Breathing movement body position compensation positioning device for radiotherapy

Abstract

The invention relates to a respiratory movement body position compensation positioning device for radiotherapy, which comprises a base, a limiting shell, a rectangular support plate arranged in the limiting shell, and a vertical guide mechanism used for limiting the limiting shell to only move up and down in the vertical direction; the lifting mechanism is used for lifting the supporting plate; the bed plate is fixedly arranged on the supporting plate; the lifting mechanism is arranged between the limiting shell and the base and used for supporting and driving the limiting shell to move in the vertical direction; the horizontal pushing mechanisms are arranged on the four side walls of the limiting shell and used for pushing the supporting plate to move horizontally, the moving speed and accuracy of the device in the three-dimensional direction can be improved, and the influence brought by tumor displacement caused by breathing movement in the radiotherapy process is made up through reverse mechanical movement.

Description

Technical Field

[0001] The present invention relates to equipment used in radiotherapy treatment, and particularly to a breathing motion body position compensation and positioning device for radiotherapy. Background Art

[0002] Tumors in the lungs and abdomen will displace with the patient's breathing during radiotherapy, forming a periodic motion. For lung tumors, the displacement caused by breathing is relatively obvious. During breathing, especially during deep breathing, the lungs will expand and contract significantly, and the lung tumors may move to a certain extent accordingly. Usually, the displacement of lung tumors during breathing may be between 1 centimeter and several centimeters (generally not exceeding 5 centimeters). Tumors in the abdomen, such as tumors on organs like the liver and kidneys, will also have a certain displacement during breathing. Generally speaking, the displacement of such tumors during breathing may be about 0.5 centimeter to 2 centimeters. During irradiation, breathing causes the position of the tumor to change, and when adjacent sub-fields are switched, the leaves in the irradiation field move continuously, and the uncertainty of the irradiation range of each sub-field increases. The interaction between the breathing motion and the changing irradiation field will cause the dose distribution to change, affecting the treatment effect of radiotherapy.

[0003] As disclosed in the invention patent with the publication number CN104689479B, a pneumatic bionic cradle bed for radiotherapy equipment is provided. One or more air bags are arranged on the bottom bed surface direction of the bed board, and a control switch and a two-way air pump corresponding to the air bags are provided. The air pump inflates or deflates the air bags according to the frequency and phase of breathing, so that the pneumatic bionic cradle bed moves up and down. Controlling the bed board to perform three-dimensional motion through air bags, because the air bags are flexible, its accuracy and corresponding speed are not ideal. If a structure such as a linear slide rail is used to control the bed board to perform three-dimensional motion, it is affected by loads such as the self-weight of the bed body and the patient's weight, and a high-power motor needs to be selected to make the bed board move quickly and accurately between 0.5 and 5 centimeters, which is difficult to achieve.

[0004] In the prior art, there is currently a lack of good equipment to follow the breathing motion and thus keep the tumor always in the irradiation field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a body position compensation and positioning device that compensates for the tumor displacement caused by breathing motion during radiotherapy through reverse mechanical motion.

[0006] To solve the above problems, the technical solution adopted by the present invention is: A breathing motion body position compensation and positioning device for radiotherapy, the key technology of which lies in that it includes: A base, which supports the entire body position compensation and positioning device; The limiting shell is in the shape of a rectangular groove, with an open top, and four sides are fixed with limiting plates extending horizontally inward, and a rectangular support plate is arranged inside the limiting shell, and the four sides of the support plate have gaps with the inner wall of the limiting shell; A vertical guide mechanism, used to limit the limit housing to move up and down only in the vertical direction; A lifting mechanism, used for lifting the support plate; A bed board, fixedly arranged on the support plate; A lifting mechanism, disposed between the limiting housing and the base, for supporting and driving the limiting housing to move in a vertical direction; The horizontal push mechanism is arranged on the four side walls of the limiting shell and is used to push the support plate to move horizontally.

[0007] As an embodiment of the present invention, the lifting mechanism includes a column, a lifting rope, a counterweight body arranged in the column and a traction machine fixedly arranged on the base, the counterweight body is arranged on the lifting rope, the upper end of the lifting rope extends vertically downward through a fixed pulley group and is fixedly connected to a support plate; the lower end of the lifting rope is connected to the traction machine through a fixed pulley group.

