Accurate positioning device for radiotherapy and control method thereof

Abstract

The invention discloses an accurate positioning device for radiotherapy and a control method thereof, and the device comprises a U-shaped bottom frame; the bottom of the outer surface of the supporting table is fixedly connected with the top of the outer surface of the bottom frame; the treatment gate controller is in a circular ring shape, and the treatment gate controller is fixedly installed on one side of the supporting table; the adjusting supporting structure is arranged between the interior of the bottom frame and the supporting table; according to the device, under the action of the precise positioning structure, auxiliary disassembly and assembly can be conducted on a customized mold attached to the body part, and then under the action of an internal module system and an external driving transmission structure, the positions of the customized mold and a laser camera can be adjusted; furthermore, positioning operation can be carried out on different affected parts, meanwhile, auxiliary calculation can be carried out on slight position deviation and movement, and then resetting is carried out in a micro-adjustment mode.

Description

Technical Field

[0001] The present invention relates to the technical field of precision positioning devices, and in particular to a precision positioning device for radiotherapy and a control method thereof. Background Art

[0002] During the treatment of cancer patients, it is necessary to assist in positioning the tumor site of the patient, thereby reducing the irradiation range of non-tumor sites and protecting normal body parts. During radiotherapy, it is generally necessary to cooperate with a positioning device to position the tumor site so that targeted treatment can be carried out.

[0003] In order to solve the problem, the traditional positioning and positioning technology based on the surface auxiliary line method ("cross" line) has been used for nearly a century. Although it is simple and easy to use, it obviously cannot meet the requirements of modern precision radiotherapy for position accuracy. It has many limitations, including: (1) The marking line is greatly affected by the deformation of the patient's skin, especially in elderly and obese patients; (2) There is currently no specific unified standard for the water pen used as a positioning mark. The thickness, depth, and curvature of the marking lines drawn by medical staff in various medical units or even by the same radiotherapy technician are different each time. (3) It is not conducive to discovering and correcting the rotational deviation of the patient's position, especially when the line is short and thick. (4) Due to factors such as sweating, oil, and friction from clothes on the patient's skin, the epidermal marking line is easy to fade and blur. After adding color, the marking line is deformed, thickened, and mixed to be difficult to recognize; (5) Some patients have varying degrees of allergies to the ink of the surface marking line, which increases the patient's medical costs and psychological burden, and even affects the progress of treatment. The current model does not have the function of real-time position detection during treatment, so it is impossible to make real-time judgments on the discomfort or changes in the patient's behavior during the treatment process, which constitutes one of the factors affecting the risk of radiotherapy efficacy. (7) The current treatment positioning process is mainly performed by the therapist alone, lacking an effective real-time recording supervision and positioning review tracking analysis mechanism, so there are positioning deviations caused by human factors, which is more likely to occur during the night shift treatment. Therefore, it is urgent to establish new mechanisms and processes to prevent and eliminate such human errors. The Chinese patent with patent publication number CN108619621A discloses a system for accurate positioning and positioning of tumor patients for radiotherapy, including an imaging device, a positioning bed and an image processing system. The imaging device is used to project and receive light signals to the body surface area of ​​the patient on the positioning bed or the treatment bed and convert the light signals into electrical signals. The image processing system performs image reconstruction and image matching on the received electrical signals and moves the position of the treatment bed according to the matching results. The present invention also relates to a method for using the system to accurately locate and position a tumor patient for radiotherapy, thereby avoiding the inability of existing tumor location and positioning methods to meet the requirements of precise radiotherapy for position accuracy, repeatability and retrospectiveness;

[0004] In order to solve the problem that in the patient positioning system of the existing solution, when the patient lies on the patient positioning system during treatment, the patient's weight will cause the patient positioning system to deform, and the patient will move with the positioning system, which will lead to the inability to accurately determine the patient's lesion site, thereby affecting the effect of the patient's radiotherapy. A Chinese patent with patent announcement number CN117883716A discloses a precision calibration device for a proton radiotherapy patient positioning system, including: a base plate; a measuring target ball assembly, the measuring target ball assembly is arranged on the base plate, the measuring target ball assembly includes a target ball bracket, the target ball bracket is provided with a target ball mounting portion, and the target ball mounting portion is configured to install a measuring target ball for measuring a reference point of the patient positioning system; a load application assembly, the load application assembly is arranged on the base plate, the load application assembly includes a load and a load bracket, the load is arranged on the load bracket, and the weight of the load is adjustable; a drive module, the drive module is connected to the base plate for driving the base plate to move. According to the precision calibration device of the proton radiotherapy patient positioning system of the present invention, a load application assembly and a drive module are provided, and the measured deformation displacement data are used as the measurement sample points of the precision calibration device of the proton radiotherapy patient positioning system, so that the patient's lesion site can be accurately treated, thereby improving the treatment effect.

[0005] Generally, when traditional positioning devices are used to position patients for treatment, the treatment area needs to be adjusted before treatment. Once the position is shifted during treatment or the position changes frequently due to the patient's breathing, it is impossible to perform timely position correction and processing, which makes it very easy to accidentally injure surrounding body parts during X-ray irradiation, thereby causing healthy parts to be exposed to X-rays and causing physical damage. At the same time, in the actual diagnosis and treatment process, the patient needs to support his arms and then hold the gripping rod behind the head. During the long-term diagnosis and treatment process, he is very likely to feel tired, which leads to discomfort in the hands and involuntary movements of the body, which causes the treatment area to shift, thereby affecting the actual treatment effect.

