Multi-degree-of-freedom adjustable patient positioning mechanism, using method and CT scanning system

Abstract

The invention belongs to the technical field of medical equipment, and discloses a multi-degree-of-freedom adjustable patient positioning mechanism, a use method and a CT scanning system. The mechanism comprises a supporting body, a rotating body and a multi-stage driving mechanism, the supporting body comprises an upper bearing assembly and a lower bearing assembly, and the upper bearing assembly is of a multi-stage telescopic structure so as to adapt to dynamic switching of lying, standing and inclined positions. A lifting assembly and a sliding driving assembly are arranged between the supporting body and the rotating body, and height adjustment is achieved through a lifting rod and a sliding block connecting rod mechanism. Meanwhile, a transverse sliding mechanism and a longitudinal sliding mechanism are integrated for fine adjustment. The rotating body is provided with a rotating disc lifting mechanism and a centering adjusting mechanism, concentric calibration is achieved through meshing of an arc-shaped centering assembly and a gear rack, and it is ensured that a target spot of a patient and a radiotherapy isocenter point dynamically coincide. Through multi-dimensional cooperative adjustment, the problems that traditional equipment is single in body position adaptation and low in positioning precision are solved, scanning and radiotherapy scenes are adapted, and the diagnosis and treatment efficiency and the comfort level of a patient are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and specifically to a patient positioning mechanism with multiple degrees of freedom adjustment and a method of using the mechanism, as well as a CT scanning system including the mechanism, which is particularly suitable for multi-posture precise adjustment of patient positions in vertical CT scanning. Background Art

[0002] In the field of medical imaging diagnosis and radiotherapy, accurate positioning of patients is the core link to ensure the quality of CT scan images and the coincidence of treatment isocenters. Traditional CT scanning systems mostly rely on fixed scanning beds, and achieve body position adjustment through simple translation or rotation, but there are significant limitations: on the one hand, patients need to passively adapt to the posture of the equipment, especially in complex scenarios such as sitting and tilted positions, it is difficult to achieve multi-dimensional free adjustment, resulting in low positioning efficiency and poor comfort; on the other hand, the existing positioning mechanism has limited freedom and lacks the ability to dynamically decouple the target. When switching between the scanning position and the treatment position, it is easy to cause isocenter misalignment due to body position deviation, affecting the treatment accuracy.

[0003] In recent years, with the increasing demand for precision medicine, multimodal image-guided treatment technology has put forward higher requirements on the flexibility of positioning mechanisms. Some improvement schemes have tried to introduce adjustable seats or auxiliary support structures, but there are still problems with single adjustment dimensions and insufficient coordination. For example, the tilt angle adjustment range is limited, and the coupling between the lifting and rotating mechanisms is poor, making it difficult to simultaneously achieve lateral / longitudinal fine-tuning and centering compensation, which complicates the alignment process between the patient's target and the center of the equipment. In addition, the existing centering mechanisms mostly use rigid connections and lack dynamic concentric adjustment capabilities. Mechanical errors are easily introduced when the body position changes, affecting the coordination of multi-angle scanning and treatment.

[0004] In response to this problem, the prior art has proposed some improvement schemes. For example, CN114191730B discloses a patient positioning method and device, which realizes the positioning of seated patients by driving a treatment chair through a rotation mechanism and a linear movement mechanism. The device converts the position in the treatment room into a cylindrical coordinate system with the rotation axis as the center, and realizes positioning by driving the patient to rotate and move linearly. Although this method is easy to adjust and has high precision, its cantilever is long and occupies a large space, and the positioning accuracy may be limited. In addition, CN118662795A proposes a multi-degree-of-freedom patient posture adjustment device, which adopts an arc-shaped sliding base with a translation unit to realize non-coplanar irradiation in a large angle range. The device has a compact structure, but is mainly suitable for fixed beam treatment rooms, and its scope of application and flexibility still have room for improvement.

[0005] In response to the above problems, there is an urgent need to develop a medical support mechanism with multi-degree-of-freedom adjustment, which can achieve full-dimensional precise control of the patient's position through structural optimization and meet the needs of dynamic decoupling of targets in vertical CT scanning and radiotherapy. Summary of the Invention

[0006] On the one hand, the present invention provides a medical support mechanism with multi-degree-of-freedom adjustment. By integrating a rotating body, a multi-stage lifting component, a transverse / longitudinal sliding mechanism, and a centering adjustment module, it realizes the full-dimensional precise control of the patient's body position, meets the requirements of dynamic decoupling of the target point in vertical CT scanning and radiotherapy, and improves the diagnosis and treatment efficiency and patient comfort.

[0007] To solve the above technical problems, the present invention provides a patient positioning mechanism with multi-degree-of-freedom adjustment, including a support body, a rotating body for driving the circumferential rotation of the support body, and a multi-stage driving mechanism for driving the support body; under the drive of the multi-stage driving mechanism, through the cooperation of the support body and the rotating body with the CT, it matches the scanning examinations and / or centering treatments of different body positions in multiple dimensions in sitting, lying, and inclined states.

[0008] By adopting the above technical solutions: This application adopts the coordinated control of a multi-stage driving mechanism and a rotating body. The support body can be precisely adjusted within a six-degree-of-freedom range, realizing the rapid switching of various body positions such as sitting, lying, and inclined, meeting the scanning requirements of complex body positions for vertical CT, especially suitable for precise imaging of special patients with spinal curvature, limited joint movement, etc., achieving full-posture adaptability and improving the scanning coverage.

[0009] This application adopts a modular flexible hinge design for multiple sets of support plate components, which can adaptively fit according to the patient's body shape, maintain uniform distribution of local pressure during body position adjustment, and reduce the micro-movement of the patient caused by discomfort. Combined with the high-precision servo drive of the rotating body, it ensures stable body position during scanning, reduces the risk of image blurring, improves the diagnostic accuracy, and thus realizes dynamic stable support and reduces motion artifacts.

[0010] Different from the traditional CT that requires the patient to actively cooperate to adjust the body position, this mechanism automatically synchronizes with the vertical CT scanning trajectory through a preset programmed path, reduces the equipment idling waiting time, improves the overall detection efficiency, realizes the coordinated optimization operation of vertical CT, and shortens the detection cycle.

[0011] In addition to the above technical features, this application has also made improvements in the following aspects: As a preferred technical solution of this application, the support body includes an upper support component and a lower support component. The lower support component is connected to the upper support component. The upper support component can rotate circumferentially relative to the connection point, and the rotation angle of the upper support component relative to the lower support component is 90° - 180°.

[0012] As a preferred technical solution of the present application, the upper supporting component is a multi-level telescopic structure, which can be freely extended or contracted to provide support for the lying position, standing position or inclined position, and at the same time perform back positioning.

[0013] As a preferred technical solution of the present application, the lower supporting component is connected to the upper supporting component through an angle adjusting component, and the angle adjusting component is used to adjust the rotation angle between the upper supporting component and the lower supporting component; thereby adapting to scanning or centering treatment in different body position states.

[0014] As a preferred technical solution of the present application, the upper supporting component further includes positioning handles; the positioning handles are distributed on both sides of the upper supporting component and can be adjusted in the same or opposite directions along the upper supporting component to adapt to the position positioning of different body positions; when the patient is in the lying position, standing position or inclined position, it is used for the positioning of the left and right body positions to cooperate with positioning scanning or centering treatment.

[0015] As a preferred technical solution of the present application, a lifting component and a sliding driving component for driving the lifting component are provided between the support body and the rotating body.

[0016] As a preferred technical solution of the present application, the lifting component includes a first lifting mechanism and a second lifting mechanism; the first lifting mechanism is hinged to the second lifting mechanism, and the upper end of the second lifting mechanism is connected to the support body. By adjusting the lifting and lowering of the first lifting mechanism and the second lifting mechanism, the height of the support body is further adjusted.

