Multi-dimensional treatment bed capable of detecting and positioning
By integrating coordinate plates, image acquisition devices, linear sliding table mechanisms and adjustment components on the multi-dimensional treatment bed, real-time detection and adjustment of the position and angle of the support plate are achieved, solving the problem of insufficient positioning accuracy of traditional multi-dimensional bed robots, and improving the precise positioning and treatment accuracy of the treatment bed.
Patent Information
- Application Number
- CN202510336861.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-21
- Publication Date
- 2025-05-13
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional multidimensional bed robots used for radiation therapy have shortcomings in positioning accuracy and movement mode, which cannot meet the precise needs of modern stereotactic radiation therapy.
A multi-dimensional treatment bed that can detect and position is designed, using coordinate plates, image acquisition devices, linear sliding table mechanisms and adjustment components. Through the cooperation of laser emitters and image acquisition devices, the position and angle of the support plate are detected and adjusted in real time to ensure the precise positioning of the treatment bed.
Through real-time detection and adjustment, the positioning accuracy of the treatment bed and the accuracy of the treatment process are significantly improved, meeting the high-precision needs of modern radiation therapy.
Smart Images
Figure CN119971344A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of medical radiation therapy, and in particular to a multi-dimensional treatment bed capable of detecting positioning. Background Art
[0002] With the rapid development of medical imaging technology and radiotherapy technology, stereotactic radiotherapy has become an important means of treating tumors and certain functional diseases. The accuracy and movement of the treatment bed are one of the main factors affecting the three-precision (precise positioning, precise planning, and precise irradiation) radiotherapy technology. With the rapid development of robot technology, the cost of robots has been greatly reduced. The traditional robot is used for multi-dimensional beds for radiotherapy, which greatly improves the precise positioning of patients.
[0003] However, traditional robots are mostly used in industry. Simply transplanting them to radiotherapy beds has many shortcomings and redundancies. For example, the working range required by the radiotherapy bed robot is small, the movements are relatively simple, and the positioning accuracy adjustment function is insufficient. The present invention aims to solve the above technical problems. Summary of the invention
[0004] The present invention aims to solve the above technical problems and provide a multi-dimensional treatment bed capable of detecting positioning.
[0005] A multi-dimensional treatment bed capable of detecting positioning, comprising a coordinate plate, a first image acquisition device, a linear slide mechanism, an adjustment component and a support plate for mounting a bed body, wherein an inclination detection device, a first laser emitter and a second laser emitter are mounted on one end of the support plate, wherein the first laser emitter and the second laser emitter are symmetrically distributed about the support plate, and the light of the first laser emitter and the second laser emitter is irradiated on the coordinate plate, the first image acquisition device is used to acquire an image of the coordinate plate, and the linear slide mechanism is connected to the support plate through the adjustment component; The linear slide mechanism includes a machine base, a slide, and a horizontal driving device. The machine base is slidably connected to the slide, and the horizontal driving device is installed on the slide. The driving device cooperates with the machine base to drive the slide to reciprocate. The adjustment component includes a first rotating shaft, a first rotating shaft driving device, a second rotating shaft, a second rotating shaft driving device, and a second connecting seat. The first rotating shaft driving device drives the first rotating shaft to rotate, the first rotating shaft is fixed with a second connecting seat, the second connecting seat is installed with a second rotating shaft driving device, and the second rotating shaft driving device drives the second rotating shaft to rotate.
[0006] It should be understood that the movement of the slide of the linear slide mechanism and the movement of the adjustment component can change the position of the support plate, and the movement of the first rotating shaft and the second rotating shaft of the adjustment component can also change the angle of the support plate. The first rotating shaft drive device is directly connected to the slide or indirectly connected through other structures.
[0007] Preferably, the multi-dimensional treatment bed further comprises a second image acquisition device and a third image acquisition device, the second image acquisition device and the third image acquisition device are symmetrically arranged about the support plate, and the relative positions of the first image acquisition device, the second image acquisition device, the third image acquisition device and the coordinate plate are fixed.
[0008] It should be understood that the second image acquisition device acquires image information of the first laser emitter and the third laser emitter, and the third image acquisition device acquires image information of the second laser emitter and the fourth laser emitter.
[0009] Preferably, the support plate is mounted with a third laser emitter and a fourth laser emitter, the third laser emitter and the fourth laser emitter are symmetrically distributed about the support plate, and the light from the third laser emitter and the fourth laser emitter is irradiated onto the coordinate plate.