[0006] In summary, it is necessary to propose a precise positioning device for radiotherapy and a control method thereof to solve the above problems. Summary of the invention

[0007] The object of the present invention is to provide a precise positioning device for radiotherapy and a control method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A precise positioning device for radiotherapy and a control method thereof, comprising:

[0010] Bottom frame, the bottom frame is U-shaped;

[0011] A support platform, the bottom of the outer surface of the support platform is fixedly connected to the top of the outer surface of the bottom frame;

[0012] The treatment gate is in a circular shape and is fixedly mounted on one side of the support platform;

[0013] An adjustment support structure is arranged between the interior of the bottom frame and the support platform;

[0014] Precise positioning structure: the precise positioning structure is arranged on both sides and the top of the support platform;

[0015] The position limiting exercise structure is arranged on the top of the adjusting support structure.

[0016] Preferably, the adjustment support structure also includes a first motor fixedly mounted on one side of the outer surface of the bottom frame, the output end of the first motor is fixedly connected to a first screw, the end of the first screw away from the first motor is rotatably connected to an inner wall of one side of the bottom frame, the outer surface of the first screw is threadedly connected to a screw hole plate, two fixed round rods are fixedly connected between the two sides of the inner wall of the bottom frame, the two fixed round rods are symmetrically arranged on both sides of the first screw, and the outer surface of the fixed round rods is slidably connected to the inner wall of the screw hole plate.

[0017] Preferably, a sliding link is fixedly connected to the top of the outer surface of the screw hole plate, an auxiliary slide groove is opened on the top inner wall of the support platform, the sliding link is slidably arranged on the inner wall of the auxiliary slide groove, the top end of the outer surface of the sliding link is fixedly connected to a lying plate, two wheel grooves are opened on the top of the outer surface of the support platform, the two wheel grooves are symmetrically opened on both sides of the auxiliary slide groove, the bottom of the outer surface of the lying plate is symmetrically fixedly connected to a wheel frame, and a plurality of guide wheels are rotatably installed on the inner wall of the wheel frame.

[0018] Preferably, the precise positioning structure also includes two rectangular sliding frames fixedly connected on both sides of the support platform, wherein a second motor is fixedly installed on one side of the outer surface of one of the rectangular sliding frames, a second screw is fixedly connected to the output end of the second motor, and a screw hole block is threadedly connected to the outer surface of the second screw, and a fixing rod is fixedly connected to the inner walls of both sides of the other rectangular sliding frame, a rectangular slider is slidably connected to the outer surface of the fixing rod, and the rectangular slider is slidably connected to the inner wall of the rectangular sliding frame, an auxiliary connecting rod is fixedly connected to one side of the outer surfaces of the screw hole block and the rectangular slider, and an opposite end of the two auxiliary connecting rods is fixedly connected to a mounting block, and a control cabinet is fixedly installed on one side of the outer surface of the mounting block.

[0019] Preferably, the top of the outer surface of the mounting block is fixedly connected to a U-shaped frame, the top of the outer surface of the U-shaped frame is fixedly installed with a third motor, the output end of the third motor is fixedly connected to a third screw, the outer surface of the third screw is threadedly connected to a threaded barrel, the threaded barrel is inserted into the inner wall of the mounting block, the outer surface of the threaded barrel and the third screw are fixedly connected to a rectangular plate at the connection point, a limiting round rod is fixedly connected between the top of the inner wall of the U-shaped frame and the top of the mounting block, the limiting round rod is slidably arranged on the inner wall of the rectangular plate, the bottom of the outer surface of the threaded barrel is fixedly connected to a connecting plate, one side of the outer surface of the connecting plate is fixedly connected to an auxiliary plate, the inner wall of the auxiliary plate is slidably connected to a sliding rod, the top of the outer surface of the sliding rod is fixedly connected to a circular baffle, the outer surface of the sliding rod is sleeved with a buffer spring, and the two ends of the buffer spring are respectively fixedly connected to the outer surfaces of the circular baffle and the auxiliary plate.

[0020] Preferably, the bottom end of the outer surface of the sliding rod is fixedly connected to a rectangular card frame, the inner wall of the rectangular card frame is clamped with a rectangular card block, and one side of the outer surface of the rectangular card block is fixedly connected to a customized mold, the inner walls of both sides of the rectangular card frame are provided with a first plug hole, the inner wall of the rectangular card block is provided with a second plug hole, the inner walls of the first plug hole and the second plug hole are inserted with a threaded plug rod, one end of the threaded plug rod is threadedly connected with a fixing nut, one side of the outer surface of the mounting block is fixedly connected to a U-shaped frame, one side of the outer surface of the U-shaped frame is fixedly installed with a fourth motor, the output end of the fourth motor is fixedly connected with a transmission rod, one end of the transmission rod passes through the U-shaped frame and is fixedly connected with an auxiliary round block, the outer surface of the transmission rod is fixedly connected with a rotating block, the outer surface of the rotating block is fixedly connected with a laser camera, the outer surface of the auxiliary round block is fixedly installed with an electric telescopic rod, the output end of the electric telescopic rod is fixedly connected with a rubber round block, and one side of the outer surface of the U-shaped frame is fixedly connected with a rubber ring block.

[0021] Preferably, a central processing unit is installed inside the control cabinet, and the input end of the central processing unit is electrically connected to an information receiving module and an information feedback module, respectively; the input end of the information receiving module is electrically connected to a laser positioning module, and the laser positioning module is electrically connected to a laser camera; the output end of the central processing unit is electrically connected to an information processing module, and the output end of the information processing module is electrically connected to a drive control module, and the output end of the drive control module is electrically connected to the first motor, the second motor, the third motor, the fourth motor and the electric telescopic rod, respectively; and the first motor, the second motor, the third motor, the fourth motor and the electric telescopic rod are electrically connected to the input end of the information feedback module.

[0022] Preferably, the laser positioning module includes a laser emitting module, the output end of the laser emitting module is electrically connected to a laser feedback module, the output end of the laser feedback module is electrically connected to an angle offset calculation module, the output end of the angle offset calculation module is electrically connected to a correction calculation module, the information processing module includes an angle processing module, the output end of the angle processing module is electrically connected to a position processing module, and the output end of the position processing module is electrically connected to a distance processing module.

