Rotary motion mechanism for proton therapy patient positioning system

Abstract

The application discloses a rotating motion mechanism of a proton treatment patient positioning system, which comprises a supporting assembly, a rotating assembly and an auxiliary function assembly, wherein the supporting assembly comprises a base and a slewing bearing, the inner ring of the slewing bearing is fixed to the base, the rotating assembly is arranged on the top of the supporting assembly and comprises a rotating body, a fixed flange, a gear assembly and a driving part, the bottom of one end of the rotating body is provided with the fixed flange, the fixed flange is connected between the rotating body and the outer ring of the slewing bearing, the driving part is arranged in the rotating body and connected with the gear assembly, the gear assembly is arranged eccentrically in the inner ring and engaged with the inner ring, and the auxiliary function assembly is arranged between the supporting assembly and the rotating assembly. The rotating motion mechanism has the advantages of simple and compact structure, high load capacity, and the ability to realize the rotating motion of the rotating assembly in the proton treatment patient positioning system. Meanwhile, the auxiliary function assembly can determine and / or limit the motion position of the rotating body, thereby improving the motion accuracy and safety performance.

Description

Technical Field

[0001] This invention relates to the field of proton therapy patient positioning systems, and more particularly to a rotary motion mechanism for a proton therapy patient positioning system. Background Technology

[0002] Proton therapy is one of the most advanced cancer treatments internationally. The principle of proton therapy is to accelerate the nuclei of hydrogen atoms that have lost their electrons using a cyclotron or synchrotron, allowing them to penetrate the body and reach the specific location of cancer cells. There, the protons suddenly slow down and stop, creating a sharp dose peak at the end of their range, called the Bragg peak, releasing maximum energy to kill the cancer cells. The advantage of proton therapy is that it releases only a small amount of energy before reaching the tumor, minimizing damage to healthy tissue. Only when the protons reach the tumor site do they release a large amount of energy for a concentrated burst of energy.

[0003] Patient positioning systems are a crucial component of proton therapy and an essential carrier for patient treatment. Automated positioning technology can improve positioning efficiency, reduce radiotherapy support time, and thus conserve medical resources. However, current positioning systems are complex in structure, bulky, difficult to control in terms of motion precision, and lack safety guarantees, thus requiring further improvement. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a rotary motion mechanism for a proton therapy patient positioning system, which is simple, compact, and ingenious in structure, and has a high load capacity, enabling the rotary motion of the rotating assembly in the proton therapy patient positioning system; simultaneously, auxiliary functional components are provided to determine and / or restrict the movement position of the rotating body, thereby improving motion accuracy and safety performance.

[0005] According to an embodiment of the present invention, a rotary motion mechanism for a proton therapy patient positioning system includes a support assembly comprising a base and a slewing bearing, wherein the inner ring of the slewing bearing is fixed to the base, and the outer ring of the slewing bearing is rotatable relative to the base, and the inner ring of the slewing bearing has meshing teeth; a rotating assembly disposed on top of the support assembly and comprising a rotating body, a fixed flange, a gear assembly, and a drive component, wherein the rotating body has a structure with a length greater than its width, and a fixed flange is provided at the bottom of one of the longer ends of the rotating body, the fixed flange connecting the rotating body and the outer ring, the gear assembly being eccentrically disposed in the inner ring and meshing with the meshing teeth, and the drive component being mounted in the rotating body and connected to the gear assembly for driving the gear assembly to rotate; and an auxiliary functional component disposed between the support assembly and the rotating assembly for at least determining and / or limiting the movement position of the rotating body.

[0006] The rotary motion mechanism of the proton therapy patient positioning system according to the present invention has a simple, compact and ingenious structure, which can realize the rotary motion of the rotary assembly in the proton therapy patient positioning system; at the same time, the auxiliary functional components can determine and / or limit the motion position of the rotating body, thereby improving motion accuracy and safety performance.

[0007] In addition, the rotary motion mechanism of the proton therapy patient positioning system according to the present invention may also have the following additional technical features:

[0008] In some embodiments of the present invention, the auxiliary functional component includes: a magnetic strip, which is annular or arc-shaped and disposed on the top surface of the base; and a magnetic reading head disposed on the bottom surface of the fixed flange. During the synchronous rotation of the magnetic reading head driven by the rotating body, the magnetic reading head can read the change signal of the magnetic field on the magnetic strip to determine the absolute position of the magnetic reading head.

[0009] In some embodiments of the present invention, the auxiliary functional component includes: a light-shielding sheet disposed on the bottom surface of the fixed flange, the light-shielding sheet being two in number and spaced apart circumferentially along the slewing bearing, each of the light-shielding sheets being an arc-shaped sheet extending circumferentially; and a photoelectric tactile sensor disposed on the top surface of the base, the photoelectric tactile sensor being two in number and spaced apart circumferentially, the photoelectric tactile sensor having an arc-shaped groove extending circumferentially formed thereon, the arc-shaped groove being used to avoid the light-shielding sheet.

[0010] In some embodiments of the present invention, the auxiliary function component includes: a first alarm, which is mounted on the rotating body and is electrically or communicatively connected to the photoelectric tactile sensor.

[0011] In some embodiments of the present invention, the auxiliary functional component includes a pressure detection element disposed on the rotating body.

[0012] In some embodiments of the present invention, the auxiliary function component includes: a second alarm, which is mounted on the rotating body and is electrically or communicatively connected to the pressure detection element.