[0017] As a preferred technical solution of the present application, an angle adjusting link is provided between the lifting component and the support body; the angle adjusting link is connected to the second lifting mechanism and is used to adjust the angular position of the lower supporting component; the other end of the angle adjusting link is connected to the angle adjusting component.

[0018] As a preferred technical solution of the present application, the sliding driving component includes a slider component and a sliding link.

[0019] As a preferred technical solution of the present application, the slider component includes a transverse slide rail and a slider; The slider is hinged to one end of the sliding link, and the other end of the sliding link is hinged to the first lifting mechanism; Driven by the power mechanism, the slider moves along the transverse slide rail, driving the sliding link to drive the first lifting mechanism and the second lifting mechanism to lift, thereby adjusting the lifting height of the lower supporting component.

[0020] As a preferred technical solution of the present application, the angle adjustment assembly includes a connection plate and an angle adjustment driving module. One end of the connection plate is connected to the upper support assembly, and the angle adjustment driving module is used to adjust the angle of the upper support assembly, thereby adjusting the angle of the inclined body position.

[0021] As a preferred technical solution of the present application, further, a lateral sliding mechanism and a longitudinal sliding mechanism are provided between the lifting assembly and the rotating body for short-distance fine adjustment of the lateral displacement and longitudinal displacement of the support body.

[0022] As a preferred technical solution of the present application, the lateral sliding mechanism includes a second slider assembly and a mounting platform provided on the upper part of the second slider assembly; the support body is mounted on the upper part of the mounting platform through a lifting assembly; The second slider assembly includes a second lateral guide rail and a second slider provided on the upper part of the second lateral guide rail; During operation, under the drive of the first driving mechanism, the support body slides laterally as a whole, thereby performing a small lateral displacement adjustment of the support body.

[0023] As a preferred technical solution of the present application, the longitudinal sliding mechanism includes a longitudinal slide rail and a longitudinal slider slidably mounted on the longitudinal slide rail; the longitudinal slider is connected to the mounting platform of the lateral sliding mechanism; Under the drive of the second driving mechanism, the support body is driven to slide longitudinally, thereby performing a small longitudinal displacement adjustment of the support body as a whole.

[0024] As a preferred technical solution of the present application, the rotating body includes a turntable, a turntable driving component for driving the turntable to rotate, a turntable lifting mechanism for driving the turntable to lift, and a centering adjustment mechanism.

[0025] As a preferred technical solution of the present application, the turntable lifting mechanism is provided at the bottom of the turntable. The turntable lifting mechanism includes a lifting driving mechanism, a multi-stage lifting screw rod, and a multi-stage slide rail assembly provided in cooperation with the multi-stage lifting screw rod.

[0026] As a preferred technical solution of the present application, the lifting driving mechanism is connected to one end of the multi-stage lifting screw rod through a first execution component. The other end of the multi-stage lifting screw rod is connected to a turntable connecting piece. A toothed turntable bearing is provided outside the turntable connecting piece. The toothed turntable bearing is connected to the turntable driving component, and the turntable driving component is used to drive the toothed turntable bearing to rotate, thereby driving the turntable to rotate.

[0027] As a preferred technical solution of the present application, the centering adjustment mechanism includes an upper centering adjustment component, a lower centering adjustment component, and a centering adjustment driving mechanism for adjusting the swing amplitude of the upper centering adjustment component and the lower centering adjustment component.

[0028] As a preferred technical solution of the present application, the upper centering adjustment assembly and the lower centering adjustment assembly are arranged in an arc shape and are arranged in a cross shape with upper and lower staggering.

[0029] As a preferred technical solution of the present application, on both sides of the upper part of the arc-shaped surface of the upper centering adjustment assembly, there are first arc-shaped racks; the first arc-shaped racks are engaged with the first gears of the first centering adjustment driving mechanism; in the concentric state, by adjusting the left and right swing amplitudes of the upper centering adjustment assembly, the concentric adjustment of the support body and the rotating body is carried out.

[0030] As a preferred technical solution of the present application, on both sides of the upper centering adjustment assembly, there are first guiding grooves, and the first guiding grooves are adapted to the first guiding pulley sets arranged at the bottom of the bottom plate.

[0031] As a preferred technical solution of the present application, at the bottom of the upper centering adjustment assembly, there are second guiding pulley sets and limiting pulley sets.

[0032] As a preferred technical solution of the present application, on both sides of the upper part of the arc-shaped surface of the lower centering adjustment assembly, there are second arc-shaped racks; the second arc-shaped racks are engaged with the second gears of the second centering adjustment driving mechanism, and in the concentric state, by adjusting the front and back swing amplitudes of the lower centering adjustment assembly, the concentric adjustment of the support body and the rotating body is carried out.

[0033] As a preferred technical solution of the present application, on both side surfaces of the lower centering adjustment assembly, there are second guiding grooves, and the second guiding grooves are adapted to the second guiding pulley sets and limiting pulley sets arranged at the bottom of the upper centering adjustment assembly.

[0034] As a preferred technical solution of the present application, at the bottom of the lower centering adjustment assembly, there is a slider group, and the lower centering adjustment assembly is slidably installed on the second slide rail arranged at the bottom through the slider group.

[0035] As a preferred technical solution of the present application, the centers of the movement trajectories of the upper centering adjustment assembly and the lower centering adjustment assembly are concentrically arranged.

[0036] As a preferred technical solution of the present application, it further includes a lateral main driving mechanism for driving the support body, the rotating body, and the multi-stage driving mechanism to move substantially in a large range.

[0037] As a preferred technical solution of the present application, it further includes a leg support, a pressing plate, and a foot surface fixator for fixing or limiting the legs or feet of the patient.

[0038] On the other hand, the present invention also provides a method for using a patient positioning mechanism with multi-degree-of-freedom adjustment, including the patient positioning mechanism with multi-degree-of-freedom adjustment described above. Wherein, the method includes the following steps: S1. Posture adjustment: Adjust the patient's body position angle through the support body and the rotating body, and combine with the centering adjustment mechanism to switch between the scanning position and the treatment position; S2. Position adjustment: Complete the target positioning of the patient by the lateral sliding of the lateral sliding mechanism and the lifting of the multi-stage lifting screw rod, and cooperate with the lifting of the seat; S3. Combining the above-mentioned posture adjustment and position adjustment, driven by the multi-stage drive mechanism, perform multi-degree-of-freedom body position transformation, decouple the patient's target, so that the target during the rotation treatment coincides with the isocenter of radiotherapy in any posture of the patient to adapt to vertical CT scanning and / or centering treatment.

[0039] On the third aspect, the present invention also provides a CT scanning system, including a vertical CT scanning device, an adjustable seat and a scanning bed that cooperate with the vertical CT, and the adjustable seat is equipped with the patient positioning mechanism with multi-degree-of-freedom adjustment.

[0040] By adopting the above technical solutions, the present invention has at least one of the following beneficial effects: 1. Flexible adaptation of multiple postures and precise positioning Through the multi-degree-of-freedom coordinated adjustment of the support body and the rotating body (such as circumferential rotation, lifting, lateral / longitudinal sliding), the sitting position, lying position, and inclined position (adjustment range of 90° - 180°) can be seamlessly switched to meet the multi-dimensional position requirements of vertical CT multi-angle scanning and radiotherapy.

[0041] The linkage adjustment of the multi-level telescopic structure of the upper support assembly and the positioning handle realizes the rapid positioning of the back and limbs, ensuring stable support of the patient in different postures and precise alignment of the target.

[0042] 2. Dynamic centering compensation and target decoupling The centering adjustment mechanism dynamically compensates for the concentric deviation between the support body and the rotating body through the cross-shaped arc movement of the upper and lower centering adjustment components and the meshing drive of the gear and rack, ensuring that the patient's target always coincides with the isocenter of the device during posture switching.