[0010] Preferably, the adjustment assembly further comprises a third rotating shaft, a third rotating shaft driving device, a third connecting seat, a fourth rotating shaft, a fourth rotating shaft driving device, and a fourth connecting seat, the second rotating shaft is fixed with a third connecting seat, the third connecting seat is equipped with a third rotating shaft driving device, the third rotating shaft driving device drives the third rotating shaft to rotate, the third rotating shaft is fixed with a fourth connecting seat, the fourth connecting seat is equipped with a fourth rotating shaft driving device, the fourth rotating shaft driving device drives the fourth rotating shaft to rotate, and the fourth rotating shaft is connected to the support plate; The first connecting seat is rotatably connected to the first rotating shaft, the first connecting seat is fixedly connected to the fifth rotating shaft, the fifth rotating shaft is rotatably connected to the fifth connecting seat, the fifth connecting seat is equipped with a fifth rotating shaft driving device, the fifth rotating shaft driving device drives the fifth rotating shaft to rotate, the fifth connecting seat is fixedly connected to the sixth rotating shaft, the slide is equipped with the sixth rotating shaft driving device, and the sixth rotating shaft driving device drives the sixth rotating shaft to rotate.
[0011] Preferably, the first rotating shaft driving device is a motor reducer, and the first rotating shaft driving device has a stepped surface for limiting the second connecting seat.
[0012] It should be understood that the first rotating shaft driving device, the second rotating shaft driving device, the third rotating shaft driving device, and the fourth rotating shaft driving device adopt similar or identical models.
[0013] Preferably, the horizontal driving device is a belt driving mechanism, the machine base has a threaded rod, the slide has a rotatable threaded sleeve, the threaded sleeve cooperates with the threaded rod, and the belt of the belt driving mechanism cooperates with the threaded sleeve.
[0014] Preferably, the second rotating shaft driving device is a variable speed motor or a motor reducer, and the second connecting seat is rotatably connected to the second rotating shaft.
[0015] It should be understood that the variable speed motor or motor reducer can realize the rotation angle, time, and speed of the second rotating shaft according to the programming software logic.
[0016] Preferably, the third rotating shaft driving device is a variable speed motor, the third connecting seat is rotatably connected to the third rotating shaft, and the third rotating shaft driving device and the third rotating shaft are located on the inner side of the third connecting seat.
[0017] It should be understood that the variable speed motor can realize the rotation angle, time and speed of the third rotation axis according to the programming software logic.
[0018] Preferably, the fourth rotating shaft driving device is a motor reducer, the fourth connecting seat is rotatably connected to the fourth rotating shaft, and the fourth rotating shaft is located on the inner side of the fourth connecting seat to form an inner and outer shaft structure.
[0019] It should be understood that the inner and outer shaft structures may adopt bearings or sleeve assemblies.
[0020] Preferably, the support plate has a second identification line and a third identification line, the second identification line is located within the image acquisition range of the second image acquisition device, including the third identification line being located within the image acquisition range of the third image acquisition device.
[0021] Beneficial effects: By providing an adjustment component and a linear slide mechanism, the movement of the first rotating axis, the second rotating axis, the third rotating axis, the fourth rotating axis, the fifth rotating axis, and the sixth rotating axis can change the position of the support plate, thereby changing the treatment position of the patient; by providing a first image acquisition device, the first laser emitter, the second laser emitter, the third laser emitter, and the fourth laser emitter on the coordinate plate are acquired at the light point in an unloaded state and a loaded state, respectively, to calculate and determine the deviation value, and the adjustment component and the linear slide mechanism movement are used to compensate and reduce the deviation value; by providing a second image acquisition device and a third image acquisition device, the light picture and shape of the first laser emitter and the second laser emitter on the coordinate plate passing through the support plate are acquired in an unloaded state and a loaded state, respectively, to calculate and determine the deviation value, and the adjustment component and the linear slide mechanism movement are used to compensate and reduce the deviation value. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a schematic diagram of the first viewing angle of the present invention.
[0023] Figure 2 It is a cross-sectional view of the slide and the adjustment assembly in the present invention.
[0024] Figure 3 It is a schematic diagram of a second viewing angle of the present invention.
[0025] Figure 4 It is a three-dimensional schematic diagram of the support plate, adjustment assembly, and linear slide mechanism in the present invention.
