; 722, a third screw shaft; 723, a third nut seat; 8, a patient; 9, a positioning device; 10, an existing mechanical arm; 1', a large arm; 2', a small arm; 3', a wrist joint. DETAILED DESCRIPTION

[0033] In order to enable a more clear understanding of the above-mentioned objects, features and advantages of the present disclosure, the schemes of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0034] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present disclosure, but the present disclosure can also be implemented in other manners different from those described herein; obviously, the embodiments described in the specification are only a part of the embodiments of the present disclosure, and not all the embodiments.

[0035] Embodiment one

[0036] Reference Figures 1 to 7 As shown in the figure, the present embodiment provides a patient posture adjusting device, which is arranged at the end of a patient positioning device, and includes a bearing body 1 and a posture adjusting mechanism 2 arranged on the bearing body 1; the bearing body 1 has a bearing position 11 for bearing a patient, and the posture adjusting mechanism 2 at least includes a first adjusting structure 3, which is arranged on the bearing body 1 and is used to drive the bearing body 1 to move along a first direction, so as to make the tumor position of the patient located on the bearing position 11 opposite to the nozzle of a treatment device, wherein the first direction is a vertical direction.

[0037] It is easy for those skilled in the art to understand that the patient posture adjusting device is usually installed on a positioning mechanical arm, which is used to adjust the position of the patient posture adjusting device in space or a certain plane, so as to move the patient located on the bearing position 11 to a preset position, such as a treatment position or a scanning position, etc.

[0038] In the present embodiment, the bearing body 1 can be any suitable structure with high strength, which can stably and reliably bear the patient, and is not limited here.

[0039] Among them, the bearing position 11 of the bearing body 1 can be a sitting position, a standing position, a lying position, etc., and can be selected arbitrarily according to the specific use environment. No further restrictions are imposed here.

[0040] It is understood that the first adjustment structure 3 is set on the support body 1, that is, the support body 1 itself has the first adjustment structure 3. The first adjustment structure 3 is used to drive the support body 1 to move along the first direction. In specific use, the posture of the patient located on the support position 11 can be adjusted by the first adjustment structure 3, so that the position of the patient's tumor is directly opposite the nozzle of the treatment device. Based on this, when adjusting the posture of the patient, the posture adjustment can be achieved without the aid of a positioning robotic arm. The adjustment is convenient, easy to achieve, and has high adjustment accuracy.

[0041] In practice, the first adjustment structure 3 can be set at any suitable position of the support body 1, such as the back, bottom, or side of the support body 1, as long as it can drive the support body 1 to move in the first direction.

[0042] According to some embodiments, the first adjustment structure 3 drives the carrier body 1 to move along the first direction, which can also be used to align the patient's tumor position on the carrier position 11 with the scanning rays of the imaging device, which helps to make the scanning images more complete and accurate, and thus make the treatment plan more detailed and comprehensive.

[0043] It should be noted here that, as Figure 1 In the middle, the plane where the bearing position 11 is located is a horizontal plane, and the first direction is a vertical direction (see Figure 1 The Z direction (i.e., the up-down direction) is the first direction, which is perpendicular to the plane where the bearing position 11 is located.

[0044] Through the above technical solution, the patient posture adjustment device and patient positioning system provided in this embodiment, by setting a carrier body 1 and setting a posture adjustment mechanism 2 on the carrier body 1, wherein the carrier body 1 has a carrier position 11 for carrying the patient, and the posture adjustment mechanism 2 includes a first adjustment structure 3, which is set on the carrier body 1 and is used to drive the carrier body 1 to move along a first direction, wherein the first direction is the vertical direction. That is to say, the carrier body 1 itself has a first adjustment structure 3 that can drive the carrier body 1 to move along the first direction. The patient's posture can be adjusted through the first adjustment structure 3, so that the tumor position of the patient located on the carrier position 11 is directly aligned with the nozzle of the treatment device, without the need for a positioning robot arm, and the positioning robot arm will not be driven when adjusting the patient's posture, making the adjustment convenient and highly accurate.