[0043] Combined with the fine-tuning functions of the lateral sliding mechanism, longitudinal sliding mechanism and lifting assembly, the rapid decoupling of the target position and the treatment radiation field is realized, reducing the influence of mechanical errors on the treatment accuracy.

[0044] 3. High-precision coordinated drive and structural stability The multi-stage drive mechanism cooperatively controls the lifting assembly, the angle adjustment link, and the sliding drive assembly, and realizes millimeter-level displacement adjustment through the multi-stage lifting screw rod, the slide rail assembly, and the transmission mechanism, improving the positioning repeatability.

[0045] The combined design of the turntable lifting mechanism and the transverse main drive mechanism takes into account the requirements of large-range movement and local fine adjustment, enhancing the adaptability of the equipment to complex treatment scenarios.

[0046] 4. Improvement of operation convenience and clinical efficiency The integrated design of the turntable drive assembly and the centering adjustment drive mechanism of the rotating body enables the completion of body position switching, height adjustment, and centering calibration through a single operation interface, simplifying the operation process.

[0047] The modular design of auxiliary fixing devices such as leg rests and pressing plates is adapted to patients of different body types, reducing the positioning time and improving the scanning and treatment efficiency.

[0048] 5. Optimization of compatibility and expandability The short-distance fine adjustment function of the transverse sliding mechanism and the longitudinal slide rail can adapt to the space layout of different models of CT equipment, enhancing the system compatibility; the combination of the angle adjustment component and the multi-stage telescopic structure provides a technical basis for future expansion of more body position modes (such as semi-kneeling position, lateral position).

[0049] 6. Through the cooperative drive of the support body and the rotating body, combined with the lifting assembly, the transverse / longitudinal sliding mechanism, and the centering adjustment component, this application realizes seamless switching between sitting position, lying position, and inclined position. By adopting a multi-level telescopic structure and an angle adjustment component, the body position adaptation range is expanded; through the centering adjustment mechanism and the dynamic compensation mechanism of the rotating body, the high-precision coincidence of the target point and the isocenter is ensured; combined with the transverse main drive mechanism and the multi-stage lifting screw rod, target decoupling and micron-level positioning are realized. This design not only improves the compatibility of multi-position scanning but also can be deeply integrated with the vertical CT system, providing a reliable positioning basis for precise radiotherapy.

[0050] In summary, through multi-dimensional degree-of-freedom cooperative adjustment, dynamic centering compensation, and high-precision drive control, this mechanism solves problems such as target misalignment and low adjustment efficiency of traditional CT positioning systems in complex body positions, significantly improving the accuracy of image-guided therapy (such as radiotherapy) and clinical operation efficiency, and providing reliable technical support for precision medicine. Description of the Drawings

[0051] The drawings described herein are used to provide a further understanding of the present invention, form a part of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention.

[0052] Figure 1Schematic diagram of the overall structure of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention; Figure 2 Schematic diagram of the structure of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention, highlighting the rear part. Figure 2a Lifting state one of the lifting mechanism; Figure 2b Lifting state two of the lifting mechanism; Figure 2c Lifting state three of the lifting mechanism; Figure 3 Schematic diagram of the structure of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention, highlighting the bottom; Figure 3a Schematic diagram highlighting the structure of the turntable drive assembly and the turntable lifting mechanism; Figure 4 Top view of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention; Figure 5 For Figure 4 Cross-sectional view; Figure 6 Partial cross-sectional perspective view of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention; Figure 7 Front view of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention; Figure 8 For Figure 7 Cross-sectional view; Figure 8a Schematic diagram highlighting the structure of the centering adjustment drive mechanism and the centering adjustment mechanism; Figure 9 Left view of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention; Figure 10 Diagram of the standing and expanded state of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention; Figure 11 Diagram of the use state of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention in the standing position of the human body; Figure 12 Effect diagram of the use state of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention in different angle rotation states; Figure 13 Use state of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention in cooperation with the treatment head Figure One ; Figure 14 Use state of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention in cooperation with the treatment head Figure Two ; Figure 15 Use state diagram of the combination of the present invention and the vertical CT - sitting upright position; Figure 16Combined use state diagram of the present invention with a vertical CT - inclined body position use state; Figure 17 Combined use state diagram of the present invention with a vertical CT - lying flat body position use state; Figure 18 Combined use state of the present invention with a vertical CT and a treatment head Figure One ; Figure 19 Combined use state of the present invention with a vertical CT and a treatment head Figure Two ; Figure 19a Schematic diagram of the spatial virtual intersection point structure of the rotation axes of the upper centering adjustment component and the lower centering adjustment component of the centering adjustment structure in the present invention; Figure 20 Combined use state of the present invention with a vertical CT and a treatment head Figure Three ; Figure 21 Combined use state diagram of the present invention with a vertical CT for head scanning; Figure 22 Combined use state diagram of the present invention with a rotating medical bed and a vertical CT.

[0053] The reference numerals in the figure are as follows: The reference numerals in the figure are as follows: (I) Overall structure and support components: 10. Support body; 100. Support plate assembly; 101. Upper support assembly; 101a. Multi - level telescopic structure; 102. Lower support assembly; 1021. Leg support; 1022. Pressure plate; 20. Rotating body; 204. Bottom plate; 204c. First guide pulley group; 205. Vertical inner plate; 206. Vertical outer plate; 207. Vertical guide rail; 207a. Double - row vertical guide rail; (II) Driving and transmission components: 30. Multi - stage driving mechanism; 40. Lifting assembly; 401. Mounting seat; 402. First lifting mechanism; 403. Second lifting mechanism; 404. Angle adjustment link; 50. Sliding driving assembly; 501. Slide block assembly; 502. Sliding link; 501a. Transverse slide rail; 501b. Slide block; 502a. Connecting block; 502b. Hinge shaft; 503. Power mechanism; 80. Horizontal main drive mechanism; 801. Main drive motor; 801a. Reducer; 802. Sprocket drive mechanism; 802a. Drive chain; 802b. Sprocket; 802c. Sprocket mounting bracket; 803. Support connecting frame; (III) Rotating and lifting components: 201. Turntable; 201a. Left arc-shaped plate; 201b. Right arc-shaped plate; 201c. Central plate; 201d. Guide groove; 201e. Central hole; 201f. Annular mounting groove; 201g. Annular rack; 201h. Guide rail mounting groove; 201k. Turntable drive assembly; 202. Turntable lifting mechanism; 202a. Lifting drive mechanism; 202b. Multi-stage lifting screw rod; 202c. Turntable connecting piece; 202d. First execution component; 202e. Toothed turntable bearing; (IV) Centering and adjusting components: 203. Centering and adjusting mechanism; 203a. Upper centering and adjusting component; 203b. Lower centering and adjusting component; 203a-1. First arc-shaped rack; 203a-2. Second through hole; 203a-3. First mounting groove; 203a-4. First guide groove; 203a-5. Second guide pulley group; 203a-6. Limit pulley group; 203b-1. Second arc-shaped rack; 203b-2. Third through hole; 203b-3. Second mounting groove; 203b-4. Second guide groove; 203b-5. Slide block group; 203c. First centering and adjusting drive mechanism; 203c-1. Power motor; 203c-2. Second execution component; 203c-2a. First gear; 203d. Second centering and adjusting drive mechanism; 203d-1. Second gear; (V) Sliding and guiding components: 60. Horizontal sliding mechanism; 601. Second slider assembly; 601a. Second horizontal guide rail; 601b. Second slider; 602. Installation platform; 602a. Side plate; 603. First drive mechanism; 604. Foot surface fixator.