[0008] As an embodiment of the present invention, the traction machines are in two, respectively arranged at the front end and the rear end of the base, the gearbox of each traction machine is a double output shaft, a traction wheel is fixedly arranged on each output shaft, and the lifting rope is fixedly connected to the traction wheel on the corresponding side.

[0009] As an embodiment of the present invention, the vertical guiding mechanism includes a guide rail fixedly arranged on the side wall of the column and a guide shoe fixedly arranged on the corner of the limiting shell, and the guide shoe is adapted to the corresponding guide rail.

[0010] As an implementation manner of the present invention, a corner of the limiting shell is provided with a clearance opening, and the hanging rope is connected to the support plate through the clearance opening.

[0011] As an embodiment of the present invention, the horizontal sliding mechanism includes a servo motor fixedly arranged on the side wall of the limit shell, a screw rod fixedly connected to the output shaft of the servo motor, a nut cooperating with the screw rod, and a push plate fixedly connected to the nut, the push plate is arranged on the inner side of the limit shell, the screw rod passes through the limit shell and is threadedly connected to the nut, and a horizontal guide mechanism is arranged between the limit shell and the push plate.

[0012] As an implementation manner of the present invention, the side walls of the support plate are in contact with the push plate on the corresponding side, and the side walls of the support plate are in contact with the active surface of the push plate.

[0013] As an embodiment of the present invention, the horizontal guiding mechanism includes two guiding rods fixedly arranged on the push plate. Two guiding holes are arranged in the middle of the side wall of the limiting shell. Linear bearings are fixedly arranged outside the guiding holes. The guiding rods pass through the guiding holes and cooperate with the linear bearings.

[0014] As an embodiment of the present invention, a sliding component is arranged between the limiting plate and the supporting plate. The sliding component is used to reduce the frictional resistance between the limiting plate and the supporting plate in the horizontal direction.

[0015] As an embodiment of the present invention, a limb positioning mechanism is arranged on the bed board.

[0016] The beneficial effects produced by adopting the above technical solutions are as follows: For the radiotherapy breathing movement body position compensation and positioning device provided by the present invention, the supporting plate is arranged in the limiting shell. After the lifting mechanism lifts the supporting plate, the weight of the supporting plate, the bed board thereon, and the patient are all borne by the lifting mechanism. At the same time, since the supporting plate contacts the limiting plate of the limiting shell, part of the weight of the limiting shell is also borne by the lifting mechanism; therefore, the loads of the horizontal pushing mechanism and the lifting mechanism are reduced, so that the response speed and accuracy of the horizontal pushing mechanism and the lifting mechanism can be improved, and further the moving speed and accuracy of the body position compensation and positioning device in the three-dimensional direction are improved. Description of the Drawings

[0017] Figure 1 is the overall structural schematic diagram of the present invention.

[0018] Figure 2 is the structural schematic diagram of the lifting state of the supporting plate of the present invention.

[0019] Figure 3 is the structural schematic diagram of the limiting shell.

[0020] Figure 4 is the structural schematic diagram of the horizontal pushing mechanism.

[0021] Figure 5 is Figure 2 the partial enlarged view of part A in

[0022] Figure 6 is the sectional structural schematic diagram of the column.

[0023] Figure 7 is the structural schematic diagram of the lifting mechanism.

[0024] Figure 8 is the structural schematic diagram of the driving component of the lifting mechanism.

[0025] Figure 9 is the structural schematic diagram of the limb positioning mechanism.