[0045] in, Figure 1 The support structure shown is a treatment chair, suitable for patients to undergo treatment in a seated or standing position.

[0046] As an optional implementation, referring to Figure 2 Fig. 1, the first adjusting structure 3 comprises a first motor 31, a first screw shaft 32 and a first nut seat 33; the first screw shaft 32 is arranged along a first direction and is in transmission connection with an output shaft of the first motor 31, and the first nut seat 33 is sleeved on the outer wall of the first screw shaft 32. It can be understood that the internal thread of the first nut seat 33 is screwed with the external thread of the first screw shaft 32, and the carrying body 1 is fixed on the first nut seat 33.

[0047] In specific use, the first motor 31 drives the first screw shaft 32 to rotate, and the rotation of the first screw shaft 32 can drive the first nut seat 33 to move along the axial direction of the first screw shaft 32, that is, the rotary motion of the first screw shaft 32 is converted into the linear displacement of the first nut seat 33, which is simple in structure and easy to realize, and the movement is stable and reliable. Since the carrying body 1 is fixed on the first nut seat 33, that is, the carrying body 1 is relatively fixed with the first nut seat 33, therefore, when the first nut seat 33 moves along the axial direction of the first screw shaft 32, it can drive the carrying body 1 to move at the same time, so that the posture adjustment of the patient can be realized through the first adjusting structure 3 without the assistance of the positioning mechanical arm, which is simple in structure and convenient to use.

[0048] Among them, the arrangement direction of the first screw shaft 32 is the same as the first direction, that is, the axial direction of the first screw shaft 32 is parallel to the first direction, so the design is time-saving and labor-saving, and the adjustment efficiency is high.

[0049] According to some embodiments, the first adjusting structure 3 can also be a gear and rack structure.

[0050] Further, referring to Figure 1 and Figure 2 Fig. 1, the back of the carrying body 1 is provided with a safety cover 4, the first screw shaft 32 is arranged in the safety cover 4, the end of the safety cover 4 close to the carrying body 1 has a avoiding opening, and the side of the carrying body 1 close to the safety cover 4 penetrates through the avoiding opening and is fixed on the first nut seat 33.

[0051] Definition: the side of the carrying body 1 facing the patient is the front of the carrying body 1, and the side of the carrying body 1 away from the patient is the back of the carrying body 1, that is, the side of the carrying body 1 which the patient cannot enter into the carrying position 11 is the back of the carrying body 1.

[0052] In specific use, the carrying body 1 is usually installed on the positioning mechanical arm, therefore, the back of the carrying body 1 can also be understood as the side of the carrying body 1 close to the positioning mechanical arm.

[0053] The safety cover 4 is arranged on the back of the bearing body 1, the first screw shaft 32 is arranged in the safety cover 4, and the first motor 31 is arranged on the safety cover 4. In use, the clothes of the patient or other foreign matters can be effectively avoided from being wound on the first screw shaft 32, the normal operation of the first adjusting structure 3 is not affected, or the first adjusting structure 3 is damaged, so that the first adjusting structure 3 can be protected, the safety is high, and the service life of the first adjusting structure 3 can be improved to a certain extent.

[0054] Further, as shown in FIG. 2, Figure 1 The posture adjusting mechanism 2 further comprises a second adjusting structure 5 arranged on the side, away from the bearing body 1, of the first adjusting structure 3, and used for driving the bearing body 1 to rotate with the second direction (see X direction in FIG. 2), the third direction (see Y direction in FIG. 2) and the fourth direction (see Z direction in FIG. 2) as the rotation axis, so as to at least adjust the posture of the patient on the bearing position 11 in the second direction, the third direction and the fourth direction. Figure 1 Figure 1 Figure 1

[0055] Since the plane where the bearing position 11 is located is a horizontal plane, the plane parallel to the plane where the bearing position 11 is located can be considered as a horizontal plane.