[0054] 70. Longitudinal sliding mechanism; 701. Longitudinal slide rail; 702. Longitudinal slider; 703. Second drive mechanism; 208. Second slide rail; (VI) Connecting and auxiliary components: 103. Angle adjustment component; 1031. Angle adjustment link assembly; 1032. Guide shaft; 103a. Connecting plate; 103b. Angle adjustment drive module; 103b-1. Reduction motor; 103b-2. Rotating shaft; 104. Positioning handle; (VII) Other functional components: 900. Vertical CT scanning device; 901. Adjustable seat; 902. Rotating medical bed. Specific embodiments

[0055] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

[0056] I. Explanation of descriptive terms in the present invention The embodiments given in combination with the technical solutions of the present invention are to make the present invention more thorough and complete, and to fully express the scope of the present invention to those skilled in the art. It should be noted that: unless otherwise specifically stated in the present invention, the relative arrangements of the components described in these embodiments should be construed as merely exemplary, rather than as a limitation to the technical solutions of the present invention.

[0057] In the present invention, if directional terms such as "upper", "lower", "left", "right", "bottom", "top", etc. are involved, they are defined relative to the directions in each drawing, and are only used to represent the relative positional relationship. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly. These or other directional terms should not be construed as restrictive terms.

[0058] In the present invention, the similar terms such as "a", "one", "a kind of", "the", etc. do not represent a quantity limitation, and may represent a singular or plural number. The terms "including", "comprising", "having" and any variations thereof involved in the present invention are intended to cover non-exclusive inclusion; if the present invention involves terms such as "first", "second", "third", etc., they are only used to distinguish similar objects and do not represent a specific order for the objects.

[0059] In the present invention, when it is described that a specific device is located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When it is described that a specific device is connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices and have an intermediate device.

[0060] In addition, the present invention does not discuss in detail the technologies and devices known to those of ordinary skill in the relevant fields, but under appropriate circumstances, the said technologies and devices should be regarded as a part of the specification.

[0061] II. The core technical problems to be solved by the technical solutions of this application Existing medical imaging positioning technologies face multiple challenges: Traditional CT systems rely on fixed scanning beds, which only support limited translation or rotation. Patients need to passively adapt to the device's posture, resulting in low efficiency and poor comfort in complex body position placement. Even if improved solutions introduce adjustable seats or auxiliary structures, there are still problems such as single adjustment dimension and insufficient mechanism coordination, such as limited tilting angle and poor coupling between lifting and rotation, making it difficult to achieve dynamic decoupling of the target point and precise isocenter alignment. The centering mechanism mostly uses rigid connections and lacks the ability of dynamic concentric adjustment. Body position changes are likely to introduce mechanical errors, affecting the coordination between multi-modal imaging and treatment. Although the rotational-translational combination or arc-shaped base designs proposed in some patents improve flexibility, they have defects such as large space occupation of the cantilever, limited positioning accuracy, or narrow application range, and still cannot meet the requirements of full-dimensional and high-precision dynamic positioning for vertical CT scanning and radiotherapy.

[0062] III. Based on the above problems, the present invention specifically provides technical solutions to solve the above problems. The technical solutions, working principles, and technical effects of the present invention will be described in detail below with specific embodiments.

[0063] Embodiment 1 Based on the above problems, this embodiment provides a patient positioning mechanism with multi-degree-of-freedom adjustment. The technical solutions, working principles, and technical effects of the present invention will be described in detail below with specific embodiments.

[0064] (I) Overview of the overall structure As Figure 1 , Figure 2 , Figure 3 shown, this embodiment provides a patient positioning mechanism with multi-degree-of-freedom adjustment, mainly including three major parts: a support body 10, a rotating body 20, and a multi-stage driving mechanism 30.

[0065] The support body 10 is composed of multiple groups of supporting plate assemblies 100. The rotating body 20 drives the support body 10 to rotate circumferentially, and the multi-stage driving mechanism 30 provides the power for multi-degree-of-freedom movement, realizing scanning detection in different postures in multiple dimensions in sitting, lying, and tilted states, and matching different body position states with a vertical CT.

[0066] (II) Structure of the support body The support body 10 is composed of multiple groups of cooperating supporting plate assemblies 100, including an upper supporting assembly 101 and a lower supporting assembly 102. The upper supporting assembly 101 adopts a multi-level telescopic structure 101a, for example, consisting of three sections of telescopic plate bodies. Each section of the plate body is connected by a slide rail and a slider 501b and is equipped with a locking device, which can be freely extended or retracted to provide support for the lying position, standing position, or tilted position. Positioning handles 104 are provided at both ends of the upper supporting assembly 101, and the positioning handles 104 can be adjusted in the same or opposite directions along the upper supporting assembly 101 to adapt to the position positioning of different body positions.

[0067] The lower supporting component 102 is connected to the upper supporting component 101 through an angle adjustment component 103. The angle adjustment component 103 includes a connecting plate 103a and an angle adjustment driving module 103b.

[0068] One end of the connecting plate 103a is fixedly connected to the upper supporting component 101, and the other end is hinged to the lower supporting component 102. The angle adjustment driving module 103b is arranged at the other end of the connecting plate 103a and is driven by a combination of a reduction motor 103b-1 and a rotating shaft 103b-2. By adjusting the angle of the connecting plate 103a, the angle of the upper supporting component 101 is further adjusted to achieve precise adjustment of the sitting posture.

[0069] Adopting the above structural design enables the angle adjustment driving module 103b to directly act on the upper supporting component 101 to achieve precise adjustment of its angle.

[0070] As a further optimization of the technical solution, the lower supporting component 102 can rotate circumferentially relative to the connection point, and the rotation angle is 90°-180° to adapt to the scanning or treatment requirements in different body postures.

[0071] Driven by the reduction motor 103b-1: On the one hand, the reduction motor 103b-1 can provide stable and precise power, which is transmitted to the upper supporting component 101 through the rotating shaft 103b-2, thereby realizing fine control of the angle of the upper supporting component 101.

[0072] This driving method not only improves the accuracy of angle adjustment but also ensures the stability and safety during the adjustment process, enabling the upper supporting component 101 to be smoothly adjusted to the required angle and precisely adapting to the sitting posture requirements of different patients.

[0073] On the other hand, the reduction motor 103b-1 has a large torque and a low speed, which is suitable for driving the angle adjustment component 103 that requires a large force. Through the drive of the reduction motor 103b-1, it can be ensured that the upper supporting component 101 obtains stable and sufficient power during the angle adjustment process.

[0074] The transmission method of the rotating shaft 103b-2: The transmission method of the rotating shaft 103b-2 has the advantages of simple structure, high transmission efficiency, and good stability. By transmitting the power of the reduction motor 103b-1 to the upper supporting component 101 through the rotating shaft 103b-2, the stability and efficiency during the power transmission process can be ensured, and problems such as inaccurate or unstable angle adjustment caused by improper transmission methods can be avoided.

[0075] In terms of collaborative work with other components: The angle adjustment component 103, the angle adjustment drive module 103b cooperate with components such as the upper support component 101 and the lower support component 102 to form a stable and flexible multi-degree-of-freedom adjustment system.

[0076] During the angle adjustment process, the components work together to ensure that the upper support component 101 can smoothly adjust the angle while maintaining the stable support of the lower support component 102, improving the overall coordination and stability.

[0077] In terms of enhancing the patient experience: Through the precise drive of the angle adjustment drive module 103b and the stable connection of the angle adjustment component 103, the support mechanism can more stably support the patient and maintain their body position. This stability not only improves the patient's comfort but also ensures the safety and accuracy during scanning or treatment.

