Transfer system

Abstract

The invention provides a transfer system which can be applied to the field of ion treatment and comprises a transfer bed used for loading a transfer object and receiving a transfer instruction sent by a control device, and the transfer object is an object needing ion treatment; the mechanical arm is arranged in the first space and the second space and used for receiving a position adjusting instruction sent by the control device, the position adjusting instruction is used for adjusting the transfer bed to the target position, and the position, relative to the first space, of the transfer object is the same as the position, relative to the second space, of the transfer object; the first space is used for positioning a transfer object, and the second space is used for performing ion treatment on the transfer object at a target position; and the control device is used for outputting a transfer instruction to the transfer bed and outputting a position adjusting instruction to the mechanical arm, and the transfer instruction is used for enabling the transfer bed loaded with the positioned transfer object to be transferred from the first space to the second space.

Description

Technical Field

[0001] The present disclosure relates to the field of ion therapy, and in particular to a transport system. Background Art

[0002] In order to achieve precise radiotherapy in proton and heavy ion plasma therapy equipment, patients need to be accurately positioned before being irradiated by the ion beam. When a physician or physicist positions the patient on the treatment bed, it is affected by many factors such as the patient's body position, lesion location, beam line irradiation angle, natural movement of human tissue, and the patient's psychological state, which usually takes a lot of time. This positioning process is carried out in the treatment room, which not only takes up precious ion therapy equipment startup time, but also makes doctors and patients bear unnecessary radiation doses, greatly affecting the treatment efficiency. In addition, due to the physical properties of ions, high-precision imaging equipment such as MRI and PET cannot be placed in the treatment room, which also limits the application of new technologies such as intraoperative radiotherapy.

[0003] The low effective use time of ion therapy equipment makes the treatment cost of patients remain high. In order to improve equipment utilization and reduce treatment costs, it is necessary to optimize the positioning process and design related equipment. Summary of the invention

[0004] In view of the above problems, the present disclosure provides a transport system.

[0005] According to a first aspect of the present disclosure, there is provided a transport system, comprising:

[0006] A transport bed, used to carry a transport object and receive a transport instruction issued by a control device, wherein the transport object is a subject requiring ion therapy;

[0007] a robotic arm, arranged in the first space and the second space, the robotic arm being used to receive a position adjustment instruction issued by the control device, the position adjustment instruction being used to adjust the transport bed to a target position, the first space being used to position the transport object, the second space being used to perform ion therapy on the transport object at the target position, the position of the transport object relative to the first space being the same as the position of the transport object relative to the second space;

[0008] The control device is used to output the transfer instruction to the transfer bed and output the position adjustment instruction to the robot arm, wherein the transfer instruction is used to transfer the transfer bed loaded with the positioned transfer object from the first space to the second space.

[0009] In some embodiments, the transfer bed comprises:

[0010] A bed board, used to support the transfer object;

[0011] The moving component is connected to the bed board and is used to receive the transfer instruction so that the bed board loaded with the positioned transfer object is transferred from the first space to the second space.

[0012] In some embodiments, the transfer bed further comprises:

[0013] The first conversion component is arranged between the bed board and the moving component, and the first conversion component is used to make the bed board and the moving component detachably connected.

[0014] In some embodiments, the transfer bed further comprises:

[0015] A shock absorbing assembly is arranged between the first conversion assembly and the moving assembly, and the shock absorbing assembly is used to reduce the vibration of the bed board.

[0016] In some embodiments, a second conversion assembly is provided at the end of the robotic arm;

[0017] The second conversion assembly is used to enable a detachable connection between the bed board and the mechanical arm.

[0018] In some embodiments, the first conversion assembly and the second conversion assembly both include a base and a chuck, the base having a slot, the chuck being disposed in the slot, the chuck being used to be fixed to the bed board when being locked, and to be disengaged from the bed board when being released.

[0019] In some embodiments, the robotic arm is fixed in the first space and / or in the second space.

[0020] In some embodiments, the robotic arm has at least six degrees of freedom.