[0056] In specific implementation, the second direction and the third direction are both horizontal directions parallel to the horizontal plane, and the second direction and the third direction are perpendicular to each other, that is, the second direction and the third direction are located in the same horizontal plane, and the fourth direction is a vertical direction perpendicular to the plane where the second direction and the third direction are located. Therefore, the second adjusting structure 5 can realize the rotation of the bearing body 1 in the plane where the bearing position 11 is located with the second direction as the rotation axis, so as to rotate and tilt the bearing body 1, and thus adjust the posture of the patient on the bearing position 11. Of course, the bearing body 1 can also be rotated with the third direction as the rotation axis, so as to stretch forward or shrink backward, and the patient's posture can also be adjusted by swinging left and right along the fourth direction.

[0057] According to some embodiments, the second adjusting structure 5 can also drive the bearing body 1 to rotate in the fourth direction, so that the bearing position 11 has a preset angle of inclination relative to the horizontal plane, so that the tumor position of the patient on the bearing position 11 is opposite to the nozzle of the treatment device. Still, the posture of the patient does not need to be adjusted by using a positioning mechanical arm, the adjustment is convenient, and the adjustment precision is high.

[0058] ​​​It can be understood that the second adjusting structure 5 can be implemented in any suitable manner, for example, a wrist structure of an industrial robot arm, one mounting end of the second adjusting structure 5 extends into an end of the positioning device, and the other mounting end is rotationally connected with the carrying body 1.

[0059] Embodiment two:

[0060] As another alternative implementation, referring to the first adjusting structure 3 shown in Figure 3 and Figure 5 , the first adjusting structure 3 includes a first driving structure 61, an upper fixed plate 62, a lower fixed plate 63, and two groups of telescopic support frames 64 arranged between the upper fixed plate 62 and the lower fixed plate 63, wherein the upper fixed plate 62 and the lower fixed plate 63 are oppositely arranged, the carrying body 1 is fixed on a side of the upper fixed plate 62 away from the lower fixed plate 63, that is, the upper fixed plate 62 is fixed on the bottom of the carrying body 1, one end of the support frame 64 is slidingly connected with the upper fixed plate 62, and the other end of the support frame 64 is oppositely fixed with the lower fixed plate 63, the first driving structure 61 is used to drive the support frame 64 to be telescopic, so that the upper fixed plate 62 moves along a direction towards the lower fixed plate 63 or away from the lower fixed plate 63 to drive the carrying body 1 to move along the first direction, for adjusting the height of the patient, the layout is reasonable, and space is saved.

[0061] The lower fixed plate 63 is rotationally mounted below the second support base 13, and the second support base 13 drives the carrying body 1 to rotate in the left-right direction, so as to adjust the angle of the patient receiving the radiation beam.

[0062] Further, referring to the first driving structure 61 shown in Figure 5 , the first driving structure 61 includes a second motor 611, a second lead screw shaft 612, and two second nut seats 613; the two groups of support frames 64 are respectively fixed on the two second nut seats 613, the second lead screw shaft 612 is drivingly connected with an output shaft of the second motor 611, and the two second nut seats 613 are spaced apart along the axial direction of the second lead screw shaft 612 and are sleeved on two thread segments of the second lead screw shaft 612 in opposite directions, the second lead screw shaft 612 drives the two second nut seats 613 to move towards each other or away from each other when the second lead screw shaft 612 rotates, since one end of the support frame 64 is slidingly connected with the upper fixed plate 62 and the other end of the support frame 64 is oppositely fixed with the lower fixed plate 63, therefore, when the two second nut seats 613 move towards each other or away from each other, the corresponding support frames 64 can be respectively driven to be telescopic, when the support frame 64 is elongated, the upper fixed plate 62 is raised in height; conversely, the upper fixed plate 62 is lowered in height, and the support frame 64 is telescopic to drive the upper fixed plate 62 to move along a direction towards the lower fixed plate 63 or away from the lower fixed plate 63 to drive the carrying body 1 to move along the first direction.