[0023] Preferably, the position limiting exercise structure also includes a headrest block fixedly connected to the top of the lying board, rectangular slide grooves are opened on both sides of the outer surface of the headrest block, auxiliary rods are fixedly connected on both sides of the inner wall of the rectangular slide groove, the outer surface of the auxiliary rod is slidably connected to the sliding block, the outer surface of the auxiliary rod is sleeved with a return spring, the two ends of the return spring are respectively fixedly connected to the outer surface of the sliding block and the inner wall of the rectangular slide groove, one side of the outer surface of the sliding block is fixedly connected to a holding rod, the outer surface of the holding rod is fixedly connected to an anti-sliding block, one side of the outer surface of the holding rod is fixedly connected to an elastic rope, one end of the outer surface of the elastic rope is fixedly connected to a strap, one end of the outer surface of the strap is fixedly connected to a rectangular ring block, one side of the strap is fixedly connected to a hook-surface Velcro, and the other side of the strap is fixedly connected to a fleece-surface Velcro.

[0024] Preferably, a control method for a precise positioning device for radiotherapy is also included, comprising the following steps:

[0025] S1. When in use, the patient lies on the reclining board with the head resting on the headrest block. At this time, an external person is required to assist in passing one end of the strap through the inside of the rectangular ring block, and then the hook-surface Velcro is fitted and fixed with the fleece-surface Velcro, and then the gripping rod is held with the hand. When the hand becomes sore after holding for a long time, the gripping rod can be pushed to make the sliding block slide on the outer surface of the auxiliary rod, and then it can be reset under the action of the reset spring;

[0026] S2. At the same time, the rectangular card block can be inserted into the inner wall of the rectangular card frame, and the threaded rod can be inserted into the first plug hole and the second plug hole, so that the fixing nut can be fixed to the threaded rod. At this time, the third motor is started, so that the third screw can drive the threaded barrel to move, and then the connecting plate can be driven to move, and then the auxiliary plate can be driven to move, so that the customized mold can be fitted with the body part. At this time, the customized mold can be limited by the action of the laser camera;

[0027] S3. At this time, under the action of the laser camera, the laser positioning module can transmit the position information to the information receiving module, and then to the central processing unit. At this time, the position information can be judged and calculated under the action of the information processing module, and the information can be transmitted to the drive control module, and then the first motor, the second motor, the third motor, the fourth motor and the electric telescopic rod can be controlled to start and stop. After the control is completed, the information is transmitted to the information feedback module. The laser positioning module controls the laser emission through the laser emission module inside, and then the information can be transmitted to the laser feedback module, and then the offset angle can be calculated by the angle offset calculation module. At the same time, the offset angle can be corrected and calculated under the action of the correction calculation module, and then the corresponding drive device can be controlled to move. Then, under the action of the angle processing module, the position information can be processed and judged under the action of the position processing module. At the same time, under the action of the distance processing module, the distance between related components can be controlled, and related processing and judgment can be performed;

[0028] S4, the first motor can drive the first screw to rotate, and then drive the screw hole plate to move, and then drive the sliding connecting rod and other components to move, and then drive the lying plate to move, and then drive the guide wheel to move, and then can cooperate with the inner wall of the wheel groove for guidance, the second motor can drive the second screw to rotate, and then drive the screw hole block to move, and then drive the auxiliary connecting rod to move, and at the same time the rectangular slider can slide on the outer surface of the fixed rod, and then drive the customized mold to move, and then the position can be changed according to the position of the customized mold;

[0029] S5. The fourth motor can drive the transmission rod to rotate, and then drive the rotating block to rotate, and then drive the laser camera to rotate. At the same time, the electric telescopic rod can be started, and then the rubber round block and the rubber ring block can be fixed, so as to perform auxiliary fixation.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention can assist in the disassembly and assembly of customized molds that fit body parts under the action of the precise positioning structure, and then the positions of the customized molds and the laser camera can be adjusted under the action of the internal module system and the external driving transmission structure, so that positioning operations can be performed on different affected parts, and at the same time, slight position offsets and movements can be assisted in calculation, and then reset by micro-adjustment, and position offsets within the allowable error range of the measurement can be calculated, and displacements beyond the range can be assisted in movement to make them fall within the error range, so that auxiliary treatment can be performed, and under the action of the limiting training structure, auxiliary exercises and hand-slip prevention can be performed when the hands are limited and fixed, so that the overall stability can be improved and hand fatigue can be avoided, and under the action of the adjusting support structure, the position of the lying board can be adjusted, and at the same time, the lying board can be assisted in support and transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram showing the overall structure of a precise positioning device for radiotherapy and a control method thereof;

[0032] Figure 2 A schematic diagram of the side view structure of a precise positioning device for radiotherapy and a control method thereof;

[0033] Figure 3 A schematic diagram of the structure of the bottom frame of a precise positioning device for radiotherapy and a control method thereof;

[0034] Figure 4 A schematic diagram of the structure of the lying board for illustrating a precise positioning device for radiotherapy and a control method thereof;

[0035] Figure 5 A schematic diagram of the structure of a support platform for illustrating a precise positioning device for radiotherapy and a control method thereof;

[0036] Figure 6 A schematic diagram of the structure of the rectangular sliding frame of the precise positioning device for radiotherapy and the control method thereof;

[0037] Figure 7 A schematic diagram of the structure of the installation block of a precise positioning device for radiotherapy and a control method thereof is shown;

[0038] Figure 8 A schematic diagram of the structure of a U-shaped frame showing a precise positioning device for radiotherapy and a control method thereof;

[0039] Fig. 9 A schematic diagram of the structure of the headrest block of a precise positioning device for radiotherapy and a control method thereof;

[0040] Fig.10 To illustrate a system flow chart of a precise positioning device for radiotherapy and a control method thereof;

[0041] Fig.11 A flow chart showing a laser positioning module of a precise positioning device and a control method thereof for radiotherapy;

[0042] Fig.12 The present invention is a flow chart showing the information processing module of the precise positioning device for radiotherapy and the control method thereof.