[0026] As shown in the figure: 1. coordinate plate; 2. first image acquisition device; 3. first laser emitter; 4. second laser emitter; 5. inclination detection device; 6. adjustment component; 611. first rotating shaft; 612. first rotating shaft driving device; 613. first connecting seat; 621. second rotating shaft; 622. second rotating shaft driving device; 623. second connecting seat; 631. third rotating shaft; 632. third rotating shaft driving device; 633. third connecting seat; 641. fourth rotating shaft Rotating shaft; 642, fourth rotating shaft driving device; 643, fourth connecting seat; 651, fifth rotating shaft; 652, fifth rotating shaft driving device; 653, fifth connecting seat; 661, sixth rotating shaft; 662, sixth rotating shaft driving device; 7, linear slide mechanism; 71, machine base; 72, slide; 73, horizontal driving device; 8, third laser emitter; 9, fourth laser emitter; 10, second image acquisition device; 11, third image acquisition device; 12, support plate. DETAILED DESCRIPTION
[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. Example
[0028] refer to Figure 1 and Figure 2The present embodiment provides a multi-dimensional treatment bed capable of detecting positioning, comprising a coordinate plate 1, a first image acquisition device 2, a linear slide mechanism 7, an adjustment component 6 and a support plate 12 for mounting a bed body, wherein an inclination detection device 5, a first laser emitter 3 and a second laser emitter 4 are installed at one end of the support plate 12, the first laser emitter 3 and the second laser emitter 4 are on both sides of the support plate 12, and the light of the first laser emitter 3 and the second laser emitter 4 is irradiated on the coordinate plate 1, the support plate 12 is installed with a third laser emitter 8 and a fourth laser emitter 9, the third laser emitter 8 and the fourth laser emitter 9 are arranged on both sides of the support plate 12, and the light of the third laser emitter 8 and the fourth laser emitter 9 is irradiated on the coordinate plate 1, the first image acquisition device 2 is used to acquire an image of the coordinate plate 1, the linear slide mechanism 7 and the support plate 12 are connected to the adjustment component 6, and the adjustment component 6 is connected to the adjustment component 6. The support plate 12 is connected through the adjustment component 6. The multidimensional treatment bed also includes a second image acquisition device 10 and a third image acquisition device 11. The second image acquisition device 10 and the third image acquisition device 11 are on both sides of the support plate 12. The relative positions of the first image acquisition device 2, the second image acquisition device 10, the third image acquisition device 11 and the coordinate plate 1 are fixed. The support plate 12 has a second identification line and a third identification line. The second identification line is located within the image acquisition range of the second image acquisition device 10, including the third identification line being located within the image acquisition range of the third image acquisition device 11. The second image acquisition device 10 acquires image information of the first laser emitter 3 and the third laser emitter 8, and the third image acquisition device 11 acquires image information of the second laser emitter 4 and the fourth laser emitter 9.
[0029] refer to Figure 1 and Figure 4 The linear slide mechanism 7 includes a machine base 71, a slide 72, and a horizontal driving device 73. The machine base 71 is slidably connected to the slide 72. The horizontal driving device 73 is installed on the slide 72. The driving device cooperates with the machine base 71 to drive the slide 72 to reciprocate. The horizontal driving device 73 is a belt driving mechanism. The machine base 71 has a threaded rod, and the slide 72 has a rotatable threaded sleeve. The threaded sleeve cooperates with the threaded rod, and the belt of the belt driving mechanism cooperates with the threaded sleeve.
[0030] refer to Figure 2 and Figure 3The adjusting assembly 6 includes a first rotating shaft 611, a first rotating shaft driving device 612, a second rotating shaft 621, a second rotating shaft driving device 622, and a second connecting seat 623. The first connecting seat 613 is rotatably connected to the first rotating shaft 612. The first connecting seat 613 is fixedly connected to the fifth rotating shaft 651. The fifth rotating shaft 651 is rotatably connected to the fifth connecting seat 653. The fifth rotating shaft driving device 652 drives the fifth rotating shaft 651 to rotate. The fifth connecting seat 653 is fixedly connected to the sixth rotating shaft 661. The slide plate 72 is equipped with the sixth rotating shaft driving device 66 2. The sixth rotating shaft driving device 662 drives the sixth rotating shaft 661 to rotate. The first rotating shaft driving device 612 drives the first rotating shaft 611 to rotate. The first rotating shaft driving device 612 is a motor reducer. The first rotating shaft driving device 612 has a stepped surface for limiting the second connecting seat 623. The first rotating shaft 611 is fixed with the second connecting seat 623. The second connecting seat 623 is installed with the second rotating shaft driving device 622. The second rotating shaft driving device 622 drives the second rotating shaft 621 to rotate. The second rotating shaft driving device 622 is a variable speed motor or a motor reducer. The second connecting seat 623 is rotatably connected to the second rotating shaft 621.