[0013] In some embodiments of the present invention, the auxiliary functional component includes: a first stop block disposed on the bottom surface of the fixed flange, wherein there are two first stop blocks spaced apart circumferentially along the slewing bearing; and a second stop block disposed on the top surface of the base, wherein there are two second stop blocks spaced apart circumferentially, wherein when the rotating body rotates to a first limit angle position, one of the second stop blocks and one of the first stop blocks stop and limit the rotation, and when the rotating body rotates to a second limit angle position, the other second stop block and the other first stop block stop and limit the rotation.

[0014] In some embodiments of the present invention, the rotating body includes a first segment and a second segment arranged sequentially along the length direction, the fixed flange is disposed at the bottom of the first segment, and the auxiliary functional components include: a first target detector, which is provided with a microwave radar and is disposed on the side of the first segment away from the second segment; and a second target detector, which is provided with a laser radar and is disposed on the bottom surface of the second segment and located at the middle of the length direction of the rotating body.

[0015] In some embodiments of the present invention, the rotating body satisfies at least one of the following five conditions: Condition 1, the rotating body is an aluminum alloy casting; Condition 2, the rotating body is formed with a structure whose width gradually decreases from both ends of its length towards the middle; Condition 3, the rotating body includes a first segment and a second segment arranged sequentially along its length, the fixed flange is located at the bottom of the first segment, and at least a portion of the top surface of the second segment is higher than the top surface of the first segment; Condition 4, the rotating body has an internal cavity, the cavity is provided with a plurality of supporting ribs, a wiring channel is formed between at least two adjacent supporting ribs, and the bottom of the fixed flange has a wire-passing hole communicating with the wiring channel; Condition 5, the top surface of the rotating body has a removable cover plate, and the removable cover plate is arranged axially opposite to the slewing bearing.

[0016] In some embodiments of the present invention, the gear assembly employs a backlash-free gear set.

[0017] In some embodiments of the present invention, the driving component includes a motor assembly, which includes a motor, a coupling, and a bevel gear set. The output shaft of the motor is horizontally arranged, and the coupling connects the motor and the bevel gear set. The bevel gear set converts the power of rotation about the horizontal axis into the power of rotation about the vertical axis.

[0018] In some embodiments of the present invention, the driving component includes a transmission assembly, the transmission assembly including: a first reducer and a second reducer, the first reducer being connected between the motor assembly and the second reducer, and the gear assembly being connected to the second reducer.

[0019] In some embodiments of the present invention, the first reducer includes a planetary reducer.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1 This is a three-dimensional structural schematic diagram of the rotary motion mechanism of the proton therapy patient positioning system in an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 A cross-sectional view of the rotary motion mechanism of the proton therapy patient positioning system shown.

[0024] Figure 3 yes Figure 1 A three-dimensional structural schematic diagram of the rotating assembly of the rotating motion mechanism of the proton therapy patient positioning system shown in the figure.

[0025] Figure 4 yes Figure 1 A three-dimensional structural schematic diagram of the support assembly of the rotary motion mechanism of the proton therapy patient positioning system shown in the figure.

[0026] Figure 5 yes Figure 1 A top view of the fixed flange of the rotary motion mechanism of the proton therapy patient positioning system shown in the figure;

[0027] Figure 6 yes Figure 1 The diagram shows a three-dimensional structural schematic of the rotating body of the rotating motion mechanism in the proton therapy patient positioning system.

[0028] Figure label:

[0029] 100. Rotary motion mechanism of proton therapy patient positioning system;

[0030] 10. Support assembly;

[0031] 110. Base; 120. Slewing bearing; 121. Inner ring; 122. Outer ring; 123. Meshing teeth;

[0032] 20. Rotating assembly;

[0033] 210. Rotating body; 2101. First section; 2102. Second section; 210a. Cavity; 211. Supporting rib; 212. Cover plate;

[0034] 220, Fixed flange; 220a, Through hole; 220b, Mounting hole;

[0035] 230. Gear assembly;

[0036] 240. Drive components;

[0037] 241. Motor assembly; 2411. Motor; 2412. Coupling; 2413. Bevel gear set;

[0038] 242. Transmission assembly; 2421. First reducer; 2422. Second reducer;

[0039] 30. Auxiliary function components;

[0040] 301. Magnetic strip; 302. Magnetic reading head; 303. Light shield; 304. Photoelectric tactile sensor; 305. First stop block; 306. Second stop block; 307. First target detector; 308. Second target detector; 309. Shared alarm; 310. Pressure detection element. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] Furthermore, features specified as "first" or "second" may explicitly or implicitly include one or more of the same feature, used to distinguish and describe features, without any order or distinction of importance.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] In the description of this invention, "a plurality of" means two or more.

[0046] The rotary motion mechanism 100 of the proton therapy patient positioning system according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0047] like Figures 1-6As shown, the rotary motion mechanism 100 of the proton therapy patient positioning system of this embodiment includes: a support assembly 10, a rotating assembly 20, and an auxiliary functional component 30. The support assembly 10 includes a base 110 and a rotary bearing 120. The inner ring 121 of the rotary bearing 120 is fixed to the base 110, and the outer ring 122 of the rotary bearing 120 is rotatable relative to the base 110. The inner ring 121 of the rotary bearing 120 has meshing teeth 123. The rotating assembly 20 is located on top of the support assembly 10 and includes a rotating body 210, a fixed flange 220, a gear assembly 230, and a drive component 240. The rotating body 210 has a structure where the length is greater than the width. The fixed flange 220 is located at the bottom of the longer end of the rotating body 210, connecting the rotating body 210 to the outer ring 122. The gear assembly 230 is eccentrically located in the inner ring 121 and meshes with the meshing teeth 123. The drive component 240 is installed inside the rotating body 210 and connected to the gear assembly 230 to drive the gear assembly 230 to rotate. An auxiliary function component 30 is located between the support assembly 10 and the rotating assembly 20 to at least determine and / or limit the movement position of the rotating body 210.

