A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system

Abstract

The present invention belongs to the technical field of radiotherapy and nuclear magnetic imaging equipment, and specifically relates to a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system, the device comprising an X-axis drive assembly 100, a Y-axis drive assembly 200, a Z-axis drive assembly 300, an air-floating support assembly 400, a bed panel assembly 500, a treatment bed base 600, a mobile base a700, a mobile base b800, and an air-floating base 900. The X-axis drive assembly 100 is mounted on the treatment bed base 600, the Z-axis drive assembly 300 is fixed on the mobile base a700, and the Y-axis drive assembly 200 is fixed on the mobile base b800; the air-floating support assembly 400 is supported by the air-floating base 900, and one end of the bed panel assembly 500 is mounted on the mobile base b800, and the other end is mounted on the air-floating support assembly 400. The present invention realizes a large range of motion, and only uses one set of drive system and control system, has a high synchronous response speed, and can be used in a three-dimensional motion treatment bed in a high magnetic field environment.

Description

Technical Field

[0001] The invention belongs to the technical field of radiotherapy and nuclear magnetic resonance imaging equipment, and in particular relates to a three-dimensional suspended patient support device for a nuclear magnetic resonance guided accelerator system. Background Art

[0002] The nuclear magnetic guided accelerator is a large medical device that loads magnetic resonance imaging guidance into the radiotherapy system. The mainstream nuclear magnetic guided accelerator in the market is characterized by the accelerator beam axis and the magnetic resonance magnet axis being perpendicular to each other. The patient support device used in this system needs to be compatible with the traditional X-ray radiotherapy application environment and the strong magnetic field application environment. The nuclear magnetic accelerator treatment beds on the market are currently designed and manufactured based on magnetic resonance imaging equipment. They can only be raised and lowered (in the Z direction) and moved axially along the equipment hole (in the Y direction), and can only move in one dimension in the equipment treatment hole. However, when the patient has a tumor offset or the tumor is located in a side-field position, it can only be achieved by changing the treatment plan. In this way, the patient's treatment time needs to be extended by at least 20 to 30 minutes, which greatly increases the patient's pain and claustrophobia (generally the nuclear magnetic aperture is only 65mm). For target area offsets that cannot be solved by changing the treatment plan, the nuclear magnetic accelerator cannot be used and needs to be replaced with a traditional accelerator for treatment, which greatly weakens the application scenario of the nuclear magnetic accelerator.

[0003] At present, there is only one small-stroke three-dimensional treatment bed (the movement in the X direction is only ±7mm) that operates in a low magnetic field of 0.35T in the existing technology, and each motion axis (X-axis, Y-axis, Z-axis) requires two sets of drive systems and control systems to be driven synchronously to drive the patient to make position corrections. The adjustment range is small and the operation is inconvenient.

[0004] Therefore, it is necessary to provide a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system to solve the deficiencies in the prior art. Summary of the invention

[0005] The purpose of the present invention is to provide a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system, which can achieve a large range of motion and only use one set of (X-axis, Y-axis) drive system and control system, and has a high synchronous response speed. It can be used in a high magnetic field environment (not less than 1.5T) as a three-dimensional motion treatment bed.

[0006] The technical solution to achieve the purpose of the present invention is:

[0007] A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system, the device comprising an X-axis drive assembly, a Y-axis drive assembly, a Z-axis drive assembly, an air floating support assembly, a bed panel assembly, a treatment bed base, a mobile base a, a mobile base b, and an air floating base;

[0008] Among them, the treatment bed base, mobile base a, and mobile base b are connected in sequence from bottom to top; the X-axis drive assembly is installed on the treatment bed base, the Z-axis drive assembly is fixed on the mobile base a, and the Y-axis drive assembly is fixed on the mobile base b; the air floating support assembly is supported by the air floating base, one end of the bed panel assembly is installed on the mobile base b, and the other end is installed on the air floating support assembly.