[0021] In some embodiments, the robotic arm comprises:

[0022] A base, used to fix the position of the mechanical arm in the first space and the second space;

[0023] Joints, which enable the connected arms to move in three-dimensional space;

[0024] The connecting arm is connected to the joint and is used for moving in three-dimensional space.

[0025] In some embodiments, the position of the bed plate relative to the ion beam in the first space is the same as the position of the bed plate relative to the ion beam in the second space.

[0026] The transfer system provided by the embodiment of the present disclosure can achieve at least the following technical effects:

[0027] (1) The transfer bed used in the present invention does not require complex sensors and high-precision positioning devices, etc., thus avoiding problems caused by electrical failures and control system errors during the transfer process. It also has a simple structure and is easy to maintain.

[0028] (2) The present disclosure adopts a design of precise positioning by a robotic arm, and the number of robotic arms with the highest overall cost corresponds to the number of second spaces and first spaces. The structure of a large number of transfer beds is relatively simple, and the connection is achieved through a simple and high-precision fixing mechanism of the robotic arm on the bed board, thereby reducing the overall complexity of the system.

[0029] (3) The present disclosure solves the problem of the precious ion equipment startup time in the second space being occupied during the positioning process, greatly improves the treatment efficiency and thus reduces the per capita treatment cost, ensures the safety of doctors, physiotherapists, technicians and transferred subjects, and at the same time takes into account the integrity and aesthetics of the overall appearance.

[0030] (4) The present invention can adapt to ion therapy equipment of different sizes, and the specifications and quantity of the robotic arm system and the transfer bed can also be adjusted, which can be flexibly adjusted according to the needs of the hospital.

[0031] (5) The present disclosure also has a certain ability to adapt to the amount of treatment, and can adapt to different working conditions of the hospital by adjusting the number and route of the transfer treatment beds, modifying the matching relationship with the first and second spaces according to the treatment plan, and the actual treatment time of the transfer object.

[0032] (6) The overall independence of the equipment involved in the present disclosure is very high, and the interface with other surrounding components and equipment is relatively simple. In addition, the size of each device can be very small, and there is little interference with adjacent equipment, which greatly reduces the difficulty of upgrading the existing infrastructure at the hospital level.

[0033] (7) The application of the present disclosure allows the first space and the second space to be completely separated, which can reduce the difficulty of applying new technologies such as intraoperative radiotherapy and MRI positioning. At the same time, the transfer bed can also be used in other locations in the hospital, such as between the operating room and the ward, thereby improving the overall intelligence level of the hospital. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0035] Figure 1 The structure diagram of the transfer system according to the embodiment of the present disclosure is schematically shown;

[0036] Figure 2 The structure diagram of the transfer bed according to the embodiment of the present disclosure is schematically shown;

[0037] Figure 3The structure diagram of the mechanical arm according to the embodiment of the present disclosure is schematically shown;

[0038] Figure 4 Schematically shows a structural diagram of a conversion component according to an embodiment of the present disclosure;

[0039] Figure 5 The schematic diagram shows an architecture diagram of a control device according to an embodiment of the present disclosure;

[0040] Figure 6 Schematically shows a functional diagram of a control device according to an embodiment of the present disclosure;

[0041] Figure 7 An operation diagram of a control device according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0042] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0043] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0044] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0045] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0046] Figure 1 The structure diagram of the transfer system according to an embodiment of the present disclosure is schematically shown.

[0047] like Figure 1 As shown, the transport system of this embodiment includes a transport bed 10, a robot arm 20 and a control device 30. The transport bed 10 is used to load the transport object and receive the transport instruction issued by the control device. The transport object is an object that needs ion therapy. The robot arm 20 is arranged in the first space A and the second space B. The robot arm 20 is used to receive the position adjustment instruction issued by the control device. The position adjustment instruction is used to adjust the transport bed 10 to the target position. The first space A is used to position the transport object, and the second space B is used to perform ion therapy on the transport object at the target position. The control device 30 is used to output the transport instruction to the transport bed 10, and output the position adjustment instruction to the robot arm 20. The transport instruction is used to transfer the transport bed 10 loaded with the positioned transport object from the first space A to the second space B.