[0043] In the figure:

[0044] 1. Bottom frame; 2. Support table; 3. Treatment gating;

[0045] 4. Adjust the support structure; 41. First motor; 42. First screw rod; 43. Screw hole plate; 44. Fixed round rod; 45. Sliding connecting rod; 46. Auxiliary slide groove; 47. Wheel groove; 48. Lying plate; 49. Wheel frame; 410. Guide wheel;

[0046] 5. Precision positioning structure; 51. Rectangular sliding frame; 52. Second motor; 53. Second screw; 54. Fixed rod; 55. Screw hole block; 56. Rectangular slider; 57. Auxiliary connecting rod; 58. Mounting block; 59. Control cabinet; 510. U-shaped frame; 511. Third motor; 512. Third screw; 513. Threaded barrel; 514. Limiting round rod; 515. Rectangular plate; 516. Connecting plate; 517. Auxiliary plate; 518. Sliding rod; 519. Round baffle; 520. Buffer Spring; 521, rectangular card frame; 522, rectangular card block; 523, first plug hole; 524, threaded plug rod; 525, fixing nut; 526, second plug hole; 527, customized mold; 528, U-shaped frame; 529, fourth motor; 530, transmission rod; 531, rotating block; 532, laser camera; 533, auxiliary round block; 534, rubber ring block; 535, electric telescopic rod; 536, rubber round block; 537, central processing unit; 538, information receiving module;

[0047] 539, laser positioning module; 5391, laser emission module; 5392, laser feedback module; 5393, angle deviation calculation module; 5394, correction calculation module;

[0048] 540, information processing module; 5401, angle processing module; 5402, position processing module; 5403, distance processing module;

[0049] 541. drive control module; 542. information feedback module;

[0050] 6. Position-limiting exercise structure; 61. Headrest block; 62. Rectangular slide; 63. Auxiliary rod; 64. Sliding block; 65. Reset spring; 66. Holding rod; 67. Anti-sliding block; 68. Elastic rope; 69. Strap; 610. Rectangular ring block; 611. Hook-surface Velcro; 612. Velcro. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] See also Figures 1 to 12 , the present invention provides a technical solution:

[0053] A precise positioning device for radiotherapy and a control method thereof, comprising:

[0054] A bottom frame 1, the bottom frame 1 is U-shaped;

[0055] A support platform 2, wherein the bottom of the outer surface of the support platform 2 is fixedly connected to the top of the outer surface of the bottom frame 1;

[0056] The treatment gate 3 is in a circular shape and is fixedly mounted on one side of the support platform 2;

[0057] The adjusting support structure 4 is arranged between the inside of the bottom frame 1 and the support platform 2;

[0058] A precise positioning structure 5, which is arranged on both sides and the top of the support platform 2;

[0059] The position limiting exercise structure 6 is arranged on the top of the adjusting support structure 4 .

[0060] Under the action of the precise positioning structure 5, the customized mold 527 that fits the body part can be assisted in disassembly and assembly, and then the position of the customized mold 527 and the laser camera 532 can be adjusted under the action of the internal module system and the external driving transmission structure, so that different affected parts can be positioned, and at the same time, slight position offsets and movements can be assisted in calculation, and then reset by micro-adjustment, and the position offset within the allowable error range of the measurement can be calculated, and the displacement beyond the range can be assisted in movement to make it fall within the error range, so that auxiliary treatment can be performed, and under the action of the limiting training structure 6, auxiliary exercises and hand-slip prevention can be performed when the hand is limited and fixed, so as to improve the overall stability and avoid hand fatigue, and under the action of the adjusting support structure 4, the position of the lying board 48 can be adjusted, and at the same time, the lying board 48 can be assisted in support and transmission.

[0061] refer to Figure 3 The adjustment support structure 4 also includes a first motor 41 fixedly mounted on one side of the outer surface of the bottom frame 1, the output end of the first motor 41 is fixedly connected to a first screw 42, one end of the first screw 42 away from the first motor 41 is rotatably connected to an inner wall of one side of the bottom frame 1, the outer surface of the first screw 42 is threadedly connected to a screw hole plate 43, and two fixed round rods 44 are fixedly connected between the two sides of the inner wall of the bottom frame 1, the two fixed round rods 44 are symmetrically arranged on both sides of the first screw 42, and the outer surface of the fixed round rod 44 is slidably connected to the inner wall of the screw hole plate 43;

[0062] By providing the first screw rod 42 and the screw hole plate 43 , the first screw rod 42 can drive the screw hole plate 43 to move, and then can cooperate with other components to play a role.

[0063] refer to Figure 3 and Figure 4 The top of the outer surface of the screw hole plate 43 is fixedly connected with a sliding link 45, the top inner wall of the support platform 2 is provided with an auxiliary slide groove 46, the sliding link 45 is slidably arranged on the inner wall of the auxiliary slide groove 46, the top of the outer surface of the sliding link 45 is fixedly connected with a lying plate 48, the top of the outer surface of the support platform 2 is provided with two wheel grooves 47, the two wheel grooves 47 are symmetrically provided on both sides of the auxiliary slide groove 46, the bottom of the outer surface of the lying plate 48 is symmetrically fixedly connected with a wheel frame 49, and the inner wall of the wheel frame 49 is rotatably installed with a plurality of guide wheels 410;

[0064] By setting the sliding connecting rod 45 and the auxiliary sliding groove 46, the lying board 48 can be coordinated to move, and at the same time, under the action of the wheel frame 49 and the guide wheel 410, the wheel groove 47 can be coordinated to transmit the power.