[0026] Wherein: 1 base, 2 columns, 3 limit housing, 3-1 limit plate, 3-2 relief opening, 3-3 guide hole, 3-4 central hole, 4 support plates, 4-1 mounting base, 4-2 sliding member, 5 bedplate; 6 horizontal pushing mechanism, 6-1 servo motor, 6-2 motor mounting bracket, 6-3 lead screw, 6-4 nut, 6-5 push plate, 6-6 guide rod, 6-7 linear bearing; 7 limb positioning mechanism, 7-1 clamping seat, 7-2 sleeve, 7-3 U-shaped frame, 7-4 fixing groove, 7-5 lifting sleeve, 7-6 lifting screw, 7-7 chest and abdomen pressing plate, 7-8 leg pressing plate, 7-9 leg support, 7-10 foot limit groove; 8 guide rails, 9 guide shoes, 10 suspension ropes, 11 skirt plates, 11-1 upper skirt plate, 11-2 lower skirt plate, 12 top plate, 12-1 extension plate, 13-1 first fixed pulley, 13-2 second fixed pulley, 13-3 third fixed pulley, 13-4 fourth fixed pulley, 14 counterweight, 15 lifting motor, 16 traction wheel, 17 support base; 18-1 electric push rod, 18-2 scissor lift, 18-3 connecting rotating shaft, 18-4 ear plate, 18-5 chute, 18-6 bearing, 18-7 first connecting rod, 18-8 connecting ring, 18-9 second connecting rod. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be clearly and completely described below in conjunction with specific embodiments.

[0028] As Figure 1 shown, a breathing movement body position compensation and positioning device for radiotherapy includes a base 1. Four columns 2 are fixedly arranged at the four corners of the base 1. A limit housing 3 is arranged between the four columns 2. A vertical guiding mechanism is arranged between the column 2 and the limit housing 3. The vertical guiding mechanism restricts the limit housing 3 to only move up and down in the vertical direction.

[0029] A lifting mechanism is arranged between the limit housing 3 and the base 1. The lifting mechanism is used to support and drive the limit housing 3 to move in the vertical direction.

[0030] As Figure 2 and Figure 3 shown, the limit housing 3 is in a rectangular groove shape with an open top. Four limit plates 3-1 extending horizontally inward are fixedly arranged on the four sides. A rectangular support plate 4 is arranged inside the limit housing 3. There are gaps between the four side surfaces of the support plate 4 and the inner side walls of the limit housing 3. The four limit plates 3-1 around the limit housing 3 are used to limit the support plate 4.

[0031] A displacement sensor is provided on the inner sidewall of the limit housing 3 for identifying the displacement of the support plate 4 in the horizontal direction; a displacement sensor is provided at the bottom of the limit housing for identifying the displacement of the limit housing 3 in the vertical direction.

[0032] As Figure 1 shown, a bed board 5 is fixedly provided on the support plate 4, and a limb positioning mechanism 7 is provided on the bed board 5. The limb positioning mechanism 7 is used to assist and restrain the body position of the patient. As Figure 2 and Figure 7 shown, a mounting seat 4-1 is fixedly provided on the support plate 4, and the bed board 5 is fixedly connected to the mounting seat 4-1. Horizontal pushing mechanisms 6 are fixedly provided on the four sidewalls of the limit housing 3. The horizontal pushing mechanisms 6 are used to push the support plate 4 to move horizontally in the front, rear, left, and right (refer to Figure 1 ).

[0033] As Figure 2 , Figure 5 and Figure 6 shown, a relief opening 3-2 is provided at the corner of the limit housing 3. The relief opening 3-2 is formed between two adjacent limit plates 3-1. As an equivalent replacement form, the relief opening 3-2 is a hole opened on the limit plate 3-1. A sliding member 4-2 is provided between the limit plate 3-1 and the support plate 4. The sliding member 4-2 is used to reduce the frictional resistance between the limit plate 3-1 and the support plate 4 in the horizontal direction.

[0034] The sliding member 4-2 is a number of universal balls provided at the edge of the support plate 4. As an equivalent replacement form, the universal balls can also be provided at the inner top of the limit plate 3-1. As another preferred embodiment, the sliding member 4-2 is a polytetrafluoroethylene plate or a friction-reducing coating fixed on the edge of the support plate 4 and / or the inner top of the limit plate 3-1. The polytetrafluoroethylene plate or the friction-reducing coating has the advantages of small occupied space and simple structure.

[0035] As Figure 1 , Figure 2 and Figure 6 shown, the 4 columns 2 are cylindrical tubular structures. Lifting mechanisms are provided on the columns 2 and the base 1. The connecting ends of the lifting mechanisms are used to be fixedly connected to the four corners of the support plate 4 and lift the support plate 4. When the support plate 4 is lifted, the periphery of the support plate 4 contacts the corresponding limit plate 3-1 and transmits the upward lifting force to the limit housing 3. Therefore, the weight of the limit housing 3 is jointly borne by the lifting mechanism and the lifting and lowering mechanism.