[0048] It can be understood that the target position is the position where ion therapy is performed in medicine. The position of the transport object relative to the first space is the same as the position of the transport object relative to the second space.

[0049] It can be understood that the control device 30 and the transfer bed 10 and the robot arm 20 can communicate with each other via wired or wireless means, and the present disclosure does not limit this.

[0050] In some embodiments, the number of the first space A and the number of the second space B are both at least one. The number of the first space A and the number of the second space B may be the same or different. For example, the number of the first space A is 3 and the number of the second space B is 5. For another example, the number of the first space is 3 and the number of the second space B is 6.

[0051] In some embodiments, the transport correspondence between the first space A and the second space B may be one-to-one or one-to-many.

[0052] For example, the transport correspondence between the first space A and the second space B may be that at least one first space A corresponds to one second space B. After the positioning operation is performed in at least one first space A, the transport objects in the at least one first space A can all be transported to the same corresponding second space B for ion therapy.

[0053] For another example, the transport correspondence between the first space A and the second space B may be that one first space A corresponds to at least one second space B. After the positioning operation is performed in the first space A, the transport object in the first space A may be transported to any corresponding at least one second space B for ion therapy.

[0054] For another example, the transport correspondence between the first space A and the second space B may be one first space A corresponding to one second space B. After the positioning operation is performed in a first space A, the transport object in the first space A is transported to the corresponding second space B for ion therapy.

[0055] According to the embodiment of the present disclosure, on the one hand, the present disclosure sets the first space A to reduce the occupation of the second space B by the positioning process, and transfers the positioning operation that originally needs to be performed in the second space B to the first space A, so that the transported object can be continuously transported to the second space B for treatment, thereby improving the beam utilization rate in ion radiotherapy. On the other hand, a robotic arm 20 is used in the first space A and the second space B, and a transport bed 10 is used between the first space A and the second space B. After the transport bed 10 reaches the second space B, the treatment bed is transferred and locked by the robotic arm 20, and the robotic arm 20 fixed in the second space B performs the high-precision positioning operation required for subsequent treatment. The effect of improving the accuracy of repeated positioning and the efficiency of treatment, and reducing the additional radiation dose of patients and doctors is achieved. On the other hand, since there is no need to set up an additional complex positioning system on the treatment bed, the effect of reducing system complexity and overall construction costs is achieved.

[0056] According to the embodiment of the present disclosure, since the two sets of robotic arms 20 in the first space A and the second space B share the same position parameters, the position parameters of the positioning process and the treatment process can be accurately reproduced, meeting the needs of ion therapy and completely eliminating possible errors on the route during the transportation process.

[0057] Figure 2 The structure of the transfer bed 10 according to an embodiment of the present disclosure is schematically shown.

[0058] like Figure 2 As shown, the transfer bed 10 of this embodiment includes a bed plate 11 and a moving assembly 12. The bed plate 11 is used to support the transfer object. The moving assembly 12 is connected to the bed plate 11, and the moving assembly 12 is used to receive a transfer instruction to transfer the bed plate 11 loaded with the positioned transfer object from the first space A to the second space B.

[0059] In some embodiments, the mobile component 12 may have a multi-directional travel function and / or a certain degree of autonomous obstacle crossing and collision avoidance capabilities, and is used to transport objects between the first space A and the second space B according to the instructions of the control device 30.

[0060] In some embodiments, the transfer bed 10 further includes a first conversion assembly 13. The first conversion assembly 13 is disposed between the bed board 11 and the moving assembly 12. The first conversion assembly 13 is used to make the bed board 11 and the moving assembly 12 detachably connected.

[0061] In some embodiments, the transfer bed 10 further includes: a shock absorbing assembly 14 disposed between the first conversion assembly 13 and the moving assembly 12 , and the shock absorbing assembly 14 is used to reduce the vibration of the bed board 11 .