[0048] It is understood that the outer ring 122 of the slewing bearing 120 is rotatable relative to the base 110, and the fixed flange 220 is connected to the outer ring 122 of the slewing bearing 120. That is, the rotating assembly 20 is mounted on the support assembly 10 and can rotate relative to the base 110. For example, in combination with Figure 3 and Figure 5 The fixed flange 220 is provided with an eccentrically set mounting hole 220b, through which the gear assembly 230 is mounted. The gear assembly 230 is eccentrically set relative to the inner ring 121 and meshes with the meshing teeth 123 of the inner ring 121 of the slewing bearing 120. When the drive component 240 drives the gear assembly 230 to rotate, the gear assembly 230 rolls along the inner ring 121 of the slewing bearing 120, thereby driving the rotating body 210 and the outer ring 122 of the slewing bearing 120 to rotate, realizing the rotational movement of the proton therapy patient positioning system.

[0049] According to an embodiment of the present invention, the rotary motion mechanism 100 of the proton therapy patient positioning system drives the gear assembly 230 to rotate via the drive component 240, causing the gear assembly 230 to roll along the inner ring 121 of the slewing bearing 120, thereby driving the entire rotating assembly 20 to rotate, thus realizing the rotary motion of the proton therapy patient positioning system; at the same time, multiple auxiliary functional components 30 are provided to determine and / or limit the movement position of the rotating body 210, thereby improving the accuracy of the rotary motion and the safety performance.

[0050] It should be noted that the placement orientation of the rotary motion mechanism 100 of the proton therapy patient positioning system in this embodiment of the invention is not limited. For example, it can be placed upright (i.e., the rotary assembly 20 is located on top of the support assembly 10), upside down (i.e., the rotary assembly 20 is located at the bottom of the support assembly 10), sideways (i.e., the rotary assembly 20 and the support assembly 10 are arranged horizontally), or obliquely, etc. For the sake of simplicity, the following description is based on the orientation of the rotary motion mechanism 100 of the proton therapy patient positioning system when it is upright (i.e., the rotary assembly 20 is located on top of the support assembly 10). After reading the following technical solution, those skilled in the art will obviously understand the relative positions of the structure under other placement orientations, which will not be elaborated here.

[0051] According to some embodiments of the present invention, the rotary motion mechanism 100 of the proton therapy patient positioning system, combined with Figure 3 and Figure 4 The auxiliary function component 30 includes a magnetic strip 301 and a magnetic reading head 302. The magnetic strip 301 is circular or arc-shaped and is located on the top surface of the base 110. The magnetic reading head 302 is located on the bottom surface of the fixed flange 220. During the synchronous rotation of the magnetic reading head 302 driven by the rotating body 210, the magnetic reading head 302 can read the change signal of the magnetic field on the magnetic strip 301 to determine the absolute position of the magnetic reading head 302.

[0052] For example, the magnetic reading head 302 is mounted on the bottom surface of the fixed flange 220 and rotates together with the rotating assembly 20; the magnetic strip 301 is located on the top surface of the base 110 to ensure that its position does not change; since the magnetic reading head 302 performs circular motion, the magnetic strip 301 is designed as a ring or arc (e.g., a superior arc shape), which not only allows the shape of the magnetic strip 301 to match that of the magnetic reading head 302, but also reduces the reading error caused by the shape of the magnetic strip 301 during the rotation of the magnetic reading head 302. When the drive component 240 drives the gear assembly 230 to rotate the rotating body 210, the magnetic reading head 302 reads the change signal of the magnetic field on the magnetic strip 301 to determine its own absolute position, and then determines the absolute position of the rotating body 210. The position information is then uploaded to the control system in sync, ultimately realizing the feedback adjustment of the overall control and measurement system, accurately controlling the rotation amplitude of the rotating body 210, improving motion accuracy, and thus improving the performance of the rotating motion mechanism 100 of the proton therapy patient positioning system.

[0053] According to some embodiments of the present invention, the rotary motion mechanism 100 of the proton therapy patient positioning system, combined with Figure 3 and Figure 4The auxiliary function component 30 includes: a light-shielding sheet 303 and a photoelectric tactile sensor 304. The light-shielding sheet 303 is disposed on the bottom surface of the fixed flange 220. There are two light-shielding sheets 303 and they are spaced apart along the circumference of the rotary bearing 120. Each light-shielding sheet 303 is an arc-shaped sheet extending along the circumference (i.e., the circumference of the rotary bearing 120). The photoelectric tactile sensor 304 is disposed on the top surface of the base 110. There are two photoelectric tactile sensors 304 and they are spaced apart along the circumference. An arc-shaped groove extending along the circumference is formed on the photoelectric tactile sensor 304. The arc-shaped groove is used to avoid the light-shielding sheet 303.