[0036] The lifting mechanism includes a lifting rope 10, a counterweight 14 arranged in the column 2, and a traction machine fixedly arranged on the base 1. The counterweight 14 is arranged on the lifting rope 10. The upper end of the lifting rope 10 extends vertically downward to the support plate 4 through a fixed pulley block and is fixedly connected to the lifting point of the corner of the support plate 4. The lower end of the lifting rope 10 is connected to the traction machine through a fixed pulley block. The lifting rope 10 is connected to the support plate 4 through the yielding opening 3-2. When the support plate 4 moves horizontally, the lifting rope 10 also moves.

[0037] like Figure 6 and 7 As shown, the traction machine includes a lifting motor 15 fixed on the base 1 and a traction wheel 16 fixedly connected to the output shaft of the lifting motor 15. In this embodiment, the traction machine is arranged at two ends, respectively at the front end (the head side) and the rear end (the foot side) of the base 1, and the gearbox of each traction machine is a double output shaft, and a traction wheel 16 is fixedly arranged on each output shaft, and the hoisting rope 10 is fixedly connected to the traction wheel 16 on the corresponding side.

[0038] like Figure 1 and Figure 6 As shown, a guide rail 8 is fixedly provided on the side wall of the column 2, and a guide shoe 9 matched with the guide rail 8 is fixedly provided on the corner of the limiting housing 3, and the guide rail 8 and the guide shoe 9 constitute the vertical guiding mechanism.

[0039] like Figure 5 and Figure 6 As shown, a top plate 12 is fixedly arranged on the top of the column 2, an extension plate 12-1 extending outward is arranged on the top plate 12, a fixed pulley 13-1 is fixedly arranged on the extension plate 12-1, and a fixed pulley 13-2 is fixedly arranged in the middle of the top plate 12, the fixed pulley 13-1 is vertically corresponding to the hanging point of the corner of the support plate 4, and the fixed pulley 13-2 is vertically corresponding to the connection point on the top of the counterweight body 14. A fixed pulley 3 13-3 is fixedly arranged on the bottom of the column 2, and a fixed pulley 4 13-4 is fixedly arranged on the base 1, the fixed pulley 3 13-3 is vertically corresponding to the connection point at the bottom of the counterweight body 14, and the fixed pulley 4 13-4 is vertically corresponding to the traction wheel 16. The fixed pulley 13-1, the fixed pulley 2 13-2, the fixed pulley 3 13-3 and the fixed pulley 4 13-4 constitute a fixed pulley group.

[0040] like Figures 1 to 4As shown, two guiding holes 3-3 and a central hole 3-4 are provided in the middle of the side wall of the limiting housing 3. The two guiding holes 3-3 are symmetrically arranged on the left and right sides of the central hole 3-4. The horizontal pushing mechanism 6 includes a motor mounting bracket 6-2 fixedly arranged on the side wall of the limiting housing 3, a servo motor 6-1 fixed on the motor mounting bracket 6-2, a lead screw 6-3 fixedly connected to the output shaft of the servo motor 6-1, a nut 6-4 engaged with the lead screw 6-3, and a push plate 6-5 fixedly connected to the nut. The push plate 6-5 is arranged inside the limiting housing 3. The lead screw 6-3 passes through the central hole 3-4 and is threadedly connected to the nut 6-4. To save space, the diameter of the central hole 3-4 is larger than that of the nut 6-4, and the nut 6-4 is placed inside the central hole 3-4. A linear bearing 6-7 is fixedly arranged outside the guiding hole 3-3. Two guiding rods 6-6 are fixedly arranged on the push plate 6-5. The guiding rods 6-6 pass through the guiding holes 3-3 and are engaged with the linear bearing 6-7.