[0062] According to the embodiment of the present disclosure, the bed board 11 is similar to a conventional treatment bed used in radiotherapy, but the bottom thereof can be arranged on a shock absorbing assembly 14 through a first conversion assembly 13. The shock absorbing assembly 14 is used to reduce the vibration of the bed board 11 during the transportation process, improve the comfort of the transported object, and also play the role of supporting the bed board 11, which is integrated on the moving assembly 12 as a whole.

[0063] Figure 3 The structural diagram of a robotic arm according to an embodiment of the present disclosure is schematically shown.

[0064] like Figure 3 As shown, the robot arm 20 of this embodiment includes: a base 21, a joint 22 and a connecting arm 23. The joint 22 is used to make the connecting arm move in three-dimensional space. The connecting arm 23 is connected to the joint 22, and the connecting arm 23 is used to move in three-dimensional space.

[0065] In some embodiments, a second conversion assembly 24 is disposed at the end of the mechanical arm 20. The second conversion assembly 24 is used to make the bed board 11 and the mechanical arm 20 detachably connected.

[0066] In some embodiments, the robotic arm 20 has at least six degrees of freedom, and can flexibly adjust its position in the first space A and the second space B to meet treatment needs. Optionally, the robotic arm 20 can also provide its own position coordinates to the control device 30 .

[0067] In some embodiments, the robotic arm 20 is fixed in the first space A and / or the second space B. The two identical robotic arms 20 fixed in the first space A and / or the second space B can be fixed on the ground or suspended in the first space A and / or the second space B according to the actual needs of the user.

[0068] In some embodiments, the position of the bed plate 11 in the first space A relative to the ion beam is the same as the position of the bed plate 11 in the second space B relative to the ion beam.

[0069] In some embodiments, the two sets of robotic arms 20 in the first space A and the second space B can share the same position parameters so that the position of the bed plate 11 relative to the ion beam in the first space A is exactly the same as the position of the bed plate 11 relative to the ion beam in the second space B.

[0070] Figure 4 The structure diagram of the conversion component according to the embodiment of the present disclosure is schematically shown.

[0071] like Figure 4As shown, the conversion assembly 40 of this embodiment can be the above-mentioned first conversion assembly 13 and the above-mentioned second conversion assembly 24. The conversion assembly 40 includes a base 41 and a chuck 42. The base 41 has a notch, and the chuck 42 is arranged in the notch. The chuck is used to be fixed to the bed board 11 when it is stuck, and to be disengaged from the bed board 11 when it is loosened.

[0072] In some embodiments, the conversion accuracy of the conversion component 40 is at least in the sub-millimeter level. Compared with other transportation methods, the possible error influence on the route during the transportation process can be eliminated to a great extent.

[0073] According to the embodiment of the present disclosure, when the transfer bed 10 needs to be transferred to the first space A, when the control device 30 recognizes that the transfer bed 10 has reached a predetermined position, the control device 30 controls the second conversion assembly 24 on the mechanical arm 20 in the first space A to move to a designated position, which is convenient for connecting the bed board 11. After the second conversion assembly 24 moves to the designated position, the first conversion assembly 13 fixed under the bed board 11 is disengaged, the bed board 11 is released, and the movable bed board 11 loaded with the transfer object is transferred to the mechanical arm 20 in the first space A.

[0074] The principle of implementing ion therapy using the transport system provided by the embodiment of the present disclosure is as follows:

[0075] In the first space A, the transport object on the bed board 11 is positioned for ion therapy. Since the bed board 11 is fixed to the robot 20 in the first space A through the first conversion assembly 13, after the positioning is completed, the control device 30 transfers the bed board 11 to the transport bed 10 by moving the robot 20. At the same time, the second conversion assembly 24 fixed on the robot 20 in the first space A is separated from the bed board 11, and the first conversion assembly 13 on the transport bed 10 is fixed to the bed board 11. When the control device 30 recognizes that the transport bed 10 has reached a predetermined position in the second space B, the control device 30 controls the second conversion assembly 24 on the robot 20 in the second space B to move to a designated position, which is convenient for connecting to the bed board 11. After the second conversion component 24 on the robotic arm 20 in the second space B moves to the specified position, the first conversion component 13 fixed under the bed board 11 of the transfer bed 10 disengages, releasing the bed board 11, and the second conversion component 24 on the robotic arm 20 in the second space B is fixed to the bed board 11, so that the bed board 11 loaded with the transfer object is transferred from the transfer bed 10 to the robotic arm 20 in the second space B.