[0009] The X-axis drive assembly comprises a drive assembly X, a brake X, a transmission assembly X and a guide rail a, wherein the brake X is installed at the end of the output shaft of the drive assembly X and is connected in series with the drive assembly X, the transmission shaft at the end of the drive assembly X is connected to the transmission assembly X through a synchronous belt, so that the movement axes of the drive assembly X and the transmission assembly X are parallel, the screw support seat and the guide rail seat in the transmission assembly X and the guide rail a are installed on the treatment bed base, and the transmission nut and the guide rail slider engaged with the screw in the drive assembly X and the guide rail a are installed on the mobile base a.

[0010] When the screw in the driving assembly X rotates, the moving base a is driven to move in the X-axis direction.

[0011] The transmission assembly X is composed of a screw nut or a gear rack, wherein the screw or the gear is the main moving part, and the nut or the rack is the passive moving part. The nut or the rack in the transmission assembly X is fixed on a movable base a, and the movable base a is supported by a guide rail a and restricted to move in the X-axis direction.

[0012] The Z-axis driving assembly includes a driving assembly Z, a brake Z, a transmission assembly Z and a guide rail b. The brake Z is connected to the end of the output shaft of the driving assembly Z and is connected in series with the driving assembly Z. The output shaft at the end of the driving assembly Z is vertically connected to the transmission assembly Z through a worm gear reducer to convert the output shaft direction to the Z direction. The driving assembly Z, the brake Z, the transmission assembly Z and the motor seat, the reducer seat and the screw support seat in the guide rail b are installed on the mobile base a. The driving assembly Z, the brake Z, the transmission assembly Z and the transmission nut and the guide rail slider in the guide rail b are installed on the mobile base b.

[0013] The movable base b is supported by the guide rail b. When the lead screw in the driving assembly Z rotates, the movable base b is driven to move in the Z-axis direction.

[0014] The transmission assembly Z is composed of a screw rod and a nut or a gear rack, wherein the screw rod or the gear is a main moving part, and the nut and the rack are passive moving parts.

[0015] The Y-axis driving assembly is composed of a driving assembly Y, a brake Y, a transmission assembly Z, a guide roller a and a guide roller b. The driving assembly Y and the brake Y are connected in series and fixed on a mobile base b. The driving assembly Y is connected to a driving gear in the transmission assembly Z through a synchronous belt. The driving gear in the transmission assembly Z is meshed with a rack, and the rack is fixed on a bed panel assembly. The guide roller a and the guide roller b are fixed on the mobile base b, and respectively constrain the bed panel assembly to move linearly along the Y direction from the X direction and the Z direction.

[0016] When the synchronous pulley in the Y-axis driving assembly drives the gear to rotate, the matching rack moves in a straight line, driving the bed panel assembly to move in the Y direction.

[0017] The air-floating support assembly is composed of an air-floating cushion, an air-floating column, a lifting column, a bed panel interface, a reset mechanical interface and a universal rolling bearing; the air-floating cushion and the air-floating column are connected through a universal ball joint, the air-floating column is sleeved in the lifting column, and the transmission structure built into the air-floating column drives the lifting column to perform lifting movements, the bed panel interface and the universal rolling bearing are fixedly installed on the upper part of the lifting column, the bed panel assembly is installed on the upper part of the bed panel interface and the universal rolling bearing, the reset mechanical interface is installed on the inner side of the lifting column, and the air-floating cushion is located on the air-floating base.

[0018] The bed panel assembly is constrained to move in the Y-axis direction by guide rollers a and b.

[0019] When the air-floating cushion is not filled with air, the air-floating cushion and the air-floating base remain stationary; when compressed air is introduced, an air film is formed between the air-floating cushion and the air-floating base, and the entire air-floating support assembly will be floated with extremely low friction, with a friction factor of 0.0005.

[0020] The bed panel interface is used to connect the bed panel assembly and the air-floating support assembly, and limits the bed panel assembly from falling off when moving in the X, Y, and Z axis directions.