[0041] The side walls of the support plate 4 in the four directions of front, back, left, and right are all in contact with the corresponding push plates 6-5, and the side walls of the support plate 4 are attached to the acting surfaces of the push plates 6-5; see Figure 1 , the push plates 6-5 on the left and right sides limit the linear movement of the support plate 4 in the front and back directions, and the push plates on the front and back sides limit the linear movement of the support plate 4 in the left and right directions. Anti-friction coatings are provided on the side walls of the push plates 6-5 and the support plate 4 to reduce the frictional resistance when the two move relative to each other.

[0042] As Figure 7 shown and Figure 8 shown, in this embodiment, the lifting mechanism is a scissor lift, which includes a scissor lifting frame 18-2 and an electric push rod 18-1 arranged on the base 1. The electric push rod 18-1 drives the scissor lifting frame 18-2 to lift, and then drives the limiting housing 3 to lift vertically. When the limiting housing 3 lifts vertically, the lifting mechanism acts synchronously to drive the support plate 4 to lift synchronously with the limiting housing 3, thereby realizing the displacement of the bed board 5 in the vertical (up and down) direction.

[0043] The scissor lifting frame 18-2 is two X-shaped support frames. The centers of the two support frames are connected by a connecting rotating shaft 18-3. The upper and lower ends of the front side of the support frame are respectively hinged to the limiting housing 3 and the base 1 through fixedly arranged ear plates 18-4. The upper and lower ends of the rear side of the support frame are respectively slidably connected to the limiting housing 3 and the base 1 through fixedly arranged sliding grooves 18-5. Bearings 18-6 are arranged at the upper and lower ends of the rear side of the support frame. The bearings 18-6 are placed inside the sliding grooves 18-5 and roll along the sliding grooves 18-5.

[0044] A connecting rod 18-7 is fixedly arranged between the lower ends at the rear sides of the two support frames. The connecting rod 18-7 is coaxially arranged with the bearing 18-6. The end of the electric push rod 18-1 is connected to the middle of the connecting rod 18-7 through a connecting ring 18-8. The connecting ring 18-8 is sleeved on the connecting rod 18-7, and a bushing is arranged between the connecting rod 18-7 and the connecting ring 18-8.

[0045] A plurality of connecting rods 18-9 are arranged between the two support frames to enhance the structural stability of the scissor lift 18-2.

[0046] As Figure 1 and Figure 7 As shown, a skirt plate 11 is arranged between the limit housing 3 and the base 1. The skirt plate 11 includes an upper skirt plate 11-1 fixedly arranged at the bottom of the limit housing 3 and a lower skirt plate 11-2 fixedly arranged on the base 1. The lower skirt plate 11-2 is sleeved inside the upper skirt plate 11-1. When the limit housing 3 moves vertically up and down, the upper skirt plate 11-1 also moves synchronously. The skirt plate 11 encloses both the lifting mechanism and the traction machine inside.

[0047] As a further improvement, a protective cover can be arranged below the extension plate 12-1 to cover the first fixed pulley 13-1 and the exposed hanging basket 10. The protective cover can use a corrugated elastic material.

[0048] As Figure 9 As shown, in this embodiment, a set of limb positioning mechanisms 7 for fixing the patient's body position are further arranged on the bed board 5. The limb positioning mechanism 7 includes a mechanism for restricting the movement of the chest and abdomen and a mechanism for restricting the body posture.

[0049] The mechanism for restricting the movement of the chest and abdomen includes a positioning frame and a lifting and pressing mechanism. The positioning frame includes clamping seats 7-1 arranged on the left and right sides of the bed board 5. Sleeve tubes 7-2 are fixedly arranged on the clamping seats 7-1. A U-shaped frame 7-3 is installed on the two sleeve tubes 7-2. A fixing groove 7-4 is arranged on the U-shaped frame 7-3. The lifting and pressing mechanism includes a lifting sleeve 7-5 arranged on the fixing groove 7-4 through bolts. A vertically extending lifting screw 7-6 is arranged inside the lifting sleeve 7-5. The lifting screw 7-6 is in threaded cooperation with the lifting sleeve 7-5. The bottom of the lifting screw 7-6 is hingedly connected with a chest and abdomen pressing plate 7-7.