[0065] refer to Figure 5-Figure 7The precise positioning structure 5 also includes two rectangular sliding frames 51 fixedly connected to both sides of the support platform 2, wherein a second motor 52 is fixedly installed on one side of the outer surface of one of the rectangular sliding frames 51, a second screw 53 is fixedly connected to the output end of the second motor 52, a screw hole block 55 is threadedly connected to the outer surface of the second screw 53, and a fixing rod 54 is fixedly connected to the inner wall of both sides of the other rectangular sliding frame 51, a rectangular slider 56 is slidably connected to the outer surface of the fixing rod 54, and the rectangular slider 56 is slidably connected to the inner wall of the rectangular sliding frame 51, and an auxiliary connecting rod 57 is fixedly connected to one side of the outer surface of the screw hole block 55 and the rectangular slider 56, and a mounting block 58 is fixedly connected to the opposite end of the two auxiliary connecting rods 57, and a control cabinet 59 is fixedly installed on one side of the outer surface of the mounting block 58;

[0066] By providing the second screw rod 53 and the screw hole block 55 , the rectangular slider 56 and the auxiliary connecting rod 57 can be coordinated to drive the installation block 58 and other components to move.

[0067] refer to Figure 7 The top of the outer surface of the mounting block 58 is fixedly connected to a U-shaped frame 510, and the top of the outer surface of the U-shaped frame 510 is fixedly installed with a third motor 511. The output end of the third motor 511 is fixedly connected to a third screw 512, and the outer surface of the third screw 512 is threadedly connected to a threaded cylinder 513, and the threaded cylinder 513 is inserted into the inner wall of the mounting block 58. The outer surface of the threaded cylinder 513 and the connection between the third screw 512 and the outer surface of the threaded cylinder 513 are fixedly connected to a rectangular plate 515. The top of the inner wall of the U-shaped frame 510 and the top of the mounting block 58 are fixedly connected to limit The round rod 514 is slidably arranged on the inner wall of the rectangular plate 515. The bottom of the outer surface of the threaded cylinder 513 is fixedly connected with a connecting plate 516. One side of the outer surface of the connecting plate 516 is fixedly connected with an auxiliary plate 517. The inner wall of the auxiliary plate 517 is slidably connected with a sliding rod 518. The top of the outer surface of the sliding rod 518 is fixedly connected with a round baffle 519. The outer surface of the sliding rod 518 is sleeved with a buffer spring 520. The two ends of the buffer spring 520 are respectively fixedly connected with the outer surfaces of the round baffle 519 and the auxiliary plate 517.

[0068] By setting the third screw 512 and the threaded barrel 513, the third screw 512 can drive the threaded barrel 513 to move, and then can cooperate with the movement of components such as the connecting plate 516, and then can cooperate with components such as the sliding rod 518 and the buffer spring 520. When the body rises and falls with breathing, the customized mold 527 can still fit the body to avoid separation, and then it is convenient to use with other components.

[0069] refer to Figure 7 and Figure 8The bottom end of the outer surface of the sliding rod 518 is fixedly connected with a rectangular card frame 521, and the inner wall of the rectangular card frame 521 is clamped with a rectangular card block 522. A customized mold 527 is fixedly connected to one side of the outer surface of the rectangular card block 522. The inner walls of both sides of the rectangular card frame 521 are provided with a first plug hole 523, and the inner wall of the rectangular card block 522 is provided with a second plug hole 526. The inner walls of the first plug hole 523 and the second plug hole 526 are inserted with a threaded rod 524, and one end of the threaded rod 524 is threadedly connected with a fixing nut 525. A U-shaped frame 528 is fixedly connected to one side of the outer surface of the mounting block 58. The U-shaped frame 52 A fourth motor 529 is fixedly mounted on one side of the outer surface of 8, a transmission rod 530 is fixedly connected to the output end of the fourth motor 529, one end of the transmission rod 530 passes through the U-shaped frame 528 and is fixedly connected to an auxiliary round block 533, a rotating block 531 is fixedly connected to the outer surface of the transmission rod 530, a laser camera 532 is fixedly connected to the outer surface of the rotating block 531, an electric telescopic rod 535 is fixedly mounted on one side of the outer surface of the auxiliary round block 533, a rubber round block 536 is fixedly connected to the output end of the electric telescopic rod 535, and a rubber ring block 534 is fixedly connected to one side of the outer surface of the U-shaped frame 528;

[0070] By setting the rectangular clamping block 522 and the rectangular clamping frame 521, the customized mold 527 can be disassembled and assembled. At the same time, the angle of the laser camera 532 can be adjusted under the action of the transmission rod 530 and other components, and then assisted in fixation under the action of the rubber round block 536 and the rubber ring block 534.

[0071] refer to Figure 7 and Fig. 9 A central processing unit 537 is installed inside the control cabinet 59, and the input end of the central processing unit 537 is electrically connected to an information receiving module 538 and an information feedback module 542 respectively, and the input end of the information receiving module 538 is electrically connected to a laser positioning module 539, and the laser positioning module 539 is electrically connected to the laser camera 532. The output end of the central processing unit 537 is electrically connected to an information processing module 540, and the output end of the information processing module 540 is electrically connected to a drive control module 541, and the output end of the drive control module 541 is electrically connected to the first motor 41, the second motor 52, the third motor 511, the fourth motor 529 and the electric telescopic rod 535 respectively, and the first motor 41, the second motor 52, the third motor 511, the fourth motor 529 and the electric telescopic rod 535 are electrically connected to the input end of the information feedback module 542;

[0072] By setting up the central processor 537, it can cooperate with other control modules to perform auxiliary functions, thereby automatically adjusting components such as the laser camera 532, and further assisting in the position analysis and resetting of the customized mold 527 after position shifting.