[0054] For example, a light-shielding plate 303 is mounted on the bottom surface of the fixed flange 220 and rotates together with the rotating body 210; a photoelectric tactile sensor 304 is mounted on the top surface of the base 110, and its position remains unchanged. When the rotating body 210 rotates clockwise to a limit position, one light-shielding plate 303 rotates into the arc-shaped groove of a photoelectric tactile sensor 304, blocking the light emitted by the photoelectric tactile sensor 304. At this time, the photoelectric tactile sensor 304 sends a signal to control the rotating body 210 to stop moving through system feedback, preventing the rotating body 210 from rotating beyond the limit range and colliding. When the rotating body 210 rotates counterclockwise to another limit position, another light-shielding plate 303 rotates into the arc-shaped groove of another photoelectric tactile sensor 304, blocking the light emitted by the photoelectric tactile sensor 304. At this time, the photoelectric tactile sensor 304 sends a signal to control the rotating body 210 to stop moving through system feedback, preventing the rotating body 210 from rotating beyond the limit range and colliding. In short, since the rotating body 210 can rotate in both directions, setting two sets of light-shielding plates 303 and photoelectric sensors 304 at the extreme rotation positions of the rotating body 210 in both directions improves the safety performance of the rotating motion mechanism 100 of the proton therapy patient positioning system.

[0055] In addition, since the movement trajectory of the light shield 303 is arc-shaped, the light shield 303 is designed to be arc-shaped. At the same time, the photoelectric tactile sensor 304 is also provided with an arc-shaped groove to cooperate with the light shield 303, so as to ensure that the light shield 303 and the tactile sensor do not collide during the movement of the rotating body 210, thereby obtaining photoelectric signals and limiting the range of movement angle of the mechanism, avoiding collisions with other equipment or walls during debugging or treatment, and improving the safety performance of the rotating motion mechanism 100 of the proton therapy patient positioning system.

[0056] Of course, the present invention is not limited to this. For example, the light-shielding sheet 303 can be set to only one, or the photoelectric tactile sensor 304 can be set to three or more, thereby achieving flexible design.

[0057] In some embodiments of the present invention, the auxiliary function component 30 includes a first alarm, which is mounted on the rotating body 210 and is electrically or communicatively connected to the photoelectric tactile sensor 304. For example, the first alarm includes an alarm speaker and / or an alarm indicator light; the alarm speaker can emit an audible alarm, and the alarm indicator light can help identify the alarm location.

[0058] Furthermore, there can be one or more first alarms. For example, when there is one first alarm, it is connected to all photoelectric sensors 304. When a photoelectric sensor 304 is triggered, the first alarm sounds an alarm, and the alarm indicator light helps to identify the alarm location. When there are multiple first alarms, each first alarm is connected to a corresponding photoelectric sensor 304. When a photoelectric sensor 304 is triggered, the corresponding first alarm sounds an alarm, and the alarm indicator light illuminates to help identify the alarm location.

[0059] In some embodiments of the present invention, the auxiliary function component 30 includes a pressure detection element 310, which is disposed on the rotating body 210. For example, the pressure detection element 310 is mounted on the rotating body 210 to detect the magnitude of the load pressure, preventing the rotating motion mechanism 100 of the proton therapy patient positioning system from continuing to operate and causing damage to the rotating motion mechanism 100 of the proton therapy patient positioning system when the load range of the rotating body 210 is exceeded. The pressure detection element 310 can be configured as a pressure sensor or other device capable of detecting load pressure, which will not be described in detail here.

[0060] In some embodiments of the present invention, the auxiliary function component 30 includes a second alarm mounted on the rotating body 210, and the second alarm is electrically or communicatively connected to the pressure detection element 310. For example, the second alarm includes an alarm speaker; when the pressure detection element 310 detects that the load exceeds a threshold set by the pressure detection element 310, the pressure detection element 310 transmits an alarm signal to the second alarm, causing the second alarm to sound an alarm.

[0061] Optionally, such as Figure 2As shown, the first alarm and the second alarm can be the same alarm, such as the shared alarm 309 shown in the figure. For example, when both the pressure detection element 310 and the photoelectric sensor 304 use the shared alarm 309, the shared alarm 309 can include two different colored alarm indicator lights, corresponding to the pressure detection element 310 and the photoelectric sensor 304 respectively. The shared alarm 309 can also include an alarm speaker. When the pressure detection element 310 detects that the load exceeds the threshold set by the pressure detection element 310, the alarm speaker sounds an alarm, and at the same time, the alarm indicator light corresponding to the pressure detection element 310 lights up; when the photoelectric sensor 304 is triggered, the alarm speaker sounds an alarm, and at the same time, the alarm indicator light corresponding to the photoelectric sensor 304 lights up.

[0062] Of course, the first alarm and the second alarm can be different alarms, which will not be elaborated here. For example, the common alarm 309 can be a photoelectric alarm or other alarm devices that can achieve the above functions, which will not be elaborated here.

[0063] According to some embodiments of the present invention, the rotary motion mechanism 100 of the proton therapy patient positioning system, combined with Figure 3 and Figure 4 The auxiliary function component 30 includes: a first stop 305 and a second stop 306. The first stop 305 is located on the bottom surface of the fixed flange 220. There are two first stop 305s and they are spaced apart along the circumference of the slewing bearing 120. The second stop 306 is located on the top surface of the base 110. There are two second stop 306s and they are spaced apart along the circumference (i.e., the circumference of the slewing bearing 120). When the rotating body 210 rotates to the first limit angle position, one of the second stop 306 stops and limits one of the first stop 305. When the rotating body 210 rotates to the second limit angle position, the other second stop 306 stops and limits the other first stop 305.