[0021] The resetting mechanical interface is used for positioning the air-floating support component and the main device, ensuring that the air-floating support component can return to the initial position each time the device is finished running.

[0022] The universal rolling bearing is an XY plane composed of rolling bodies such as universal bearings, which reduces rolling friction when the bed panel assembly is docked and introduced; in addition, when the load is light, when the bed panel assembly moves in the X-axis direction, the air floating support assembly does not need to float, and the bed panel assembly is directly overlapped on the plane formed by the universal rolling bearing. At this time, the bed panel assembly can follow the X-axis and Y-axis directions without being connected to the bed panel interface.

[0023] The beneficial technical effects of the present invention are:

[0024] (1) The present invention supports the patient to adjust the position in three dimensions in the device hole, and can meet the target area position deviation correction by moving the treatment bed, greatly shortening the patient's stay time on the device and alleviating the patient's pain;

[0025] (2) The present invention can be applied to a nuclear magnetic guided accelerator system with a high magnetic field strength through structural design and the design of a ceramic ball bearing, thereby increasing the applicability of the product;

[0026] (3) The present invention realizes synchronous following motion through only one set of X and Y driving and control structures and air-floating support structures, thereby reducing costs and control difficulty, as well as the mutual influence on the magnetic field environment;

[0027] (4) The present invention has a simple structure, high reliability and extremely low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system provided by the present invention;

[0029] Figure 2 It is an enlarged view of the X-axis driving assembly of a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system provided by the present invention;

[0030] Figure 3 It is an enlarged view of the Y-axis driving assembly of a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system provided by the present invention;

[0031] Figure 4 It is an enlarged view of an air-floating support component of a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system provided by the present invention;

[0032] Among them: 100-X axis drive assembly; 200-Y axis drive assembly; 300-Z axis drive assembly; 400-air floating support assembly; 500-bed panel assembly; 600-treatment bed base; 700-movable base a; 800-movable base b; 900-air floating base; 101-drive assembly X; 102-brake X; 103-transmission assembly X; 104-guide rail a; 201-drive assembly Y; 202-brake Y; 203-transmission assembly Y; 204-guide roller a; 205-guide roller b; 301-drive assembly Z; 302-brake Z; 303-transmission assembly Z; 304-guide rail b; 401-air floating cushion; 402-air floating column; 403-lifting column; 404-bed panel interface; 405-reset interface; 406-universal rolling bearing. DETAILED DESCRIPTION

[0033] In order to make those skilled in the art better understand the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, not all. Based on the embodiments recorded in the present invention, all other embodiments obtained by those skilled in the art without paying creative work are within the scope of protection of the present invention.

[0034] like Figure 1 As shown, the present invention provides a three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system, which includes an X-axis drive assembly 100, a Y-axis drive assembly 200, a Z-axis drive assembly 300, an air floating support assembly 400, a bed panel assembly 500, a treatment bed base 600, a mobile base a700, a mobile base b800, and an air floating base 900.

[0035] Among them, the treatment bed base 600, the mobile base a700, and the mobile base b800 are connected in sequence from bottom to top; the X-axis drive assembly 100 is installed on the treatment bed base 600, the Z-axis drive assembly 300 is fixed on the mobile base a700, and the Y-axis drive assembly 200 is fixed on the mobile base b800; the air floating support assembly 400 is supported by the air floating base 900, and one end of the bed panel assembly 500 is installed on the mobile base b800, and the other end is installed on the air floating support assembly 400.

[0036] like Figure 2 As shown, the X-axis drive assembly 100 includes a drive assembly X101, a brake X102, a transmission assembly X103 and a guide rail a104, wherein the brake X102 is installed at the end of the output shaft of the drive assembly X101 and is connected in series with the drive assembly X101, and the transmission shaft at the end of the drive assembly X101 is connected to the transmission assembly X103 through a synchronous belt, so that the movement axes of the drive assembly X101 and the transmission assembly X103 are parallel, the screw support seat and the guide rail seat in the transmission assembly X103 and the guide rail a104 are installed on the treatment bed base 600, and the transmission screw nut and the guide rail slider engaged with the screw in the drive assembly X101 and the guide rail a104 are installed on the mobile base a700. When the screw in the drive assembly X101 rotates, the matching screw nut can move linearly, driving the mobile base a700 to move in the X-axis direction. The nut or rack in the transmission assembly X103 is fixed on the movable base a700, and the movable base a700 is supported by the guide rail a104 and limits the movement in the X-axis direction.