[0076] Figure 5 The schematic diagram shows an architecture diagram of a control device according to an embodiment of the present disclosure.

[0077] The present invention is divided into two core systems: a map construction system and an image-guided control system. The main task of the map construction system is to generate a high-precision map of the hospital and provide basic support for the image-guided control system, while the image-guided control system focuses on achieving precise positioning and position optimization of the treatment vehicle.

[0078] like Figure 6 As shown, the control device 30 of this embodiment can realize the following functions:

[0079] First, the entire usage area (such as the second space B) is divided into multiple sub-areas, and a local map is constructed for each sub-area; then, the global map is spliced ​​and constructed by associating the local maps of each sub-area.

[0080] In the process of local map construction, the sensor data input module is responsible for providing data support to the semantic detection module, local SLAM module and global SLAM module. This module integrates a variety of sensor data, including laser scanning data, odometer attitude information, IMU measurement data and image frames captured by RGB-D cameras. Among them, the image frames of RGB-D cameras are used to extract semantic features and depth information.

[0081] The data processing module can use a deep learning model to extract features from the collected data, and match and splice continuous frame images based on the collected posture information and features. Construct a graph optimization problem and optimize the local map through an iterative method.

[0082] In the global map construction solution, the local map stitching module stitches multiple regional maps by matching the collected data and pose data of the intersection area. The global BA optimization module is the same as the local BA optimization module. This module selects the intersecting local module areas as key frames and observed map points, passes them into the g2o optimizer, represents the pose of the key frame as a vertex, represents the position of the map point as a vertex, and represents the reprojection error from the key frame observation to the map point as an edge.

[0083] The operation process of the global BA optimization module is as follows:

[0084] First, based on the co-viewing correlation between keyframes, the keyframes (including camera pose parameters) with cross-observation relationships and their corresponding 3D map point sets are selected. Then, the pose parameters of these keyframes are mapped to pose vertices in the graph structure, and the 3D spatial coordinates of each map point are mapped to position vertices in the graph structure, thereby constructing a multi-level parameter node network.

[0085] On this basis, for each keyframe's actual observation record of the map point, the geometric deviation between the observed pixel coordinates and the theoretical projection coordinates is used as a connection constraint to generate error edges connecting the corresponding pose vertices and position vertices. In this way, a global optimization graph containing vertices and edges is constructed. The goal of this optimization graph is to jointly optimize the parameters of the pose vertices and position vertices by minimizing the weighted sum of squares of all error edges, and finally output a highly consistent camera motion trajectory and environmental three-dimensional structure.

[0086] The function of the loop detection module is as follows:

[0087] The loop detection module analyzes the correlation between keyframes to achieve closed loop detection and optimize the camera pose, thereby effectively reducing the error accumulated by the visual odometer during the journey. Specifically, the module distributes the error to the entire pose graph and corrects the scale deviation through similarity transformation. Finally, the map is adjusted based on the optimized keyframes, significantly improving the global consistency of the map.

[0088] Limitations of the dense map building block:

[0089] At present, the three-dimensional sparse feature map generated by the dense map construction module has a low resolution, which is difficult to meet the demand for high-precision maps in actual application scenarios such as robot navigation and path planning, greatly limiting its application effect.