[0073] refer to Fig.11 and Fig.12 The laser positioning module 539 includes a laser emitting module 5391, the output end of the laser emitting module 5391 is electrically connected to a laser feedback module 5392, the output end of the laser feedback module 5392 is electrically connected to an angle offset calculation module 5393, the output end of the angle offset calculation module 5393 is electrically connected to a correction calculation module 5394, the information processing module 540 includes an angle processing module 5401, the output end of the angle processing module 5401 is electrically connected to a position processing module 5402, and the output end of the position processing module 5402 is electrically connected to a distance processing module 5403;

[0074] By setting up the laser positioning module 539, the position of the customized mold 527 can be assisted in positioning in cooperation with the laser camera 532.

[0075] refer to Fig. 9 The position-limiting exercise structure 6 also includes a headrest block 61 fixedly connected to the top of the lying board 48, and rectangular slide grooves 62 are provided on both sides of the outer surface of the headrest block 61, and auxiliary rods 63 are fixedly connected on both sides of the inner wall of the rectangular slide groove 62, and the outer surface of the auxiliary rod 63 is slidably connected to a sliding block 64, and the outer surface of the auxiliary rod 63 is sleeved with a return spring 65, and the two ends of the return spring 65 are respectively fixedly connected to the outer surface of the sliding block 64 and the inner wall of the rectangular slide groove 62, and one side of the outer surface of the sliding block 64 is fixedly connected to a holding rod 66, and the outer surface of the holding rod 66 is fixedly connected to an anti-sliding block 67, and one side of the outer surface of the holding rod 66 is fixedly connected to an elastic rope 68, and one end of the outer surface of the elastic rope 68 is fixedly connected to a strap 69, and one end of the outer surface of the strap 69 is fixedly connected to a rectangular ring block 610, one side of the strap 69 is fixedly connected to a hook-surface Velcro 611, and the other side of the strap 69 is fixedly connected to a fur-surface Velcro 612;

[0076] By setting the sliding block 64 and the return spring 65, it can be fixed in conjunction with the gripping rod 66 and other components, and can be fixed under the action of the strap 69, and can be exercised in conjunction with the sliding block 64 and other components.

[0077] The above working principle is:

[0078] When in use, the patient lies on the reclining board 48 with the head resting on the headrest block 61. At this time, an external person is required to assist in passing one end of the strap 69 through the inside of the rectangular ring block 610, and then the hook-surface Velcro 611 and the fleece-surface Velcro 612 are fitted and fixed, and then the gripping rod 66 is held by hand. When the hand becomes sore after holding for a long time, the gripping rod 66 can be pushed to make the sliding block 64 slide on the outer surface of the auxiliary rod 63, and then the sliding block 64 can be reset under the action of the reset spring 65.

[0079] At the same time, the rectangular block 522 can be inserted into the inner wall of the rectangular frame 521, and the threaded rod 524 can be inserted into the first insertion hole 523 and the second insertion hole 526, so that the fixing nut 525 can be fixed to the threaded rod 524. At this time, the third motor 511 is started, so that the third screw rod 512 can drive the threaded barrel 513 to move, and then the connecting plate 516 can be driven to move, and then the auxiliary plate 517 can be driven to move, so that the customized mold 527 can be fitted with the body part. At this time, the customized mold 527 can be limited under the action of the laser camera 532;

[0080] At this time, under the action of the laser camera 532, the laser positioning module 539 can transmit the position information to the information receiving module 538, and then to the central processing unit 537. At this time, the position information can be judged and calculated under the action of the information processing module 540, and the information can be transmitted to the drive control module 541, and then the first motor 41, the second motor 52, the third motor 511, the fourth motor 529 and the electric telescopic rod 535 can be controlled to start and stop. After the control is completed, the information is transmitted to the information feedback module 542. The laser positioning module 539 is internally transmitted through the laser emitting module 5391 Control laser emission, and then transmit information to the laser feedback module 5392, and then calculate the offset angle through the angle offset calculation module 5393, and at the same time, the offset angle can be corrected and calculated under the action of the correction calculation module 5394, and then the corresponding driving device can be controlled to move, and then the position information can be processed and judged under the action of the angle processing module 5401 and the position processing module 5402, and at the same time, the distance between related components can be controlled under the action of the distance processing module 5403, and related processing and judgment can be performed;

[0081] The first motor 41 can drive the first screw rod 42 to rotate, and then drive the screw hole plate 43 to move, and then drive the sliding connecting rod 45 and other components to move, and then drive the lying plate 48 to move, and then drive the guide wheel 410 to move, and then can cooperate with the inner wall of the wheel groove 47 for guidance, the second motor 52 can drive the second screw rod 53 to rotate, and then drive the screw hole block 55 to move, and then drive the auxiliary connecting rod 57 to move, and at the same time the rectangular slider 56 can slide on the outer surface of the fixed rod 54, and then drive the customized mold 527 to move, and then the position of the customized mold 527 can be changed according to the position of the customized mold 527;

[0082] The fourth motor 529 can drive the transmission rod 530 to rotate, and then drive the rotating block 531 to rotate, and then drive the laser camera 532 to rotate. At the same time, the electric telescopic rod 535 can be started, and then the rubber round block 536 and the rubber ring block 534 can be fixed, thereby performing auxiliary fixation.

[0083] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A precise positioning device for radiotherapy, characterized in that: include: A bottom frame (1), the bottom frame (1) is U-shaped; A support platform (2), the bottom of the outer surface of the support platform (2) being fixedly connected to the top of the outer surface of the bottom frame (1); A treatment gate (3), the treatment gate (3) is in a circular shape, and the treatment gate (3) is fixedly mounted on one side of the support platform (2); An adjusting support structure (4), wherein the adjusting support structure (4) is arranged between the interior of the bottom frame (1) and the support platform (2); A precise positioning structure (5), the precise positioning structure (5) is arranged on both sides and the top of the support platform (2); A position limiting exercise structure (6), wherein the position limiting exercise structure (6) is arranged on the top of the adjustment support structure (4).