[0063] In specific implementation, the second motor 611 drives the second screw shaft 612 to rotate, and the rotation of the second screw shaft 612 can simultaneously drive the two second nut seats 613 to move along the axial direction of the second screw shaft 612, that is, the rotation of the second screw shaft 612 is converted into the linear displacement of the two second nut seats 613, and the structure is simple, easy to realize, and stable and reliable in movement. Since the two groups of support frames 64 are respectively fixed on the two second nut seats 613, and one end of each support frame 64 is in sliding connection with the upper fixed plate 62 and the other end of the support frame 64 is fixed opposite to the lower fixed plate 63, therefore, when the second nut seat 613 moves along the axial direction of the second screw shaft 612, the support frame 64 connected with the upper fixed plate 62 at one end can slide, at this time, the height of the support frame 64 in the first direction increases or decreases, and at the same time, the bearing body 1 is simultaneously moved and raised or lowered along the first direction, so that the height adjustment of the patient in the first direction can be realized through the second adjusting structure 5 without the assistance of the positioning mechanical arm, and the structure is simple and convenient to use.

[0064] Further, the support frame 64 comprises a first sub-support frame 641 and a second sub-support frame 642 hinged to and cross arranged with the first sub-support frame 641; both ends of the first sub-support frame 641 are respectively fixed on the upper fixed plate 62 and the lower fixed plate 63; the second sub-support frame 642 is fixed opposite to the second nut seat 613, and one end of the second sub-support frame 642 close to the upper fixed plate 62 is in sliding connection with the upper fixed plate 62 along the axial direction of the second screw shaft 612, and the other end of the second sub-support frame 642 close to the lower fixed plate 63 is not in contact with the lower fixed plate, therefore, the support is stable, and the lifting process is more stable and reliable, which helps to reduce the error caused by movement.

[0065] Among them, the first sub-support frame 641 and the second sub-support frame 642 respectively comprise a first segment and a second segment hinged together, and the definition is that one end of the first sub-support frame 641 and the second sub-support frame 642 close to the upper fixed plate 62 is respectively the corresponding first segment, and the other end of the first sub-support frame 641 and the second sub-support frame 642 close to the lower fixed plate 63 is respectively the corresponding second segment.

[0066] In specific implementation, the first section of the first sub-support frame 641 and the first section of the second sub-support frame 642 are cross arranged and hinged to each other, and the second section of the first sub-support frame 641 and the second section of the second sub-support frame 642 are cross arranged and hinged to each other; at the same time, the first section of the first sub-support frame 641 is fixed relative to the upper fixed plate 62, the second section of the first sub-support frame 641 is fixed relative to the lower fixed plate 63, the first section of the second sub-support frame 642 is slidingly connected with the upper fixed plate 62, and the second section of the second sub-support frame 642 has a safe distance from the lower fixed plate 63, and the connection between the first section and the second section of the second sub-support frame 642 is fixed relative to the second nut seat 613, which is stable in support and makes the lifting process more stable and reliable, and helps to reduce the error caused by movement.

[0067] In the embodiment, the posture adjusting mechanism 2 further comprises a third adjusting structure 7, which is arranged between the upper fixed plate 62 and the bearing body 1 and is used to drive the bearing body 1 to move along the length direction and / or the width direction of the bearing position 11, i.e., the third adjusting structure 7 can drive the bearing body 1 to move horizontally in the plane where the bearing position 11 is located, so as to realize fine adjustment of the patient position. Figure 6

[0068] Further, the third adjusting structure 7 comprises a bearing frame 71 fixed on the upper fixed plate 62 and a second driving structure 72 arranged on the bearing frame 71, wherein the second driving structure 72 comprises a third motor 721, a third screw shaft 722 and a third nut seat 723 sleeved on the outer wall of the third screw shaft 722, specifically, the third motor 721 is fixed on the bearing frame 71, the third screw shaft 722 is arranged in the bearing frame 71 along the length direction or the width direction of the bearing position 11, and the bearing body 1 is fixed on the third nut seat 723.