[0031] refer to Figure 1 and Figure 3 The adjusting assembly 6 also includes a third rotating shaft 631, a third rotating shaft driving device 622, a third connecting seat 633, a fourth rotating shaft 641, a fourth rotating shaft driving device 642, and a fourth connecting seat 643. The second rotating shaft 621 is fixed with a third connecting seat 633, and the third connecting seat 633 is installed with a third rotating shaft driving device 622. The third rotating shaft driving device 622 drives the third rotating shaft 631 to rotate. The third rotating shaft driving device 622 is a variable speed motor. The third connecting seat 633 is rotatably connected to the third rotating shaft 631. The third rotating shaft driving device The device 622 and the third rotating shaft 631 are located on the inner side of the third connecting seat 633, the third rotating shaft 631 is fixed with the fourth connecting seat 643, the fourth connecting seat 643 is installed with the fourth rotating shaft driving device 642, the fourth rotating shaft driving device 642 drives the fourth rotating shaft 641 to rotate, the fourth rotating shaft 641 is connected to the support plate 12, the fourth rotating shaft driving device 642 is a motor reducer, the fourth connecting seat 643 is rotatably connected to the fourth rotating shaft 641, the fourth rotating shaft 641 is located on the inner side of the fourth connecting seat 643 and forms an inner and outer shaft structure.
[0032] In actual operation, the patient is not lying on the support plate 12 in the unloaded state, and the patient is lying on the support plate 12 in the loaded state. When the lesion is on the support plate 12, the adjustment component 6 and the linear slide mechanism 7, the first rotating axis 611, the second rotating axis 621, the third rotating axis 631, the fourth rotating axis 641, the fifth rotating axis 651, and the sixth rotating axis 661 move to change the position of the support plate 12, thereby changing the treatment position of the patient. The first image acquisition device 2 acquires the first laser emitter 3, the second laser emitter 4, the third laser emitter 7, and the fourth laser emitter 661 on the coordinate plate 1 in the unloaded state and the loaded state, respectively. The deviation value is calculated and judged by the position of the light point of the light emitter 8, and the first adjustment is performed by using the movement of the adjustment component 6 and the linear slide mechanism 9 to reduce the deviation value. By providing a second image acquisition device 10 and a third image acquisition device 11, the light images and shapes of the first laser emitter 3 and the second laser emitter 4 on the coordinate plate 1 passing through the support plate 12 are acquired in the unloaded state and the loaded state respectively to calculate and judge the deviation value, and the second adjustment is performed by using the movement of the adjustment component 6 and the linear slide mechanism 7 to reduce the deviation value and improve the accuracy of treatment positioning. The patient will lie on the support plate 12 serving as the terminal to receive treatment.
[0033] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A multi-dimensional treatment bed capable of detecting positioning, characterized in that: The invention comprises a coordinate plate (1), a first image acquisition device (2), a linear slide mechanism (7), an adjustment component (6) and a support plate (12) for mounting a bed, wherein an inclination detection device (5), a first laser emitter (3) and a second laser emitter (4) are mounted on one end of the support plate (12), the first laser emitter (3) and the second laser emitter (4) are located on both sides of the support plate (12), the light emitted by the first laser emitter (3) and the second laser emitter (4) is irradiated on the coordinate plate (1), the first image acquisition device (2) is used to acquire an image of the coordinate plate (1), and the linear slide mechanism (7) is connected to the support plate (12) via the adjustment component (6); The linear slide mechanism (7) comprises a machine base (71), a slide plate (72), and a horizontal driving device (73); the machine base (71) is slidably connected to the slide plate (72); the horizontal driving device (73) is mounted on the slide plate (72); the driving device cooperates with the machine base (71) to drive the slide plate (72) to reciprocate; the adjustment component (6) comprises a first rotating shaft (611), a first rotating shaft driving device (612), a second rotating shaft (621), a second rotating shaft driving device (622), and a second connecting seat (623); the first rotating shaft driving device (612) drives the first rotating shaft (611) to rotate; the first rotating shaft (611) is fixed with a second connecting seat (623); the second connecting seat (623) is mounted with a second rotating shaft driving device (622); and the second rotating shaft driving device (622) drives the second rotating shaft (621) to rotate.