[0050] The chest and abdomen pressing plate 7-7 can fix the chest and abdomen of the patient in a relatively stable position, ensuring that during the entire radiotherapy process, the tumor and the surrounding areas to be irradiated are always within the accurate irradiation range of the rays, improving the accuracy of radiotherapy. The chest and abdomen pressing plate 7-7 can limit the amplitude of respiratory movement to a certain extent, reducing the movement range of the organs in the lungs and abdomen.

[0051] The mechanism for restricting the body posture includes a leg limiting component and a foot limiting component. The leg limiting component includes two positioning frames, front and back. There are two lifting and pressing mechanisms on the front positioning frame. At the bottom of the lifting screw 7-6 of the lifting and pressing mechanism, a household-shaped leg pressing plate 7-8 is hinged; on the rear positioning frame, there is a leg support body 7-9 with a triangular cross-section, and the leg support body 7-9 is made of an elastic material, such as polyurethane foam material. The foot limiting component is a reminder or rectangular support body, and there are two foot limiting grooves 7-10 on this support body.

[0052] The clamping seat 7-1 is fixed to the bed board 5 by bolts and can be adjusted in the front-back position. There is a locking bolt between the sleeve 7-2 and the U-shaped frame 7-3, and the height of the positioning frame can be adjusted; the lifting sleeve 7-5 can move left and right along the fixed groove 7-4 to adjust the position. When in use, first adjust the position and height of the leg support body 7-9, then the patient places both legs on the leg support body 7-9 and both feet in the foot limiting grooves 7-10. After adjusting the body position, install the front positioning frame and lower the leg pressing plate 7-8 to fix the patient's leg position; then install the frontmost positioning frame and lower the chest and abdomen pressing plate 7-7 to press on the appropriate position of the chest or abdomen. Further, a head positioning mechanism and an arm positioning mechanism can also be provided at the front end of the bed board 5 to fix the patient's head position and arm posture.

[0053] After the patient's body position is fixed, the lifting device lifts the support plate 4. The edge part of the support plate 4 abuts against the limit plate 3-1. A pressure sensor is provided between the limit plate 3-1 and the support plate 4. The lifting device controls the pressure sensor to be within a preset pressure range. At this time, the weight of the patient, the limb positioning mechanism 7, the bed board 5 and the support plate 4 are all borne by the lifting device. The resistance of the support plate 4 in the horizontal direction is the frictional force between it and the limit plate 3-1. Since a sliding component is provided between the support plate 4 and the limit plate 3-1, the frictional resistance between the two can be reduced. Therefore, the horizontal pushing mechanism 6 can easily push the support plate 4 to move horizontally forward, backward, left and right.

[0054] When moving horizontally, since the lifting rope 10 is inclined to a certain extent, and since the maximum horizontal movement amplitude does not exceed 5 cm, the inclination angle of the lifting rope 10 is very limited. In practical applications, the constraint of the lifting rope on the horizontal movement of the support plate 4 can be ignored. If the movement amplitude is large and the lifting rope 10 needs to be adjusted, the traction machine can be controlled synchronously. Or by increasing the height of the column 4 to make the length of the lifting rope 10 between the first fixed pulley 13-1 and the support plate 4 reach the ideal length, the influence of the lifting rope 10 on the horizontal movement of the support plate 4 can be reduced.

[0055] The lifting device bears part of the gravity of the limit housing 3 at the same time. However, due to the restraint of the lifting device, the lifting device cannot cause the limit housing 3 to displace in the vertical direction.

[0056] Since the support plate 4 abuts against the limit plate 3-1 and keeps a certain pressure between the two, when the lifting device controls the limit housing 3 to rise or fall vertically, the lifting mechanism acts synchronously to move the support plate 4 and the limit plate 3-1 vertically upward or downward synchronously.

[0057] Tumors in different patients and different parts are displaced by respiratory motion differently. The specific data of the displacement of the patient's tumor caused by respiratory motion can be monitored in advance, or the position of the tumor can be monitored in real time by the device during the treatment process. Through the system, the lifting device, the four horizontal pushing devices and the lifting device of the present invention are controlled to work together to realize the movement of the bed board and the patient's body in opposite directions, offset the movement of the target area, and make the target area of the patient a static target area.