[0069] In specific use, the third motor 721 drives the third screw shaft 722 to rotate, and the rotation of the third screw shaft 722 can drive the third nut seat 723 to move along the axial direction of the third screw shaft 722, that is, the rotation of the third screw shaft 722 is converted into the linear displacement of the third nut seat 723, which is simple in structure and easy to realize, and stable and reliable in movement. Since the bearing body 1 is fixed on the third nut seat 723, i.e., the bearing body 1 is fixed relative to the third nut seat 723, when the third nut seat 723 moves along the axial direction of the third screw shaft 722, the bearing body 1 can be driven to move at the same time, so that the posture of the patient in the horizontal plane can be adjusted through the third adjusting structure 7 without the assistance of the positioning mechanical arm, which is simple in structure and convenient to use.

[0070] As an optional implementation, when the third screw shaft 722 is arranged along the length direction of the bearing position 11 (see FIG. 6), the third nut seat 723 is arranged along the length direction of the bearing position 11, and the bearing body 1 is arranged along the length direction of the bearing position 11. Figure 1 ​When arranged in the X direction, the third adjustment structure 7 can drive the bearing body 1 to move along the length direction of the bearing position 11.

[0071] As another alternative implementation, when the third lead screw shaft 722 is along the width direction of the bearing position 11 (see...) Figure 1 When arranged in the Y direction, the third adjustment structure 7 can drive the bearing body 1 to move along the width direction of the bearing position 11.

[0072] Furthermore, participate Figure 7 As shown, there are two third adjustment structures 7, which are arranged vertically opposite each other, i.e., stacked one on top of the other. The third lead screw shafts 722 of the two third adjustment structures 7 intersect. That is, one of the two third adjustment structures 7 is arranged along the length direction of the bearing position 11, and the other of the two third adjustment structures 7 is arranged along the width direction of the bearing position 11. With this design, one of the two third adjustment structures 7 can drive the bearing body 1 to move along the length direction of the bearing position 11, and the other of the two third adjustment structures 7 can drive the bearing body 1 to move along the width direction of the bearing position 11. The structure is simple, the adjustment is flexible and convenient, and there is still no need to use a positioning robotic arm to adjust the patient's posture. The adjustment is convenient and the adjustment accuracy is high.

[0073] In this embodiment, reference Figure 2 As shown, the patient is treated in a standing position. To facilitate adjustment of the treatment angle, the support body 1 includes a first support base 12 and a second support base 13. The second support base 13 is formed as a support position 11 for supporting the patient. The first support base 12 is fixed on the first nut 33, and the second support base 13 is positioned above the first support base 12. The side of the second support base 13 closest to the first adjustment structure 3 has a back plate 14, the height of which is greater than the height of the first adjustment structure 3. That is, the top surface of the back plate 14 is higher than the top surface of the first adjustment structure 3. In actual use, the patient stands on the second support base 13, and the back plate 14 is high enough to improve the stability of the patient standing on the second support base 13 to a certain extent.

[0074] Understandably, the second support 13 includes a base plate forming the bearing position 11 and a back plate 14 for fixing the patient's body. Specifically, the base plate is circular and the back plate is a curved panel extending upward along the side of the base plate near the first adjustment structure 3, i.e., the rear side of the base plate.

[0075] According to some embodiments, the base plate can also be elliptical, polygonal, or any suitable shape that is approximately circular or elliptical.

[0076] According to some embodiments, when a patient undergoes treatment while standing, the support body may not be equipped with a second support seat 13, that is, the support body only includes a first support seat 12, and the first support seat 12 has a back plate 14 to fix the patient's body.