[0090] To make up for the above defects, a solution of building a three-dimensional dense map using a deep RGB-D camera is adopted. However, if each frame of point cloud is integrated into the map, the map capacity will be huge, affecting the real-time performance of the system. Given that the adjacent image frames of the robot are continuous when it is moving, that is, the position of the adjacent frames changes slightly in space, the embodiment of the present disclosure proposes a spatial domain key frame extraction method to screen suitable image frames, and introduces sub-map technology to further shorten the map construction time, thereby improving the efficiency of the algorithm.

[0091] like Figure 7 As shown in the figure, in order to improve the positioning accuracy of the indoor environment during the image-guided control process, the treatment vehicle needs to be repositioned and adjusted. Specifically, by combining the information collected by the treatment vehicle with the treatment area map, the positioning navigation adjustment module updates the vehicle's driving position based on the repositioning results of the posture estimation module, and synchronously adjusts the navigation trajectory data to ensure that it accurately reaches the target point in the second space B.

[0092] According to an embodiment of the present disclosure, any multiple modules in the control device 30 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, the control device 30 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in any appropriate combination of any of them. Alternatively, the control device 30 can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be executed.

[0093] Each square frame in the block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, a program segment, or a part of a code comprises one or more executable instructions for realizing the logical function of the regulation. It should also be noted that in some implementations as replacements, the functions marked in the square frame can also occur in a sequence different from that marked in the accompanying drawings. For example, two square frames represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square frame in the block diagram or the flow chart, and the combination of the square frames in the block diagram or the flow chart, can be realized by a dedicated hardware-based system that performs the function or operation of the regulation, or can be realized by a combination of dedicated hardware and computer instructions.

[0094] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0095] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A transport system, characterized in that: include: A transport bed, used to carry a transport object and receive a transport instruction issued by a control device, wherein the transport object is a subject requiring ion therapy; a robotic arm, arranged in the first space and the second space, the robotic arm being used to receive a position adjustment instruction issued by the control device, the position adjustment instruction being used to adjust the transport bed to a target position, the position of the transport object relative to the first space being the same as the position of the transport object relative to the second space, the first space being used to position the transport object, and the second space being used to perform ion therapy on the transport object at the target position; The control device is used to output the transfer instruction to the transfer bed and output the position adjustment instruction to the robot arm, wherein the transfer instruction is used to transfer the transfer bed loaded with the positioned transfer object from the first space to the second space.

2. The transport system according to claim 1, characterized in that: The transfer bed comprises: A bed board, used to support the transfer object; The moving component is connected to the bed board and is used to receive the transfer instruction so that the bed board loaded with the positioned transfer object is transferred from the first space to the second space.

3. The transport system according to claim 2, characterized in that: The transfer bed also includes: The first conversion component is arranged between the bed board and the moving component, and the first conversion component is used to make the bed board and the moving component detachably connected.

4. The transport system according to claim 2 or 3, characterized in that: The transfer bed also includes: A shock absorbing assembly is arranged between the first conversion assembly and the moving assembly, and the shock absorbing assembly is used to reduce the vibration of the bed board.

5. The transport system according to claim 3, characterized in that: A second conversion assembly is provided at the end of the mechanical arm; The second conversion assembly is used to enable a detachable connection between the bed board and the mechanical arm.

6. The transport system according to claim 5, characterized in that: The first conversion assembly and the second conversion assembly both include a base and a chuck. The base has a notch, and the chuck is arranged in the notch. The chuck is used to be fixed to the bed board when it is clamped, and to be disengaged from the bed board when it is loosened.

7. The transport system according to claim 1, characterized in that: The mechanical arm is fixed in the first space and / or in the second space.

8. The transport system according to claim 1, characterized in that: The robotic arm has at least six degrees of freedom.

9. The transport system according to claim 1, characterized in that: The robotic arm comprises: A base, used to fix the position of the mechanical arm in the first space and the second space; Joints, which enable the connected arms to move in three-dimensional space; The connecting arm is connected to the joint and is used for moving in three-dimensional space.

10. The transport system according to claim 2, characterized in that: The position of the bed plate relative to the ion beam in the first space is the same as the position of the bed plate relative to the ion beam in the second space.

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