[0064] For example, the first stop 305 is located on the bottom surface of the fixed flange 220 and rotates with the rotating body 210; the second stop 306 is located on the top surface of the base 110 and its position remains unchanged. When the rotating body 210 rotates clockwise to a limit position (e.g., the first limit angle position), one first stop 305 is stopped and limited by one second stop 306, forcing the rotating body 210 to stop; when the rotating body 210 rotates counterclockwise to another limit position (e.g., the second limit angle position), the other first stop 305 is stopped and limited by the other second stop 306, forcing the rotating body 210 to stop. In short, since the rotating body 210 can rotate in both directions, two sets of first stops 305 and second stops 306 are set to limit the first and second limit angle positions respectively, ensuring that the rotation of the rotating body 210 in both directions does not exceed the limit range, thus improving the safety of the equipment.

[0065] In addition, the first stop 305 and the second stop 306 can also be used as a safety guarantee after the photoelectric sensor 304 fails. The photoelectric sensor 304 and the stop work together to improve the reliability of the angle limit, thereby avoiding accidental collisions and greatly improving the safety performance of the rotary motion mechanism 100 of the proton therapy patient positioning system.

[0066] Of course, the present invention is not limited to this. For example, the first stop 305 can be set to only one, thereby simplifying the design.

[0067] According to some embodiments of the present invention, the rotary motion mechanism 100 of the proton therapy patient positioning system, combined with Figure 2 and Figure 3 The rotating body 210 includes a first segment 2101 and a second segment 2102 arranged sequentially along its length. The fixed flange 220 is located at the bottom of the first segment 2101. The auxiliary functional component 30 includes a first target detector 307 and a second target detector 308. The first target detector 307 is equipped with a microwave radar and is located on the side wall of the first segment 2101 away from the second segment 2102. The second target detector 308 is equipped with a laser radar and is located on the bottom surface of the second segment 2102 and at the middle of the rotating body 210 along its length.

[0068] For example, the first target detector 307 is equipped with a microwave radar, which can be used for rapid and coarse target acquisition over a large airspace; the second target detector 308 is equipped with a lidar, which has high capture resolution and can accurately capture targets. When an unidentified device or pedestrian appears near the rotating motion mechanism 100 of the proton therapy patient positioning system, the microwave radar on the first target detector 307 can quickly capture the target, determine the presence of an unidentified device, and then feed back to the control system. The second target detector 308 further accurately captures the unidentified device and makes a more accurate judgment on the target device. The first target detector 307 and the second target detector 308 can complement each other, avoid blind spots, and form a double protection, detecting pedestrians or unidentified devices near the rotating motion mechanism 100 of the proton therapy patient positioning system. The detection of unidentified devices or objects will feed back to the control system, causing the equipment to stop operating or issue an alarm, greatly improving the safety of the equipment.

[0069] According to some embodiments of the proton therapy patient positioning system of the present invention, the rotating body 210 of the rotating motion mechanism 100 satisfies at least one of the following five conditions: Condition 1, the rotating body 210 is an aluminum alloy casting; Condition 2, the rotating body 210 is formed with a structure that gradually narrows in width from both ends of the length towards the middle; Condition 3, combined with... Figure 3 and Figure 6 The rotating body 210 includes a first section 2101 and a second section 2102 arranged sequentially along the length direction. A fixed flange 220 is provided at the bottom of the first section 2101, and at least a portion of the top surface of the second section 2102 is higher than the top surface of the first section 2101. Condition four: The rotating body 210 has a cavity 210a inside, and a plurality of supporting ribs 211 are provided in the cavity 210a. A wiring channel is formed between at least two adjacent supporting ribs 211. The bottom of the fixed flange 220 has a wire hole 220a communicating with the wiring channel. Condition five: The top surface of the rotating body 210 has a removable cover plate 212, and the removable cover plate 212 is arranged axially opposite to the rotary bearing 120.

[0070] For example, the rotating body 210 is made of aluminum alloy casting, which can reduce the overall structural weight and increase the load limit of the rotating body 210.

[0071] For example, the design that the central profile dimension of the rotating body 210 is smaller than the width dimension of both ends can further reduce the overall structural weight, ensuring that the rotating body 210 has a high load capacity while achieving the lightweight design of the rotating body 210.

[0072] For example, if the top surface of the second segment 2102 of the rotating body 210 is higher than the top surface of the first segment 2101, a step structure can be set near the second segment 2102 to ensure a compact structure. Other structures can also be designed to make the top surface of the second segment 2102 higher than the top surface of the first segment 2101, which will not be described in detail here.

[0073] For example, a cavity 210a can be provided inside the rotating body 210, and the driving component 240 can be placed inside the cavity 210a, making the structure of the rotary motion mechanism 100 of the proton therapy patient positioning system more compact. At the same time, multiple support ribs 211 are provided inside the cavity 210a, which can enhance the strength and rigidity of the rotating body 210 and improve the load capacity of the rotating body 210. The wiring channel formed between adjacent support ribs 211 and the wiring hole 220a of the flange allow the various parts of the rotary motion mechanism 100 of the proton therapy patient positioning system to be connected by wiring inside the cavity 210a, reducing the wiring exposed to the external environment and increasing the aesthetics and safety of the rotary motion mechanism 100 of the proton therapy patient positioning system.

[0074] For example, by providing a removable cover plate 212 on the top surface of the rotating body 210, and by having the removable cover plate 212 and the slewing bearing 120 arranged axially opposite each other, the internal components of the rotating body 210 can be inspected and repaired, and the wiring in the cavity 210a inside the rotating body 210 can also be organized and inspected.