[0037] The transmission assembly X103 is composed of a screw nut or a gear rack, wherein the screw or the gear is the main moving part, and the nut and the rack are the stationary parts or passive moving parts.

[0038] The Z-axis driving assembly 300 includes a driving assembly Z301, a brake Z302, a transmission assembly Z303 and a guide rail b304. The brake Z302 is connected to the end of the output shaft of the driving assembly Z301 and is connected in series with the driving assembly Z301. The output shaft at the end of the driving assembly Z301 is vertically connected to the transmission assembly Z303 through a worm gear reducer to convert the direction of the output shaft into the Z direction. Among them, the driving component Z301, the brake Z302, the transmission component Z303, and the motor seat, the reducer seat and the screw support seat in the guide rail b304 are installed on the mobile base a700, the driving component Z301, the brake Z302, the transmission component Z303, and the transmission nut and the guide rail slider engaged with the screw in the guide rail b304 are installed on the treatment bed base b800, and the mobile base b800 is supported by the guide rail b304. When the screw in the driving component Z301 rotates, the matching nut can move in a straight line, driving the treatment bed base b800 to move in the Z-axis direction.

[0039] The transmission assembly Z303 is composed of a screw nut or a gear rack, wherein the screw or the gear is the main moving part, and the nut and the rack are the stationary parts or passive moving parts.

[0040] like Figure 3 As shown, the Y-axis driving assembly 200 is composed of a driving assembly Y201, a brake Y202, a transmission assembly Z203, a guide roller a204 and a guide roller b205. The driving assembly Y201 and the brake Y202 are connected in series and fixed on the mobile base b800. The driving gear in the transmission assembly Z203 is connected through a synchronous belt. The driving gear in the transmission assembly Z203 is meshed with a rack, and the rack is fixed on the bed panel assembly 500. The guide roller a204 and the guide roller b205 are fixed on the mobile base b800, and respectively constrain the bed panel assembly 500 to move linearly along the Y direction from the X direction and the Z direction. When the synchronous pulley in the Y-axis driving assembly 200 drives the gear to rotate, the matching rack can move linearly, thereby driving the bed panel assembly 500 to move in the Y direction.

[0041] like Figure 4 As shown, the air-floating support assembly 400 is composed of an air-floating cushion 401, an air-floating column 402, a lifting column 403, a bed panel interface 404, a reset mechanical interface 405 and a universal rolling bearing 406. The air-floating cushion 401 is coupled to the air-floating column 402 through a universal ball joint, the air-floating column 402 is sleeved in the lifting column 403, and the air-floating column 402 has a built-in transmission structure to push the lifting column 403 to do lifting and lowering movements, the bed panel interface 404 and the universal rolling bearing 406 are fixedly installed on the upper part of the lifting column 403, the bed panel assembly 500 is installed on the upper part of the bed panel interface 404 and the universal rolling bearing 406, the reset mechanical interface 405 is installed on the inner side of the lifting column 403, and the air-floating cushion 401 is located on the air-floating base 900.

[0042] The bed panel assembly 500 is constrained to move in the Y-axis direction by the guide rollers a204 and b205.

[0043] When the air-floating cushion 401 is not ventilated, due to the gravity factor, there is a large friction force, and the air-floating cushion 401 and the air-floating base 900 remain stationary. When compressed air is introduced, an air film is formed between the air-floating cushion 401 and the air-floating base 900, and the entire air-floating support assembly 400 will be floated with extremely low friction (friction factor is about 0.0005).