2. The precise positioning device for radiotherapy according to claim 1, characterized in that: The adjustment support structure (4) further comprises a first motor (41) fixedly mounted on one side of the outer surface of the bottom frame (1); an output end of the first motor (41) is fixedly connected to a first screw rod (42); an end of the first screw rod (42) away from the first motor (41) is rotatably connected to an inner wall of one side of the bottom frame (1); an outer surface of the first screw rod (42) is threadedly connected to a screw hole plate (43); two fixed round rods (44) are fixedly connected between two sides of the inner wall of the bottom frame (1); the two fixed round rods (44) are symmetrically arranged on two sides of the first screw rod (42); and the outer surfaces of the fixed round rods (44) are slidably connected to the inner wall of the screw hole plate (43).

3. The precise positioning device for radiotherapy according to claim 2, characterized in that: The top of the outer surface of the screw hole plate (43) is fixedly connected with a sliding link (45), the top inner wall of the support platform (2) is provided with an auxiliary slide groove (46), the sliding link (45) is slidably arranged on the inner wall of the auxiliary slide groove (46), the top of the outer surface of the sliding link (45) is fixedly connected with a lying plate (48), the top of the outer surface of the support platform (2) is provided with two wheel grooves (47), the two wheel grooves (47) are symmetrically provided on both sides of the auxiliary slide groove (46), the bottom of the outer surface of the lying plate (48) is symmetrically fixedly connected with a wheel frame (49), and the inner wall of the wheel frame (49) is rotatably mounted with a plurality of guide wheels (410).

4. The precise positioning device for radiotherapy according to claim 2, characterized in that: The precise positioning structure (5) also includes two rectangular sliding frames (51) fixedly connected to both sides of the support platform (2), wherein a second motor (52) is fixedly installed on one side of the outer surface of one of the rectangular sliding frames (51), a second screw rod (53) is fixedly connected to the output end of the second motor (52), and a screw hole block (55) is threadedly connected to the outer surface of the second screw rod (53); fixed rods (54) are fixedly connected to the inner walls of both sides of the other rectangular sliding frame (51), and a rectangular slider (56) is slidably connected to the outer surface of the fixed rod (54), and the rectangular slider (56) is slidably connected to the inner wall of the rectangular sliding frame (51); auxiliary connecting rods (57) are fixedly connected to one side of the outer surfaces of the screw hole block (55) and the rectangular slider (56), and a mounting block (58) is fixedly connected to the opposite end of the two auxiliary connecting rods (57), and a control cabinet (59) is fixedly installed on one side of the outer surface of the mounting block (58).

5. The precise positioning device for radiotherapy according to claim 4, characterized in that: The top of the outer surface of the mounting block (58) is fixedly connected to a U-shaped frame (510), the top of the outer surface of the U-shaped frame (510) is fixedly installed with a third motor (511), the output end of the third motor (511) is fixedly connected to a third screw rod (512), the outer surface of the third screw rod (512) is threadedly connected to a threaded barrel (513), the threaded barrel (513) is inserted into the inner wall of the mounting block (58), the outer surface of the threaded barrel (513) and the connection between the third screw rod (512) and the outer surface of the threaded barrel (513) are fixedly connected to a rectangular plate (515), and a finite circle is fixedly connected between the top of the inner wall of the U-shaped frame (510) and the top of the mounting block (58). The rod (514) is slidably arranged on the inner wall of the rectangular plate (515); the bottom of the outer surface of the threaded cylinder (513) is fixedly connected with a connecting plate (516); one side of the outer surface of the connecting plate (516) is fixedly connected with an auxiliary plate (517); the inner wall of the auxiliary plate (517) is slidably connected with a sliding rod (518); the top of the outer surface of the sliding rod (518) is fixedly connected with a circular baffle (519); the outer surface of the sliding rod (518) is sleeved with a buffer spring (520); the two ends of the buffer spring (520) are respectively fixedly connected to the outer surfaces of the circular baffle (519) and the auxiliary plate (517).

6. The precise positioning device for radiotherapy according to claim 5, characterized in that: The bottom end of the outer surface of the sliding rod (518) is fixedly connected to a rectangular card frame (521), the inner wall of the rectangular card frame (521) is clamped with a rectangular card block (522), one side of the outer surface of the rectangular card block (522) is fixedly connected to a customized mold (527), the inner walls of both sides of the rectangular card frame (521) are provided with a first plug hole (523), the inner wall of the rectangular card block (522) is provided with a second plug hole (526), ​​the inner walls of the first plug hole (523) and the second plug hole (526) are inserted with a threaded rod (524), one end of the threaded rod (524) is threadedly connected to a fixing nut (525), one side of the outer surface of the mounting block (58) is fixedly connected to a U-shaped frame (528), the U-shaped frame A fourth motor (529) is fixedly mounted on one side of the outer surface of (528); the output end of the fourth motor (529) is fixedly connected to a transmission rod (530); one end of the transmission rod (530) passes through the U-shaped frame (528) and is fixedly connected to an auxiliary round block (533); the outer surface of the transmission rod (530) is fixedly connected to a rotating block (531); the outer surface of the rotating block (531) is fixedly connected to a laser camera (532); an electric telescopic rod (535) is fixedly mounted on one side of the outer surface of the auxiliary round block (533); the output end of the electric telescopic rod (535) is fixedly connected to a rubber round block (536); and a rubber ring block (534) is fixedly connected to one side of the outer surface of the U-shaped frame (528).