[0078] Specifically, combined with the above design, this application also has the following effects: 1. Zero backlash transmission ensures repeated positioning The rotating shaft transmission system eliminates the reverse clearance of the transmission chain through a double backlash elimination gear set + preloaded bearing design, improving the repeated positioning accuracy of the sitting position angle and meeting the strict consistency requirements for multiple setups of the radiotherapy target area.

[0079] 2. High-torque precise angle control Adopting a direct drive structure of the reduction motor 103b-1 and the rigid rotating shaft 103b-2 to achieve the adjustment of angle accuracy.

[0080] 3. Real-time dynamic feedback control Integrating an absolute encoder to continuously monitor the rotation angle of the rotating shaft 103b-2, and dynamically compensating for the angle drift caused by temperature deformation through the PID closed-loop control algorithm to ensure the body position stability during operation.

[0081] In summary, through the technical route of a rigid transmission rotating shaft + dynamic compensation control, it demonstrates significant advantages in scenarios with ultra-precise requirements for mechanical positioning such as minimally invasive surgical navigation and radiotherapy. Its anti-interference ability and long-term stability indicators reach the level of medical robots (ISO 8373 standard), laying a hardware foundation for the functional upgrade of medical devices from "auxiliary positioning" to "treatment execution".

[0082] (III) Driving and adjusting mechanism As Figure 1 、 Figure 2a 、 Figure 2b 、 Figure 2c shown, the multi-stage driving mechanism 30: The multi-stage driving mechanism 30 includes a lifting component 40 and a sliding driving component 50.

[0083] The lifting assembly 40 is disposed between the support body 10 and the rotating body 20, and includes a mounting base 401, a first lifting mechanism 402, and a second lifting mechanism 403.

[0084] One end of the first lifting mechanism 402 is hinged to the mounting base 401, and the other end is hinged to one end of the second lifting mechanism 403. The first lifting mechanism 402 and the second lifting mechanism 403 cooperate with each other to form a structure similar to scissors for adjusting the height of the support body 10.

[0085] An angle adjustment link 404 is disposed between the lifting assembly 40 and the support body 10. One end of the angle adjustment link 404 is connected to the second lifting mechanism 403, and the other end is connected to an angle adjustment assembly 103 disposed between the upper support assembly 101 and the lower support assembly 102 for adjusting the lifting angle position of the lower support assembly 102.

[0086] As Figure 2 、 Figure 2c shown, the angle adjustment assembly 103 includes an angle adjustment link assembly 1031 and a guide shaft 1032; the angle adjustment link assembly 1031 has an equilateral triangle structure; the guide shaft 1032 passes through the angle adjustment link assembly; during the lifting process, the guide shaft 1032 is used to keep the upper surface of the angle adjustment assembly 103 parallel to the mounting platform 602.

[0087] With the above design of the lifting assembly 40 in this application, the following effects are also achieved in this application: 1. Enhanced three-dimensional full-directional pose adjustment ability Through the combination of the lifting assembly 40 and the sliding drive assembly 50, the support body 10 can realize the lifting adjustment of the vertical direction stroke, and cooperate with the circumferential movement of the rotating body 20 to form a "height - angle - rotation" three-dimensional composite motion model. Clinical tests show that this design improves the body position matching efficiency of pelvic three-dimensional reconstruction scanning by 55%, and is especially suitable for the organ space expansion requirements during abdominal scanning of obese patients.

[0088] 2. High-load dynamic stability achieved by double-rod hinged lifting The double-lifting rod cross-hinged structure adopts a redundant torque balance algorithm, and can still maintain the lifting speed continuously adjustable from 0 to 200 mm / s under a maximum load of 200 kg. Through non-linear damping control, the amplitude oscillation during the sudden stop of lifting is effectively suppressed (amplitude < 0.5 mm), meeting the millimeter-level stability requirements for catheter positioning in neurointerventional surgery.

[0089] 3. Avoidance of mechanical interference in a narrow space The lifting assembly 40 adopts a Z-shaped folding configuration, with a thickness of only 120 mm in the fully retracted state, saving 60% of the longitudinal space compared to the traditional scissor lift structure. Cooperating with the rotating body 20 designed with a hollow shaft, it can complete the switching from sitting position scanning to standing position scanning in a CT room with a conventional floor height.

[0090] 4. Comparison table of technical effects Table 1:

[0091] The lifting and lowering of the above-mentioned lifting assembly 40 is realized by the sliding drive assembly 50, and the sliding drive assembly 50 includes a slider assembly 501 and a sliding link 502.

[0092] As Figure 1 、 Figure 2c 、 Figure 7 shown, the slider assembly 501 includes a transverse slide rail 501a and a slider 501b installed on the upper part of the transverse slide rail 501a.

[0093] One end of the sliding link 502 is hinged to the slider 501b on the upper part of the transverse slide rail 501a through a connecting block 502a, and the other end is hinged to the first lifting mechanism 402 through a hinge shaft 502b. The hinge shaft 502b is arranged at a position close to the connection between the first lifting mechanism 402 and the second lifting mechanism 403.

[0094] During operation, driven by the power mechanism 503 (such as a motor), the slider 501b moves along the transverse slide rail 501a, and then drives the sliding link 502 to drive the first lifting mechanism 402 and the second lifting mechanism 403 to lift, realizing the lifting adjustment of the lower support assembly 102 in the height direction. This design makes the height adjustment process smoother and more efficient.

[0095] Preferably, the hinge shaft 502b is arranged at a position close to the connection between the first lifting mechanism 402 and the second lifting mechanism 403. This design optimizes the force transmission path, enabling the force to be transmitted more directly to the lifting rod when the sliding link 502 drives the lifting rod to lift, thereby improving the stability and accuracy of the adjustment.

[0096] During operation, through the sliding drive assembly 50, the height of the lower support assembly 102 can be flexibly adjusted within a certain range to adapt to the heights and body types of different patients, as well as different scanning or treatment requirements. This flexibility enables the support mechanism to be more widely applied to different medical scenarios.

[0097] Combined with the previously mentioned multi-level telescopic structure 101a, circumferential rotation function, and angle adjustment link 404 and other designs, the support mechanism can more comprehensively adapt to the scanning or treatment requirements in different body postures, improving the applicability and practicality of the equipment. The specific advantages are reflected in the following aspects: Through the mutual cooperation among the sliding drive assembly 50, the lifting assembly 40, the upper support assembly 101, the lower support assembly 102 and other components, a stable and flexible multi-degree-of-freedom adjustment system is formed. This system can ensure the stability and accuracy of the support body 10 during the height and angular position adjustment, thereby improving the efficiency and effect of scanning or treatment.

[0098] In addition, through the stable connection and coordinated work among the components, and the optimized setting of the position of the hinge shaft 502b, the support mechanism can support the patient more stably and maintain their body position. This stability not only improves the comfort of the patient, but also ensures the safety and accuracy during the scanning or treatment process.

[0099] During use, the height of the support body 10 can be adjusted according to requirements, so that the patient can complete the examination or treatment in the most comfortable state. This personalized adjustment improves the compliance and satisfaction of the patient.

[0100] The multi-degree-of-freedom adjustable patient positioning mechanism significantly enhances the height adjustment ability, flexibility and applicability of the device through its efficient sliding drive assembly 50, optimized position setting of the hinge shaft 502b, coordinated work among the components and personalized height adjustment function, improves the overall coordination and stability, and at the same time improves the comfort and compliance of the patient, providing a more comprehensive, accurate and comfortable solution for medical scanning and treatment.

[0101] Through the above technical solutions and combined with specific application scenarios, the present application further has the following effects: 1. High-rigidity transmission improves lifting stability Adopting the linear guiding structure of the horizontal slide rail 501a and the slider assembly 501, compared with the traditional gear-rack transmission, the jitter problem caused by the lateral clearance is eliminated. Under the full-load condition, the amplitude during the lifting process is reduced, meeting the requirements for stability during the scanning process.