[0077] In practice, during treatment, the first adjustment structure 3 moves the carrier body 1 to the treatment position, so that the height of the patient's tumor site on the carrier position 11 is the same as the height of the nozzle of the treatment device. At this time, if it is necessary to deflect the patient at a certain angle so that the radiation beam can reach the patient's tumor site more accurately, the appropriate deflection angle can be adjusted by rotating the second support seat 13. There is no need to use a positioning robotic arm to adjust the patient's posture, which is convenient and has high adjustment accuracy.

[0078] Furthermore, the second support 13 is rotatably disposed above the first support 12, that is, the second support 13 can rotate relative to the first support 12 about a vertical axis, thereby adjusting the posture of the patient standing on the second support 13 so that the patient's tumor position is directly opposite the nozzle of the treatment device.

[0079] It is understandable that the rotation of the second support 13 relative to the first support 12 can be achieved in any suitable way, as long as the second support 13 can rotate relative to the first support 12 in the horizontal plane.

[0080] For example, a rotating shaft is provided on the side of the second support 13 near the first support 12, and a worm gear structure is provided inside the first support 12. The rotating shaft of the second support 13 extends into the central shaft hole of the worm gear and is fixed relative to the worm gear, so that the second support 13 can be driven to rotate through the worm gear structure, which has high reliability.

[0081] refer to Figure 9 The diagram shows a schematic of the existing robotic arm 10. The existing robotic arm 10 moves within a three-dimensional coordinate system and can achieve six degrees of freedom of adjustment.

[0082] The existing robotic arm 10 consists of three parts: an upper arm 1', a forearm 2', and a wrist joint 3'. The wrist joint 3' can be adjusted in three degrees of freedom. Within its positioning range, any point in three-dimensional space can be moved into place by the robotic arm.

[0083] In existing technologies, patient positioning and posture adjustment are accomplished through the collaborative work of three parts of the robotic arm: the upper arm 1', the forearm 2', and the wrist joint 3'. It is difficult to prevent the patient's position from shifting or the patient's posture from changing during positioning.

[0084] refer to Figure 8Fig. 9 is a schematic view of a structure of the posture adjusting device provided by the embodiment installed on the positioning device 9, which realizes independent implementation of patient positioning and posture adjustment.

[0085] The positioning device includes a rotating mechanism and a linear guide rail, and the patient is moved to a set position by the positioning device; the posture of the patient is adjusted before or after positioning, the positioning device does not affect the posture of the patient, and the adjustment of the posture of the patient does not require the participation of the positioning device, and the adjustment of the posture of the patient can realize the fine adjustment and fine adjustment of the posture of the patient and the position of the patient.

[0086] It should be noted that, in this document, relational terms such as“first” and“second”, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms“comprises”,“comprising”, or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without limitation, an element preceded by“comprises... a” does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus.