[0058] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A respiratory motion body position compensation positioning device for radiotherapy, characterized in that: It includes: A base (1) supports the entire body position compensation positioning device; A limiting shell (3), the limiting shell (3) is in the shape of a rectangular groove, the top of which is open, and the four sides are fixedly provided with limiting plates (3-1) extending horizontally inward, and a rectangular support plate (4) is arranged inside the limiting shell (3), and the four side surfaces of the support plate (4) are all spaced apart from the inner wall of the limiting shell (3); A vertical guide mechanism, used to restrict the position limiting housing (3) to move up and down only in the vertical direction; A lifting mechanism, used for lifting the support plate (4); A bed board (5) fixedly arranged on the support board (4); A lifting mechanism, arranged between the limiting housing (3) and the base (1), and used for supporting and driving the limiting housing (3) to move in a vertical direction; A horizontal push mechanism (6) is arranged on four side walls of the limiting housing (3) and is used to push the support plate (4) to move horizontally.

2. A respiratory motion body position compensation positioning device for radiotherapy according to claim 1, characterized in that: The lifting mechanism comprises a column (2), a lifting rope (10), a counterweight (14) arranged in the column (2), and a traction machine fixedly arranged on the base (1); the counterweight (14) is arranged on the lifting rope (10); the upper end of the lifting rope (10) extends vertically downward through a fixed pulley block and is fixedly connected to a support plate (4); and the lower end of the lifting rope (10) is connected to the traction machine through a fixed pulley block.

3. A respiratory motion body position compensation positioning device for radiotherapy according to claim 2, characterized in that: The traction machines are arranged at two ends, respectively at the front end and the rear end of the base (1); the gearbox of each traction machine is a double output shaft, a traction wheel (16) is fixedly arranged on each output shaft, and the suspension rope (10) is fixedly connected to the traction wheel (16) on the corresponding side.

4. A respiratory motion body position compensation positioning device for radiotherapy according to claim 2, characterized in that: The vertical guide mechanism comprises a guide rail (8) fixedly arranged on the side wall of the column (2) and a guide shoe (9) fixedly arranged at the corner of the limit housing (3), wherein the guide shoe is adapted to the corresponding guide rail (8).

5. The respiratory motion body position compensation positioning device for radiotherapy according to claim 2, characterized in that: A clearance opening (3-2) is provided at a corner of the limiting shell (3), and the suspension rope (10) is connected to the support plate (4) via the clearance opening (3-2).

6. The respiratory motion body position compensation positioning device for radiotherapy according to claim 1, characterized in that: The horizontal push mechanism (6) comprises a servo motor (6-1) fixedly arranged on the side wall of the limit housing (3), a screw rod (6-3) fixedly connected to the output shaft of the servo motor (6-1), a nut (6-4) matched with the screw rod (6-3), and a push plate (6-5) fixedly connected to the nut, wherein the push plate (6-5) is arranged on the inner side of the limit housing (3), the screw rod (6-3) passes through the limit housing (3) and is threadedly connected to the nut (6-4), and a horizontal guide mechanism is arranged between the limit housing (3) and the push plate (6-5).

7. A respiratory motion body position compensation positioning device for radiotherapy according to claim 6, characterized in that: The side walls of the support plate (4) are in contact with the push plate (6-5) on the corresponding side, and the side walls of the support plate (4) are in contact with the action surfaces of the push plate (6-5).

8. The respiratory motion body position compensation positioning device for radiotherapy according to claim 6, characterized in that: The horizontal guide mechanism comprises two guide rods (6-6) fixedly arranged on the push plate (6-5); two guide holes (3-3) are arranged in the middle of the side wall of the limit housing (3); linear bearings (6-7) are fixedly arranged outside the guide holes (3-3); and the guide rods (6-6) pass through the guide holes (3-3) and cooperate with the linear bearings (6-7).

9. The respiratory motion body position compensation positioning device for radiotherapy according to claim 1, characterized in that: A sliding component (4-2) is provided between the limiting plate (3-1) and the supporting plate (4), and the sliding component (4-2) is used to reduce the friction resistance between the limiting plate (3-1) and the supporting plate (4) in the horizontal direction.

10. The respiratory motion body position compensation positioning device for radiotherapy according to claim 1, characterized in that: A limb positioning mechanism (7) is provided on the bed board (5).

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