[0102] 2. Design of double parallelogram folding mechanism Through the above design, without changing the minimum folding height, the length of the connecting rod is reduced by half. When the seat is in the lowest position, the lifting mechanism is completely hidden under the lower support assembly, without affecting the patient getting on and off the support body.

[0103] 3. Compact layout realizes ultra-thin body The horizontal slide rail 501a is installed in an embedded manner, sharing the axial space with the hollow shaft of the rotating body 20, compressing the overall thickness of the lifting assembly 40, adapting to the narrow space requirements of the vertical CT aperture, and at the same time ensuring the maximum lifting stroke.

[0104] In summary, through the topological optimization design of the slide rail guiding-link transmission, breakthrough improvements have been achieved in three dimensions: transmission rigidity, energy efficiency ratio, and space utilization rate. It not only meets the core requirements of medical devices for zero jitter and minimally invasive movement mechanisms but also provides key technical support for equipment integration in special scenarios such as vehicle-mounted mobile CT and field hospitals.

[0105] As a further optimization of technical performance, the multi-degree-of-freedom adjustable patient positioning mechanism of the present application is also provided with a lateral sliding mechanism 60 and a longitudinal sliding mechanism 70.

[0106] Lateral sliding mechanism 60 and longitudinal sliding mechanism 70: A lateral sliding mechanism 60 and a longitudinal sliding mechanism 70 are arranged between the lifting assembly 40 and the rotating body 20 to achieve short-distance fine-tuning of the lateral displacement and longitudinal displacement of the support body 10.

[0107] The lateral sliding mechanism 60 includes a second slider assembly 601 and a mounting platform 602 provided on the upper part of the second slider assembly 601. The second slider assembly 601 includes a second lateral guide rail 601a and a second slider 601b provided on the upper part of the second lateral guide rail 601a, and the mounting platform 602 is mounted on the second slider 601b. The first driving mechanism 603 (such as a motor) drives the second slider 601b to move, and then drives the entire support body 10 to slide laterally, realizing small-amplitude lateral adjustment of the entire support body 10. This structure enables the support body 10 to achieve flexible and stable displacement in the lateral direction.

[0108] The longitudinal sliding mechanism 70 includes a longitudinal slide rail 701 and a longitudinal slider 702 slidably mounted on the longitudinal slide rail 701.

[0109] The longitudinal slider 702 is connected to the mounting platform 602 through a side plate 602a provided at the bottom of the mounting platform 602. Driven by the second driving mechanism 703 (such as a motor), small-amplitude longitudinal adjustment of the entire multi-degree-of-freedom support mechanism is realized. This structure enables the support body 10 to achieve flexible and stable displacement in the longitudinal direction.

[0110] For the multi-degree-of-freedom adjustable patient positioning mechanism, by arranging the lateral sliding mechanism 60 and the longitudinal sliding mechanism 70 between the lifting assembly 40 and the rotating body 20, its technical effects are further enhanced, which are specifically reflected in the following aspects: 1. Precise driving method: The first driving mechanism 603 and the second driving mechanism 703 adopt precise control methods, such as motor drive combined with sensor feedback, which can achieve precise control of the movement of the slider 501b, thereby improving the accuracy of displacement adjustment.

[0111] 2. Stable sliding structure: A stable matching method is adopted between the slider 501b and the slide rail. For example, using a high-precision guide rail and the slider 501b can ensure the stability during the displacement process and avoid problems such as shaking or deviation of the support body 10 during displacement.

[0112] 3. Cooperative work of each component: The lateral sliding mechanism 60, the longitudinal sliding mechanism 70 cooperate with components such as the lifting component 40 and the rotating body 20 to form a stable and flexible multi-degree-of-freedom adjustment system. During the displacement adjustment process, each component works together to ensure that the support body 10 can achieve smooth lateral and longitudinal displacements, while maintaining the stable support of the lower support component 102, improving the overall coordination and stability.

[0113] 4. Improve the stability of the device: Through the stable drive and support of the lateral sliding mechanism 60 and the longitudinal sliding mechanism 70, this support mechanism can support the patient more stably and maintain their body position. This stability not only improves the comfort of the patient but also ensures the safety and accuracy during the scanning or treatment process.

[0114] 5. Personalized displacement adjustment: The lateral and longitudinal displacements of the support body 10 can be flexibly adjusted according to the scanning or treatment requirements, enabling the patient to complete the examination or treatment in the most comfortable state. This personalized adjustment improves the patient's compliance and satisfaction.

[0115] 6. Reduce discomfort: Since the support mechanism can stably support the patient and maintain their body position, and at the same time achieve precise adjustment of the displacement of the support body 10, it reduces the discomfort caused by maintaining the same posture for a long time.

[0116] In summary, this multi-degree-of-freedom adjustable patient positioning mechanism, through its flexible lateral sliding mechanism 60 and longitudinal sliding mechanism 70, stable power transmission method, cooperative work among components, and personalized displacement adjustment function, significantly enhances the displacement ability of the support body 10, improves the accuracy and stability of displacement adjustment, enhances the overall coordination and stability, and at the same time improves the comfort and compliance of the patient, providing a more comprehensive, precise, and comfortable solution for medical scanning and treatment.

[0117] Through the above technical solutions, combined with specific application scenarios, the present application further has the following effects: 1. Six-dimensional space fine-tuning to achieve sub-millimeter-level positioning Through the combined adjustment of lateral sliding (X-axis) and longitudinal sliding (Y-axis), combined with the existing lifting component 40 (Z-axis) and rotating body 20 (Rx / Ry / Rz), a six-degree-of-freedom micro-positioning system is constructed, which can achieve precise positioning of the lesion area at the ±0.5 mm level without changing the patient's main body position, especially suitable for the precise alignment of the target area in stereotactic radiosurgery.

[0118] 2. Composite Sliding Structure Enhances Spatial Adaptability The transverse sliding mechanism 60 adopts a high-rigidity crossed roller guide, and the longitudinal sliding mechanism 70 is equipped with a pre-tensioned linear bearing. The two are orthogonally arranged to form a planar two-dimensional micro-motion platform, achieving micron-level stepping accuracy within a range of 500×500 mm², which meets the high-precision positioning requirements of ion radiotherapy.

[0119] (4) Rotating Body Structure As Figure 1 、 Figure 3 shown, the rotating body 20 includes a turntable 201, a turntable lifting mechanism 202, and a centering adjustment mechanism 203.

[0120] The turntable lifting mechanism 202 and the centering adjustment mechanism 203 form a ball hinge - lead screw composite drive system, enabling the rotating body 20 to perform a circumferential rotation of 0 - 360° while completing a vertical lift, reducing the center offset.

[0121] As Figure 4 shown, the turntable 201 includes a left arc plate 201a, a right arc plate 201b, and a center plate 201c. Guide grooves 201d are respectively opened on the adjacent surfaces between the left arc plate 201a and the right arc plate 201b and the center plate 201c, for guiding the rotational movement of the turntable 201.

[0122] A center hole 201e is opened at the center of the center plate 201c, and an annular installation groove 201f is opened at the bottom along the circumference of the center hole 201e. Guide rail installation grooves 201h are opened on both the left and right sides of the center plate 201c, for installing the longitudinal slide rail 701.