7. The precise positioning device for radiotherapy according to claim 6, characterized in that: A central processing unit (537) is installed inside the control cabinet (59); the input end of the central processing unit (537) is electrically connected to an information receiving module (538) and an information feedback module (542), respectively; the input end of the information receiving module (538) is electrically connected to a laser positioning module (539), and the laser positioning module (539) is electrically connected to a laser camera (532); the output end of the central processing unit (537) is electrically connected to an information processing module (540), and the information The output end of the processing module (540) is electrically connected to the driving control module (541); the output end of the driving control module (541) is electrically connected to the first motor (41), the second motor (52), the third motor (511), the fourth motor (529) and the electric telescopic rod (535), respectively; and the first motor (41), the second motor (52), the third motor (511), the fourth motor (529) and the electric telescopic rod (535) are electrically connected to the input end of the information feedback module (542).

8. The precise positioning device for radiotherapy according to claim 7, characterized in that: The laser positioning module (539) comprises a laser emitting module (5391), the output end of the laser emitting module (5391) is electrically connected to a laser feedback module (5392), the output end of the laser feedback module (5392) is electrically connected to an angle offset calculation module (5393), the output end of the angle offset calculation module (5393) is electrically connected to a correction calculation module (5394), and the information processing module (540) comprises an angle processing module (5401), the output end of the angle processing module (5401) is electrically connected to a position processing module (5402), and the output end of the position processing module (5402) is electrically connected to a distance processing module (5403).

9. The precise positioning device for radiotherapy according to claim 3, characterized in that: The position limiting exercise structure (6) also includes a headrest block (61) fixedly connected to the top of the lying board (48), and rectangular slide grooves (62) are provided on both sides of the outer surface of the headrest block (61), and auxiliary rods (63) are fixedly connected to both sides of the inner wall of the rectangular slide groove (62), and the outer surface of the auxiliary rod (63) is slidably connected to a sliding block (64), and the outer surface of the auxiliary rod (63) is sleeved with a return spring (65), and the two ends of the return spring (65) are respectively fixedly connected to the outer surface of the sliding block (64) and the inner wall of the rectangular slide groove (62), and the sliding block (64) is slidably connected to the outer surface of the auxiliary rod (63). One side of the outer surface of the moving block (64) is fixedly connected to a holding rod (66), the outer surface of the holding rod (66) is fixedly connected to an anti-sliding block (67), one side of the outer surface of the holding rod (66) is fixedly connected to an elastic rope (68), one end of the outer surface of the elastic rope (68) is fixedly connected to a binding strap (69), one end of the outer surface of the binding strap (69) is fixedly connected to a rectangular ring block (610), one side of the binding strap (69) is fixedly connected to a hook-surface Velcro (611), and the other side of the binding strap (69) is fixedly connected to a fleece-surface Velcro (612).

10. A precise positioning device for radiotherapy according to any one of claims 1 to 9, characterized in that: Also included is a control method for a precise positioning device for radiotherapy, comprising the following steps: S1. When in use, the patient lies on the reclining board (48) with the head resting on the headrest block (61). At this time, an external person is required to assist in passing one end of the strap (69) through the inside of the rectangular ring block (610), and then the hook-surface Velcro (611) and the fleece-surface Velcro (612) are fitted and fixed, and then the gripping rod (66) is held with the hand. When the hand becomes sore due to holding for a long time, the gripping rod (66) can be pushed to make the sliding block (64) slide on the outer surface of the auxiliary rod (63), and then it can be reset under the action of the reset spring (65); S2. At the same time, the rectangular clamping block (522) can be clamped into the inner wall of the rectangular clamping frame (521), and the threaded plug rod (524) can be clamped into the first plug hole (523) and the second plug hole (526), ​​so that the fixing nut (525) can be fixed to the threaded plug rod (524). At this time, the third motor (511) is started, so that the third screw rod (512) can drive the threaded barrel (513) to move, and then the connecting plate (516) can be driven to move, and then the auxiliary plate (517) can be driven to move, so that the customized mold (527) can be fitted with the body part. At this time, the customized mold (527) can be limited under the action of the laser camera (532); S3. At this time, under the action of the laser camera (532), the laser positioning module (539) can transmit the position information to the information receiving module (538), and then transmit it to the central processing unit (537). At this time, under the action of the information processing module (540), the position information can be judged and calculated, and the information can be transmitted to the drive control module (541), and then the first motor (41), the second motor (52), the third motor (511), the fourth motor (529) and the electric telescopic rod (535) can be controlled to start and stop. After the control is completed, the information is transmitted to the information feedback module (542). The laser positioning module (539) is internally controlled by laser The emission module (5391) controls the laser emission, and can transmit information to the laser feedback module (5392), and can calculate the offset angle through the angle offset calculation module (5393). At the same time, the offset angle can be corrected and calculated under the action of the correction calculation module (5394), and the corresponding driving device can be controlled to move. Under the action of the angle processing module (5401), the position processing module (5402) can process and judge the position information. At the same time, under the action of the distance processing module (5403), the distance between related components can be controlled, and related processing and judgment can be performed; S4, the first motor (41) can drive the first screw rod (42) to rotate, and then drive the screw hole plate (43) to move, and then drive the sliding connecting rod (45) and other components to move, and then drive the lying plate (48) to move, and then drive the guide wheel (410) to move, and then can cooperate with the inner wall of the wheel groove (47) for guidance, the second motor (52) can drive the second screw rod (53) to rotate, and then drive the screw hole block (55) to move, and then drive the auxiliary connecting rod (57) to move, and at the same time the rectangular slider (56) can slide on the outer surface of the fixed rod (54), and then drive the customized mold (527) to move, and then the position can be changed according to the position of the customized mold (527); S5. The fourth motor (529) can drive the transmission rod (530) to rotate, which can then drive the rotating block (531) to rotate, which can then drive the laser camera (532) to rotate, and at the same time, the electric telescopic rod (535) can be started, which can then drive the rubber round block (536) and the rubber ring block (534) to be fixed, thereby performing auxiliary fixation.

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