[0075] For example, the fixed flange 220 is provided with an eccentrically arranged wire hole 220a and a mounting hole 220b. The mounting hole 220b is a circular through hole used for positioning and mounting the gear assembly 230 so that the gear assembly 230 meshes with the inner ring 121 of the slewing bearing 120. The wire hole 220a is a wiring connection passage between the support assembly 10 and the rotating assembly 20. The shape of the wire hole 220a is not limited. For example, it can be a regular-shaped through hole such as a circular through hole or a polygonal through hole, or it can be a through hole of other irregular shapes. These will not be described in detail here.

[0076] According to the rotary motion mechanism 100 of the proton therapy patient positioning system in some embodiments of the present invention, the rotating body 210 needs to satisfy at least one of the above five conditions. In order to make the rotary motion mechanism 100 of the proton therapy patient positioning system have many advantages such as compact structure, high load capacity, convenient maintenance, lightweight structure, and high safety, the rotating body 210 can simultaneously satisfy multiple of the above five conditions, which will not be elaborated here.

[0077] According to some embodiments of the present invention, the gear assembly 230 of the rotary motion mechanism 100 of the proton therapy patient positioning system can be a backlash-free gear set. Specifically, the backlash-free gear set has higher transmission accuracy, can more accurately control the rotation amplitude of the rotating body 210, and makes it easier to control the rotating body 210 to rotate to the required position, thereby significantly improving the motion accuracy of the rotary motion mechanism 100 of the proton therapy patient positioning system and improving the performance of the equipment.

[0078] The rotary motion mechanism 100 of the proton therapy patient positioning system according to some embodiments of the present invention, such as Figure 2 As shown, the drive component 240 may include a motor assembly 241, which includes a motor 2411, a coupling 2412, and a bevel gear set 2413. The output shaft of the motor 2411 is horizontally arranged, and the coupling 2412 is connected between the motor 2411 and the bevel gear set 2413. The bevel gear set 2413 converts the power of rotation about the horizontal axis into the power of rotation about the vertical axis.

[0079] For example, the motor assembly 241 is disposed in the cavity 210a of the rotating body 210. By setting the output shaft of the motor 2411 horizontally, the overall height of the rotary motion mechanism 100 of the proton therapy patient positioning system is reduced, and the entire drive component 240 is installed in the rotating assembly 20 and the support assembly 10, thereby making the structure more compact, reducing the volume of the rotary motion mechanism 100 of the proton therapy patient positioning system, and improving the space utilization of the rotary motion mechanism 100 of the proton therapy patient positioning system.

[0080] The rotary motion mechanism 100 of the proton therapy patient positioning system according to some embodiments of the present invention, such as Figure 2As shown, the drive component 240 includes a transmission assembly 242, which comprises a first reducer 2421 and a second reducer 2422. The first reducer 2421 is connected between the motor assembly 241 and the second reducer 2422, and the gear assembly 230 is connected to the second reducer 2422. In other words, the large reduction ratio of the two reducers 2421 and 2422 significantly increases the rotational torque twice, enabling the rotating body 210 to rotate easily and operate normally even under high loads, thereby improving the accuracy and performance of the rotary motion mechanism 100 of the proton therapy patient positioning system.

[0081] The rotary motion mechanism 100 of the proton therapy patient positioning system according to some embodiments of the present invention, such as Figure 2 As shown, the first reducer 2421 may include a planetary reducer. Specifically, the first reducer 2421 adopts a planetary reducer. Planetary reducers operate smoothly with low noise and have a larger reduction ratio. In other words, the first reducer 2421, by adopting a planetary reducer, can output a larger rotational torque, enabling the rotary motion mechanism 100 of the proton therapy patient positioning system to rotate normally under high load conditions, while avoiding collision with the high-speed rotating motor assembly 241, reducing noise generation, and improving the performance of the rotary motion mechanism 100 of the proton therapy patient positioning system.

[0082] like Figures 1 to 6 The diagram illustrates a specific embodiment of the rotary motion mechanism 100 of the proton therapy patient positioning system of the present invention.

[0083] like Figure 1 , Figure 2 As shown, a rotary motion mechanism 100 of a proton therapy patient positioning system includes: a support assembly 10, a rotation assembly 20, and an auxiliary function component 30.

[0084] like Figure 2As shown, the support assembly 10 includes a base 110 and a slewing bearing 120. The base 110 is configured as a three-dimensional adjustment module. The inner ring 121 of the slewing bearing 120 is fixed to the base 110, and the outer ring 122 of the slewing bearing 120 is rotatable relative to the base 110. The inner ring 121 of the slewing bearing 120 has meshing teeth 123. The rotating assembly 20 includes a rotating body 210, a fixed flange 220, a gear assembly 230, and a drive component 240. The rotating body 210 has a structure with a length greater than its width. A fixed flange 220 is provided at the bottom of one end of the length of the 10. The fixed flange 220 connects the rotating body 210 and the outer ring 122. The gear assembly 230 is eccentrically located in the inner ring 121 and meshes with the meshing teeth 123. The drive component 240 is installed in the rotating body 210 and connected to the gear assembly 230 to drive the gear assembly 230 to rotate. The auxiliary function component 30 is located between the support assembly 10 and the rotating assembly 20 to at least determine and / or limit the movement position of the rotating body 210.