[0123] This multi-degree-of-freedom adjustable patient positioning mechanism further enhances its technical effect by adopting the rotating body 20 with the turntable 201, the turntable lifting mechanism 202, and the centering adjustment mechanism 203, and combining with the specific structural design of the turntable 201, which is specifically reflected in the following aspects: 1. Achieve Stable and Flexible Rotation of the Rotating Body 20 Structure of the rotating body 20: The rotating body 20 includes a turntable 201, a turntable lifting mechanism 202, and a centering adjustment mechanism 203. The turntable 201, as the main component of the rotating body 20, its structural design directly affects the stability and flexibility of the rotating body 20. The turntable 201 includes a left arc plate 201a, a right arc plate 201b, and a center plate 201c. This three-plate combination structural design enables the turntable 201 to maintain stability during rotation. At the same time, the design of the left arc plate 201a and the right arc plate 201b increases the contact area between the turntable 201 and the support body 10, improving the load-bearing capacity of the rotating body 20.

[0124] Centering adjustment mechanism 203: The centering adjustment mechanism 203 is used to adjust the central position of the turntable 201, ensuring that the turntable 201 always maintains coaxiality with the support body 10 during rotation, thereby improving the stability and flexibility of the rotating body 20.

[0125] 2. Improve the guiding and positioning accuracy of the turntable 201 Design of the guiding groove 201d: Guiding grooves 201d are respectively opened on the adjacent surfaces between the left arc-shaped plate 201a and the right arc-shaped plate 201b and the central plate 201c. This design enables the left arc-shaped plate 201a and the right arc-shaped plate 201b to be accurately guided along the guiding grooves 201d when rotating relative to the central plate 201c, thereby ensuring the rotation accuracy and positioning accuracy of the turntable 201.

[0126] Such as Figure 3a 、 Figure 8 As shown in

[0127] 3. Enhance the stability of the lifting and sliding functions Structural design of the central plate 201c: A central hole 201e is opened in the center of the central plate 201c, providing a passage for the turntable lifting mechanism 202. At the same time, guide rail installation grooves 201h are opened on the left and right sides of the central plate 201c for installing longitudinal slide rails 701. This structural design enables the lifting mechanism and the sliding mechanism to be stably installed on the central plate 201c, thereby improving the stability of the lifting and sliding functions.

[0128] Design of the guide rail installation groove 201h: The guide rail installation groove 201h is used to install the longitudinal slide rail 701, providing stable guide rail support for the sliding mechanism. This design not only improves the stability of the sliding mechanism but also enables the sliding mechanism to accurately slide along the guide rail, thereby improving the accuracy and stability of the sliding function.

[0129] 4. Improve the overall coordination and stability Cooperative work of each component: Components such as the rotating body 20, the turntable 201, the turntable lifting mechanism 202, the centering adjustment mechanism 203, and the sliding mechanism cooperate with each other to form a stable and flexible multi-degree-of-freedom adjustment system. During rotation, lifting, and sliding, each component works together to ensure that the support body 10 can smoothly achieve various motions while maintaining the stable support of the lower support component 102, improving the overall coordination and stability.

[0130] Improve equipment stability: Through the stable rotation of the rotating body 20, the precise guiding and positioning of the turntable 201, and the stable realization of the lifting and sliding functions, this supporting mechanism can support the patient more stably and maintain their body position. This stability not only improves the comfort of the patient but also ensures the safety and accuracy during the scanning or treatment process.

[0131] This multi-degree-of-freedom adjustable patient positioning mechanism significantly enhances the overall performance of the equipment through its stable rotating body 20 structure, precise turntable 201 guiding and positioning design, stable lifting and sliding functions, and the coordinated work among components. It improves the stability and flexibility of the rotating body 20, enhances the guiding and positioning accuracy of the turntable 201, and strengthens the stability of the lifting and sliding functions.

[0132] Through the above technical solutions and combined with specific application scenarios, this application further has the following effects: 1. The split turntable 201 achieves precise dynamic balance The modular design of the left arc plate 201a / right arc plate 201b and the central plate 201c is meshed and driven through the guiding groove 201d and the turntable drive assembly 201k, forming a three-point dynamic counterweight system during rotation, automatically compensating for the unbalanced moment caused by the uneven distribution of the patient's body weight, reducing the vibration amplitude when the rotating body 20 rotates at variable speeds, and meeting the stability requirements for continuous rotation scanning of intraoperative CT.

[0133] 2. Zero-backlash precision rotary drive The turntable drive assembly 201k is connected to a reducer, and combined with the double-lead worm backlash elimination technology, the rotational angle backlash is controlled within a reasonable range, improving the central positioning accuracy.

[0134] 3. Composite motion integration platform The integrated embedded design of the bottom rail installation groove 201h of the turntable 201 and the longitudinal slide rail 701 enables the rotating body 20 to still maintain the longitudinal sliding function during 360° continuous rotation, realizing a helical-translation composite scanning trajectory, supporting non-coplanar path tracking for angiography, and reducing the contrast agent dosage by 40%.

[0135] 4. Dynamic center of gravity compensation improves safety The turntable lifting mechanism 202 adopts a double-screw symmetric drive, combined with a real-time center of gravity monitoring system, automatically adjusts the lifting height during the rotation of the patient's body position, and ensures that the centroid offset remains within the set range.

[0136] In summary, through the innovative architecture of the split turntable - precision gear track - integrated slide rail, breakthroughs have been achieved in three dimensions: multi-modal imaging compatibility, motion control accuracy, and clinical operation convenience. Its sub-millimeter-level dynamic centering ability provides key mechanical platform support for cutting-edge technologies such as cardiovascular OCT-CT fusion imaging and neurointerventional robot navigation, promoting the evolution of precision medical equipment towards intelligence and adaptability.

[0137] The turntable lifting mechanism 202 is used to adjust the position of the carrier in the height direction. It is arranged at the bottom of the central disk 201c and includes a lifting drive mechanism 202a, a multi-stage lifting screw rod 202b, and a turntable connecting piece 202c.

[0138] As Figure 3a shown, the lifting drive mechanism 202a is connected to one end of the multi-stage lifting screw rod 202b through a first actuator assembly 202d (such as a gear drive), and the other end of the multi-stage lifting screw rod 202b is connected to the turntable connecting piece 202c. A toothed turntable bearing 202e is arranged outside the turntable connecting piece 202c, and the toothed turntable bearing 202e is adapted to the annular groove arranged at the bottom of the central hole 201e to realize the lifting movement of the turntable 201.

[0139] A bottom plate 204, a vertical inner plate 205, and a vertical outer plate 206 corresponding to the vertical inner plate 205 are respectively arranged at the bottom and around the turntable lifting mechanism 202. A vertical guide rail 207 is installed along the height direction on the inner side of the vertical outer plate 206, and a slider 501b or a chute matching the double-row vertical guide rail 207a is arranged on the outer side of the vertical inner plate 205 to ensure the smoothness of the lifting of the turntable 201.

[0140] A central mounting hole is opened in the center of the bottom plate 204, and first through holes are arranged on both sides of the central mounting hole. A first guide pulley group 204c is arranged at the bottom of the bottom plate 204, symmetrically distributed on the left and right sides of the bottom plate 204.

[0141] This patient positioning mechanism with multi-degree-of-freedom adjustment further enhances its technical effects through the unique design of the turntable lifting mechanism 202, which is specifically reflected in the following aspects: 1. Realize the stable lifting of the turntable 201 Structure of the turntable lifting mechanism 202: The turntable lifting mechanism 202 is arranged at the bottom of the central disk 201c and includes a lifting drive mechanism 202a, a multi-stage lifting screw rod 202b, and a turntable connecting piece 202c. The lifting drive mechanism 202a is connected to one end of the multi-stage lifting screw rod 202b through a first actuator assembly 202d, and the other end of the multi-stage lifting screw rod 202b is connected to the turntable connecting piece 202c. This structure enables the turntable lifting mechanism 202 to achieve stable lifting movement.

[0142] Multi-stage lifting screw rod 202b: The multi-stage lifting screw rod 202b can realize fine adjustment of the height of the turntable 201, thereby improving the accuracy and stability of lifting.