[0087] The above description is merely that of specific embodiments of the present disclosure, enabling a person skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A patient posture adjustment device, characterized in that, The device is located at the end of the patient positioning device and includes a support body (1) and a posture adjustment mechanism (2) disposed on the support body (1). The support body (1) has a support position (11) for supporting a patient. The posture adjustment mechanism (2) includes at least a first adjustment structure (3). The first adjustment structure (3) is disposed on the support body (1) and is used to drive the support body (1) to move along a first direction so that the tumor position of the patient located on the support position (11) is directly opposite to the nozzle of the treatment device. The first direction is a direction perpendicular to the plane where the support position (11) is located. The posture adjustment mechanism (2) further includes a second adjustment structure (5), which is disposed on the side of the first adjustment structure (3) away from the support body (1) and is used to drive the support body (1) to rotate about the second direction, the third direction and the fourth direction respectively, so as to at least adjust the posture of the patient located on the support position (11) in the second direction, the third direction and the fourth direction, wherein the second direction and the third direction are located in the same plane, and the second direction is parallel to the horizontal plane, the third direction is perpendicular to the second direction; the fourth direction is perpendicular to the plane in which the second direction and the third direction are located. The first adjustment structure (3) includes a first drive structure (61), an upper fixing plate (62), a lower fixing plate (63), and two sets of support frames (64) arranged between the upper fixing plate (62) and the lower fixing plate (63); The upper fixing plate (62) and the lower fixing plate (63) are arranged opposite to each other. The bearing body (1) is fixed on the side of the upper fixing plate (62) away from the lower fixing plate (63). One end of the support frame (64) is slidably connected to the upper fixing plate (62), and the other end of the support frame (64) is fixed opposite to the lower fixing plate (63). The first driving structure (61) is used to drive the support frame (64) to extend and retract, so that the upper fixed plate (62) moves in a direction toward or away from the lower fixed plate (63) to drive the bearing body (1) to move in a first direction; The first drive structure (61) includes a second motor (611), a second lead screw shaft (612), and two second lead screw nuts (613); The two sets of support frames (64) are respectively fixed on the two second screw nuts (613). The second screw shaft (612) is connected to the output shaft of the second motor (611). The two second screw nuts (613) are sleeved on the second screw shaft (612) at intervals along the axial direction of the second screw shaft (612) and can move toward each other or toward each other to drive the corresponding support frame (64) to extend and retract, so that the upper fixed plate (62) moves toward the lower fixed plate (63) to drive the bearing body (1) to move in the first direction.

2. The patient posture adjustment device according to claim 1, characterized in that, The support frame (64) includes a first sub-support frame (641) and a second sub-support frame (642) that is hinged to and crosses the first sub-support frame (641); The two ends of the first sub-support frame (641) are respectively fixed to the upper fixing plate (62) and the lower fixing plate (63); The second sub-support frame (642) is fixed relative to the second screw nut (613), and the end of the second sub-support frame (642) near the upper fixed plate (62) is slidably connected to the upper fixed plate (62) along the axial direction of the second screw shaft (612), while the end of the second sub-support frame (642) near the lower fixed plate (63) does not contact the lower fixed plate.

3. The patient posture adjustment device according to any one of claims 1 or 2, characterized in that, The attitude adjustment mechanism (2) also includes a third adjustment structure (7); The third adjustment structure (7) is disposed between the upper fixed plate (62) and the bearing body (1), and is used to drive the bearing body (1) to move along the length direction and / or width direction of the bearing position (11).

4. The patient posture adjustment device according to claim 3, characterized in that, The third adjustment structure (7) includes a support frame (71) fixed on the upper fixed plate (62) and a second drive structure (72) disposed on the support frame (71); The second drive structure (72) includes a third motor (721), a third lead screw shaft (722), and a third lead screw nut (723) sleeved on the outer wall of the third lead screw shaft (722); the third lead screw shaft (722) is arranged in the bearing frame (71) along the length or width direction of the bearing position (11), and the bearing body (1) is fixed on the third lead screw nut (723).

5. The patient posture adjustment device according to claim 4, characterized in that, There are two third adjustment structures (7), which are arranged vertically opposite each other. One of the two third adjustment structures (7) is arranged along the length direction of the bearing position (11), and the other of the two third adjustment structures (7) is arranged along the width direction of the bearing position (11).

6. The patient posture adjustment device according to claim 1, characterized in that, The supporting body (1) includes a first support base (12) and a second support base (13), wherein the second support base (13) is formed as the bearing position (11); The first support base (12) is fixed relative to the first adjustment structure (3), and the second support base (13) is disposed above the first support base (12). The side of the second support base (13) near the first adjustment structure (3) has a back plate (14), and the height of the back plate (14) is greater than the height of the first adjustment structure (3).

7. The patient posture adjustment device according to claim 6, characterized in that, The second support (13) is rotatably positioned above the first support (12).

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