[0085] like Figure 3 , Figure 4 As shown, the auxiliary function component 30 includes a magnetic strip 301 and a magnetic reading head 302. The magnetic strip 301 is annular or arc-shaped and is located on the top surface of the base 110. The magnetic reading head 302 is located on the bottom surface of the fixed flange 220. During the synchronous rotation of the magnetic reading head 302 driven by the rotating body 210, the magnetic reading head 302 can read the change signal of the magnetic field on the magnetic strip 301 to determine the absolute position of the magnetic reading head 302.

[0086] like Figure 3 , Figure 4 As shown, the auxiliary function component 30 includes a light-shielding sheet 303 and a photoelectric tactile sensor 304. The light-shielding sheet 303 is disposed on the bottom surface of the fixed flange 220. There are two light-shielding sheets 303 spaced apart circumferentially along the slewing bearing 120. Each light-shielding sheet 303 is an arc-shaped sheet extending circumferentially. The photoelectric tactile sensor 304 is disposed on the top surface of the base 110. There are two photoelectric tactile sensors 304 spaced apart circumferentially. An arc-shaped groove extending circumferentially is formed on the photoelectric tactile sensor 304, which is used to avoid the light-shielding sheet 303.

[0087] like Figure 2 As shown, the auxiliary function component 30 includes a pressure detection element 310. The pressure detection element 310 is a pressure sensor and is disposed on the rotating body 210.

[0088] like Figure 2As shown, the auxiliary function component 30 includes a common alarm 309. The common alarm 309 is mounted on the rotating body 210 and is electrically or communicatively connected to the pressure detection element 310 and the photoelectric sensor 304. The common alarm 309 is a photoelectric alarm, equipped with two-color alarm indicator lights and an alarm speaker. The two colors of the alarm indicator lights correspond to the alarms of the pressure detection element 310 and the photoelectric sensor 304, respectively.

[0089] like Figure 3 , Figure 4 As shown, the auxiliary function component 30 includes a first stop 305 and a second stop 306. The first stop 305 is located on the bottom surface of the fixed flange 220, and there are two first stop 305s spaced apart circumferentially along the slewing bearing 120. The second stop 306 is located on the top surface of the base 110, and there are two second stop 306s spaced apart circumferentially. When the rotating body 210 rotates to the first limit angle position, one of the second stop 306s stops and limits the first stop 305. When the rotating body 210 rotates to the second limit angle position, the other second stop 306 stops and limits the first stop 305.

[0090] like Figure 2 As shown, the rotating body 210 includes a first section 2101 and a second section 2102 arranged sequentially along its length. A fixed flange 220 is located at the bottom of the first section 2101. The auxiliary functional component 30 includes a first target detector 307 and a second target detector 308. The first target detector 307 is equipped with a microwave radar and is located on the side wall of the first section 2101 away from the second section 2102. The second target detector 308 is equipped with a laser radar and is located on the bottom surface of the second section 2102, at the middle of the rotating body 210 along its length.

[0091] like Figure 6 As shown, the rotating body 210 is an aluminum alloy casting. The rotating body 210 is formed with a structure that gradually narrows in width from both ends of its length towards the middle. The rotating body 210 includes a first section 2101 and a second section 2102 arranged sequentially along its length. A fixing flange 220 is provided at the bottom of the first section 2101, and at least a portion of the top surface of the second section 2102 is higher than the top surface of the first section 2101. The rotating body 210 has a cavity 210a inside, and three supporting ribs 211 are provided in the cavity 210a. A wiring channel is formed between at least two adjacent supporting ribs 211, and the width of the wiring channel is greater than 20 mm. The bottom of the fixing flange 220 has a wire-passing hole 220a communicating with the wiring channel. The top surface of the rotating body 210 has a removable cover plate 212, which is axially opposite to the slewing bearing 120.

[0092] like Figure 2 As shown, the drive component 240 includes a motor assembly 241, which includes a motor 2411, a coupling 2412, and a bevel gear set 2413. The output shaft of the motor 2411 is horizontally arranged, and the coupling 2412 is connected between the motor 2411 and the bevel gear set 2413. The bevel gear set 2413 converts the power of rotation around the horizontal axis into the power of rotation around the vertical axis.

[0093] The drive component 240 includes a transmission assembly 242, which includes a first reducer 2421 and a second reducer 2422. The first reducer 2421 includes a planetary reducer, a first connecting flange, and a second connecting flange. The planetary reducer passes through and connects to the first connecting flange. The first connecting flange connects to the second connecting flange and is positioned using a stepped design. The first reducer 2421 is connected between the motor assembly 241 and the second reducer 2422. The gear assembly 230 is connected to the second reducer 2422 and is also positioned using a stepped design.

[0094] Gear assembly 230 uses a backlash-free gear set, which can improve the transmission accuracy of the entire transmission chain.

[0095] like Figure 5 As shown, the fixed flange 220 is provided with a wire hole 220a and a mounting hole 220b. The mounting hole 220b is circular and is used to position the second reducer 2422. The wire hole 220a is of other shapes and is used for the motor 2411 cable and other cables to pass through.

[0096] In summary, the rotary motion mechanism 100 of the proton therapy patient positioning system according to some embodiments of the present invention achieves a compact design of the mechanism while meeting the requirements of large load, and also gives the rotary motion mechanism 100 of the proton therapy patient positioning system the advantages of high safety and high motion accuracy.

[0097] Furthermore, it should be noted that the concept, operation, and other components of the proton therapy patient positioning system, except for the rotational motion mechanism, are known to those skilled in the art and will not be described in detail here.