[0044] The bed panel interface 404 is used to ensure that the bed panel assembly 500 is docked with the air-floating support assembly 400 and will not fall off when moving in the X, Y, and Z axis directions.

[0045] When the bed panel assembly 500 is pulled out, the air floating support assembly 400 can be detached in time.

[0046] The reset mechanical interface 405 is used to position the air-floating support assembly 400 and the main device, ensuring that the air-floating support assembly 400 can return to the initial position after each device operation is completed.

[0047] The universal rolling bearing 406 is an XY plane formed by rolling bodies such as universal bearings, and has two uses. One is to reduce the force applied by the operator when the bed panel assembly 500 is docked and introduced because the rolling friction is small. On the other hand, in order to realize another working mode of the treatment bed, that is, when the load is light, the bed panel assembly 500 moves in the X-axis direction and will not be damaged or broken due to the rolling friction, the air-floating support assembly 400 does not need to float, and the bed panel assembly 500 is directly overlapped on the plane formed by the universal rolling bearing 406. At this time, the bed panel assembly 500 is not connected to the bed panel interface 404, and can perform follow-up movement in the X-axis direction and the Y-axis direction.

[0048] The present invention is described in detail above in conjunction with the embodiments, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the field without departing from the purpose of the present invention. The contents not described in detail in the present invention can adopt the existing technology.

Claims

1. A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system, characterized in that: The device comprises an X-axis driving assembly (100), a Y-axis driving assembly (200), a Z-axis driving assembly (300), an air-floating support assembly (400), a bed panel assembly (500), a treatment bed base (600), a moving base a (700), a moving base b (800), and an air-floating base (900); The treatment bed base (600), the mobile base a (700), and the mobile base b (800) are connected in sequence from bottom to top; the X-axis drive assembly (100) is mounted on the treatment bed base (600), the Z-axis drive assembly (300) is fixed on the mobile base a (700), and the Y-axis drive assembly (200) is fixed on the mobile base b (800); the air-floating support assembly (400) is supported by the air-floating base (900), one end of the bed panel assembly (500) is mounted on the mobile base b (800), and the other end is mounted on the air-floating support assembly (400); the air-floating support assembly (400) is composed of an air-floating cushion (401), an air-floating column (402), a lifting column (403), and a bed panel interface The invention is composed of an air-floating cushion (401) and an air-floating column (402) connected by a universal ball joint, the air-floating column (402) is sleeved in a lifting column (403), and a transmission structure built into the air-floating column (402) drives the lifting column (403) to perform lifting motion, a bed panel interface (404) and a universal rolling bearing (406) are fixedly installed on the upper part of the lifting column (403), a bed panel assembly (500) is installed on the upper part of the bed panel interface (404) and the universal rolling bearing (406), the resetting mechanical interface (405) is installed on the inner side of the lifting column (403), and the air-floating cushion (401) is located on an air-floating base (900).

2. A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 1, characterized in that: The X-axis driving assembly (100) comprises a driving assembly X (101), a brake X (102), a transmission assembly X (103) and a guide rail a (104), wherein the brake X (102) is mounted at the end of the output shaft of the driving assembly X (101) and is connected in series with the driving assembly X (101), the transmission shaft at the end of the driving assembly X (101) is connected to the transmission assembly X (103) via a synchronous belt, so that the movement axes of the driving assembly X (101) and the transmission assembly X (103) are parallel, the screw support seat and the guide rail seat in the transmission assembly X (103) and the guide rail a (104) are mounted on the treatment bed base (600), and the transmission nut and the guide rail slider in the driving assembly X (101) and the guide rail a (104) that are engaged with the screw are mounted on the movable base a (700).

3. A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 2, characterized in that: When the screw in the driving assembly X (101) rotates, it drives the movable base a (700) to move in the X-axis direction.

4. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 3, characterized in that: The transmission assembly X (103) is composed of a screw rod and a nut or a gear rack, wherein the screw rod or the gear is a main moving part, and the nut or the rack is a passive moving part. The nut or the rack in the transmission assembly X (103) is fixed on a movable base a (700), and the movable base a (700) is supported by a guide rail a (104) and restricted to move in the X-axis direction.

5. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 4, characterized in that: The Z-axis driving assembly (300) comprises a driving assembly Z (301), a brake Z (302), a transmission assembly Z (303) and a guide rail b (304); the brake Z (302) is connected to the end of the output shaft of the driving assembly Z (301) and is connected in series with the driving assembly Z (301); the output shaft at the end of the driving assembly Z (301) is vertically connected to the transmission assembly Z (303) through a worm gear reducer to convert the output shaft direction into a Z direction; the motor seat, reducer seat and screw support seat in the driving assembly Z (301), the brake Z (302), the transmission assembly Z (303) and the guide rail b (304) are installed on a movable base a (700); the driving assembly Z (301), the brake Z (302), the transmission assembly Z (303) and the transmission nut and guide rail slider in the guide rail b (304) are installed on a movable base b (800).

6. A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 5, characterized in that: The movable base b (800) is supported by the guide rail b (304). When the screw in the driving assembly Z (301) rotates, the movable base b (800) is driven to move in the Z-axis direction.

7. A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 6, characterized in that: The transmission assembly Z (303) is composed of a screw rod and a nut or a gear rack, wherein the screw rod or the gear is a main moving part, and the nut and the rack are passive moving parts.

8. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 7, characterized in that: The Y-axis driving assembly (200) is composed of a driving assembly Y (201), a brake Y (202), a transmission assembly Z (203), a guide roller a (204) and a guide roller b (205); the driving assembly Y (201) and the brake Y (202) are connected in series and fixed on a movable base b (800); the driving assembly Y (201) is connected to a driving gear in the transmission assembly Z (203) via a synchronous belt; the driving gear in the transmission assembly Z (203) is meshed with a rack, and the rack is fixed on a bed panel assembly (500); the guide roller a (204) and the guide roller b (205) are fixed on the movable base b (800) to constrain the bed panel assembly (500) to move linearly along the Y direction from the X direction and the Z direction respectively.

9. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 8, characterized in that: When the synchronous pulley in the Y-axis driving assembly (200) drives the gear to rotate, the matching rack moves linearly, driving the bed panel assembly (500) to move in the Y direction.

10. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 9, characterized in that: The bed panel assembly (500) is constrained to move in the Y-axis direction by guide roller a (204) and guide roller b (205).

11. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 10, characterized in that: When the air-floating cushion (401) is not filled with air, the air-floating cushion (401) and the air-floating base (900) remain stationary; when compressed air is introduced, an air film is formed between the air-floating cushion (401) and the air-floating base (900), and the entire air-floating support assembly (400) is floated with extremely low friction, with a friction factor of 0.0005.

12. A three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 11, characterized in that: The bed panel interface (404) is used to connect the bed panel assembly (500) and the air-floating support assembly (400), and limits the bed panel assembly (500) from falling off when moving in the X, Y, and Z axis directions.

13. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 12, characterized in that: The resetting mechanical interface (405) is used for positioning the air-floating support assembly (400) and the main device, ensuring that the air-floating support assembly (400) can return to the initial position each time the device is finished running.

14. The three-dimensional suspended patient support device for a nuclear magnetic guided accelerator system according to claim 13, characterized in that: The universal rolling bearing (406) is an XY plane formed by the universal bearing, which reduces rolling friction when the bed panel assembly (500) is docked and introduced; In addition, when the load is relatively light, when the bed panel assembly (500) moves in the X-axis direction, the air-floating support assembly (400) does not need to float, and the bed panel assembly (500) is directly overlapped on the plane formed by the universal rolling bearing (406). At this time, the bed panel assembly (500) is not connected to the bed panel interface (404) and can perform follow-up movements in the X-axis direction and the Y-axis direction.

Images