2. The multi-dimensional treatment bed with detectable positioning according to claim 1, characterized in that: The multi-dimensional treatment bed further comprises a second image acquisition device (10) and a third image acquisition device (11); the second image acquisition device (10) and the third image acquisition device (11) are located on both sides of the support plate (12); and the relative positions of the first image acquisition device (2), the second image acquisition device (10), the third image acquisition device (11) and the coordinate plate (1) are fixed.
3. The multi-dimensional treatment bed with detectable positioning according to claim 1 or 2, characterized in that: The support plate (12) is mounted with a third laser emitter (8) and a fourth laser emitter (9); the third laser emitter (8) and the fourth laser emitter (9) are arranged on both sides of the support plate (12); and the light from the third laser emitter (8) and the fourth laser emitter (9) is irradiated onto the coordinate plate (1).
4. The multi-dimensional treatment bed with detectable positioning according to claim 1, characterized in that: The adjustment component (6) further comprises a first connecting seat (613), a third rotating shaft (631), a third rotating shaft driving device (622), a third connecting seat (633), a fourth rotating shaft (641), a fourth rotating shaft driving device (642), and a fourth connecting seat (643); the second rotating shaft (621) is fixed with the third connecting seat (633); the third connecting seat (633) is installed with the third rotating shaft driving device (622); the third rotating shaft driving device (622) drives the third rotating shaft (631) to rotate; the third rotating shaft (631) is fixed with the fourth connecting seat (643); the fourth connecting seat (643) is installed with the fourth rotating shaft driving device (642); the fourth rotating shaft driving device (642) drives the fourth rotating shaft (641) to rotate; and the fourth rotating shaft (641) is connected to the support plate (12); The first connecting seat (613) is rotatably connected to the first rotating shaft (612), the first connecting seat (613) is fixedly connected to the fifth rotating shaft (651), the fifth rotating shaft (651) is rotatably connected to the fifth connecting seat (653), the fifth connecting seat (653) is equipped with a fifth rotating shaft driving device (652), the fifth rotating shaft driving device (652) drives the fifth rotating shaft (651) to rotate, the fifth connecting seat (653) is fixedly connected to the sixth rotating shaft (661), the slide plate (72) is equipped with the sixth rotating shaft driving device (662), the sixth rotating shaft driving device (662) drives the sixth rotating shaft (661) to rotate.
5. The multi-dimensional treatment bed with detectable positioning according to claim 1, characterized in that: The first rotating shaft driving device (612) is a motor reducer, and the first rotating shaft driving device (612) has a stepped surface for limiting the second connecting seat (623).
6. The multi-dimensional treatment couch with detectable positioning according to claim 1, characterized in that: The horizontal driving device (73) is a belt driving mechanism, the machine base (71) has a threaded rod, the slide plate (72) has a rotatable threaded sleeve, the threaded sleeve cooperates with the threaded rod, and the belt of the belt driving mechanism cooperates with the threaded sleeve.
7. The multi-dimensional treatment couch with detectable positioning according to claim 1, characterized in that: The second rotating shaft driving device (622) is a variable speed motor or a motor reducer, and the second connecting seat (623) is rotatably connected to the second rotating shaft (621).
8. The multi-dimensional treatment couch with detectable positioning according to claim 4, characterized in that: The third rotating shaft driving device (622) is a variable speed motor, the third connecting seat (633) is rotatably connected to the third rotating shaft (631), and the third rotating shaft driving device (622) and the third rotating shaft (631) are located on the inner side of the third connecting seat (633).
9. The multi-dimensional treatment couch with detectable positioning according to claim 4, characterized in that: The fourth rotating shaft driving device (642) is a motor reducer, the fourth connecting seat (643) is rotatably connected to the fourth rotating shaft (641), and the fourth rotating shaft (641) is located on the inner side of the fourth connecting seat (643) to form an inner-outer shaft structure.
10. The multi-dimensional treatment couch with detectable positioning according to claim 2, characterized in that: The support plate (12) has a second identification line and a third identification line, the second identification line being located within the image acquisition range of the second image acquisition device (10), including the third identification line being located within the image acquisition range of the third image acquisition device (11).