[0098] In the description of this specification, references to terms such as "some embodiments," "optionally," "furthermore," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0099] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A rotary motion mechanism for a proton therapy patient positioning system, characterized in that, include: A support assembly, comprising a base and a slewing bearing, wherein the inner ring of the slewing bearing is fixed to the base, the outer ring of the slewing bearing is rotatable relative to the base, and the inner ring of the slewing bearing has meshing teeth; A rotating assembly is located on top of the support assembly and includes a rotating body, a fixed flange, a gear assembly, and a drive component. The rotating body has a structure with a length greater than its width. A fixed flange is provided at the bottom of the long end of the rotating body. The fixed flange connects the rotating body to the outer ring. The gear assembly is eccentrically located in the inner ring and meshes with the meshing teeth. The drive component is installed in the rotating body and connected to the gear assembly for driving the gear assembly to rotate. An auxiliary function component is disposed between the support assembly and the rotating assembly to at least determine and / or limit the movement position of the rotating body; The auxiliary function components include: A magnetic strip, which is circular or arc-shaped and located on the top surface of the base. A magnetic reading head is located on the bottom surface of the fixed flange. During the synchronous rotation of the magnetic reading head driven by the rotating body, the magnetic reading head can read the change signal of the magnetic field on the magnetic strip to determine the absolute position of the magnetic reading head. The auxiliary function components also include: A light-shielding sheet is disposed on the bottom surface of the fixed flange. There are two light-shielding sheets that are spaced apart along the circumference of the rotary bearing. Each light-shielding sheet is an arc-shaped sheet extending along the circumference. A photoelectric tactile sensor is disposed on the top surface of the base. There are two photoelectric tactile sensors that are spaced apart along the circumference. An arc-shaped groove extending along the circumference is formed on the photoelectric tactile sensor. The arc-shaped groove is used to avoid the light-shielding sheet. The light-shielding plate is installed on the bottom surface of the fixed flange, and the light-shielding plate rotates together with the rotating body; When the rotating body rotates to a limit position, a light-shielding plate rotates into the arc-shaped groove of a photoelectric tactile sensor. When the rotating body reverses and rotates to another extreme position, another light-shielding plate rotates into the arc-shaped groove of another photoelectric tactile sensor.

2. The rotary motion mechanism of the proton therapy patient positioning system according to claim 1, characterized in that, The auxiliary function component includes: a first alarm, which is mounted on the rotating body and is electrically or communicatively connected to the photoelectric tactile sensor.

3. The rotary motion mechanism of the proton therapy patient positioning system according to claim 1, characterized in that, The auxiliary function component includes a pressure detection element, which is disposed on the rotating body.

4. The rotary motion mechanism of the proton therapy patient positioning system according to claim 3, characterized in that, The auxiliary function component includes: a second alarm, which is mounted on the rotating body and is electrically or communicatively connected to the pressure detection element.

5. The rotary motion mechanism of the proton therapy patient positioning system according to claim 1, characterized in that, The auxiliary function components include: The first stop is located on the bottom surface of the fixed flange. There are two first stops, which are spaced apart circumferentially along the slewing bearing. The second stop is located on the top surface of the base. There are two second stops that are spaced apart along the circumference. When the rotating body rotates to the first limit angle position, one of the second stops and one of the first stops stop each other. When the rotating body rotates to the second limit angle position, the other second stop and the other first stop stop each other.

6. The rotary motion mechanism of the proton therapy patient positioning system according to claim 1, characterized in that, The rotating body includes a first segment and a second segment arranged sequentially along its length. The fixed flange is located at the bottom of the first segment. The auxiliary functional components include: The first target detector is equipped with a microwave radar and is located on the side wall of the first segment away from the second segment. The second target detector is equipped with a lidar and is located on the bottom surface of the second segment, at the middle of the length direction of the rotating body.

7. The rotary motion mechanism of the proton therapy patient positioning system according to claim 1, characterized in that, The rotating body satisfies at least one of the following five conditions: Condition 1: The rotating body is an aluminum alloy casting; Condition 2: The rotating body is formed with a structure whose width gradually decreases from both ends of its length towards the middle; Condition 3: The rotating body includes a first section and a second section arranged sequentially along the length direction, the fixed flange is located at the bottom of the first section, and at least a portion of the top surface of the second section is higher than the top surface of the first section. Condition 4: The rotating body has a cavity inside, and the cavity is provided with multiple supporting ribs. At least two adjacent supporting ribs form a wiring channel, and the bottom of the fixed flange has a wire hole communicating with the wiring channel. Condition 5: The top surface of the rotating body has a removable cover plate, and the removable cover plate is arranged axially opposite to the slewing bearing.

8. The rotary motion mechanism of the proton therapy patient positioning system according to claim 1, characterized in that, The gear assembly is a backlash-free gear set.

9. The rotary motion mechanism of the proton therapy patient positioning system according to any one of claims 1-8, characterized in that, The drive component includes a motor assembly, which includes a motor, a coupling, and a bevel gear set. The output shaft of the motor is horizontally positioned, and the coupling connects the motor and the bevel gear set. The bevel gear set converts the power of rotation about the horizontal axis into the power of rotation about the vertical axis.

10. The rotary motion mechanism of the proton therapy patient positioning system according to claim 9, characterized in that, The driving component includes a transmission assembly, which includes a first reducer and a second reducer. The first reducer is connected between the motor assembly and the second reducer, and the gear assembly is connected to the second reducer.

11. The rotary motion mechanism of the proton therapy patient positioning system according to claim 10, characterized in that, The first reducer includes a planetary reducer.

Images