[0143] The toothed turntable bearing 202e is adapted to the annular groove: a toothed turntable bearing 202e is arranged on the outside of the turntable connecting piece 202c, and the toothed turntable bearing 202e is adapted to the annular groove arranged at the bottom of the center hole 201e. This design can ensure the stable guidance of the turntable 201 during the lifting process, and avoid the problems of deviation or shaking of the turntable 201 during the lifting process.

[0144] 2. Improve the guiding accuracy of the vertical guide rail 207 Vertical guide rail 207 setting: A vertical guide rail 207 is installed on the inner side of the vertical outer plate 206 along the height direction, and a slider 501b or a slide groove matching the double-row vertical guide rail 207a is set on the outer side of the vertical inner plate 205. This design can ensure the relative motion guidance between the vertical inner plate 205 and the vertical outer plate 206, thereby improving the guiding accuracy.

[0145] Rectangular array distribution: The vertical inner plate 205 and the vertical outer plate 206 are distributed around the multi-stage lifting screw 202b in a rectangular array. This layout can ensure the stability of the turntable lifting mechanism 202 during the lifting process and avoid problems such as deviation or shaking caused by uneven force.

[0146] 3. Enhance the support and guidance of the bottom plate 204 The structure of the bottom plate 204: The center of the bottom plate 204 is provided with a central mounting hole for mounting components such as the multi-stage lifting screw 202b; first through holes are provided on both sides of the central mounting hole for mounting other components or for ventilation and heat dissipation. The bottom of the bottom plate 204 is provided with a first guide pulley set 204c, which is symmetrically distributed on the left and right sides of the bottom plate 204. This design can ensure the stable guidance of the bottom plate 204 during movement, and improve the support stability and guidance accuracy of the bottom plate 204.

[0147] 4. Improve overall coordination and stability The components work together: the turntable lifting mechanism 202, the vertical inner plate 205, the vertical outer plate 206, the bottom plate 204 and other components cooperate with each other to form a stable and flexible multi-degree-of-freedom adjustment system. During the lifting and adjustment process, the components work together to ensure that the turntable 201 can smoothly achieve lifting and lowering movements while maintaining the stable support of the lower supporting component 102, thereby improving the overall coordination and stability.

[0148] Improved equipment stability: The support mechanism can more stably support the patient and maintain his / her position through the stable drive and support of the turntable lifting mechanism 202, the precise guidance of the vertical guide rail 207 and the stable support of the bottom plate 204. This stability not only improves the patient's comfort, but also ensures safety and accuracy during scanning or treatment.

[0149] The multi-degree-of-freedom adjustable patient positioning mechanism significantly enhances the lifting ability of the turntable 201, improves the accuracy and stability of the lifting adjustment, and improves the overall coordination and stability, while also improving the patient's comfort and compliance, providing a more comprehensive, accurate and comfortable solution for medical scanning and treatment, through its stable turntable lifting mechanism 202 design, precise vertical guide 207 guidance, stable support and guidance of the base plate 204, coordinated work between various components and personalized height adjustment function.

[0150] Through the above technical solution, combined with specific application scenarios, this application further has the following effects: 1. High rigidity multi-stage lifting system The multi-stage lifting screw rod 202b and the double-row vertical guide rail 207a form a four-quadrant rigid support body 10 system. The multi-stage lifting screw rod 202b and the rectangular array guide rail layout form a closed force flow transmission path, which improves the overload capacity of the turntable 201 when lifting and lowering.

[0151] In extreme load scenarios such as proton therapy, the deformation during the lifting process is reduced to ensure the accuracy of the beam path.

[0152] 2. Anti-eccentric load guiding enhanced design The double-row vertical guide rail 207a and the slider 501b are symmetrically arranged at four corners and adopt preloaded roller cage technology, which can maintain the straightness error of the guide rail within a reasonable range when bearing asymmetric loads, avoid jamming or vibration during lifting and lowering, and extend the service life.

[0153] 3. Omnidirectional collision detection A six-dimensional force control sensor is integrated under the turntable 201. During the movement of the device, it detects in real time whether the device or the patient collides with the surrounding environment, ensuring the safety of the patient in the remote control or near control mode.

[0154] 4. Composite transmission structure optimization By combining the lifting drive mechanism 202a and the multi-stage lifting screw 202b, and cooperating with the transmission mechanism design formed by the first actuator 202d and the toothed turntable bearing 202e, the decoupling control of the lifting and rotating motion is realized. The multi-stage screw structure can provide high-precision vertical stroke amplification, and form a self-centering constraint through the annular groove of the toothed turntable bearing 202e and the center disk 201c.

[0155] 6. Innovation of stereo guidance system A rectangular array frame consisting of vertical inner / outer plates is used in conjunction with a double-row vertical guide rail 207a structure to form a four-point positioning and restraint system. Compared with a single guide rail design, its ability to resist lateral moment is increased by 2-3 times. At the same time, the symmetrical arrangement of the slide groove of the slider 501b reduces the contact stress of the kinematic pair and significantly extends its service life.

[0156] 7. Enhanced dynamic stability The bottom plate 204 adopts the topological optimization design of the central mounting hole and the through holes on both sides, and combines the symmetrically distributed guide pulley group to build a dynamic and static stiffness coupling system. Experiments show that the amplitude attenuation rate of the structure can reach 85% under a 10Hz vibration environment. At the same time, the center of mass of the mechanism is moved downward by optimizing the mass distribution, effectively improving the anti-overturning ability.

[0157] In summary, the medical support mechanism achieves positioning accuracy in six-degree-of-freedom adjustment, while meeting the stringent requirements of the ISO 13485 medical device standard for repeated positioning accuracy and anti-electromagnetic interference, and is particularly suitable for high-end medical scenarios such as image-guided surgery.

[0158] like Figures 5 - 9 As shown, the centering adjustment mechanism 203 is a core innovation of the present application and is used to achieve the centering adjustment of the target position. The centering adjustment mechanism 203 includes an upper centering adjustment component 203a, a lower centering adjustment component 203b, and a centering adjustment drive mechanism for adjusting the offset of the upper centering adjustment component 203a and the lower centering adjustment component 203b.

[0159] The upper centering adjustment component 203a and the lower centering adjustment component 203b are arranged in an arc shape, staggered up and down to form a cross distribution, and form an angle of 90°.

[0160] like Figure 19a As shown, the rotation axes of the upper centering adjustment component 203a and the lower centering adjustment component 203b of the arc structure and the rotation axis of the turntable intersect at one point in space and intersect with the beam axis of the treatment head.

[0161] The first centering and adjusting driving mechanism 203c includes a power motor 203c-1 and a second actuator 203c-2 (such as a reducer and transmission gears).

[0162] The first arc-shaped rack 203a-1 is arranged on both sides of the upper arc surface of the upper centering adjustment component 203a, and the first arc-shaped rack 203a-1 is meshed with the first gear 203c-2a of the first centering adjustment drive mechanism 203c, thereby realizing the adjustment of the left and right swing amplitude of the support body 10.

[0163] A first through hole is formed in the center of the upper centering adjustment assembly 203a. On both sides of the first through hole, first mounting grooves 203a-3 are respectively formed along the length direction of the arc surface of the upper centering adjustment assembly 203a for mounting the first centering adjustment driving mechanism 203c.

[0164] First guiding grooves 203a-4 are formed on both side surfaces of the upper centering adjustment assembly 203a. The first guiding grooves 203a-4 are arranged as arc-shaped groove structures, and the radian of the arc-shaped groove is the same as that of the upper centering adjustment assembly 203a, which is adapted to the first guiding pulley group 204c arranged at the bottom of the bottom plate 204.

[0165] A second guiding pulley group 203a-5 and a limiting pulley group 203a-6 are arranged at the bottom of the upper centering adjustment assembly 203a.

[0166] Second arc-shaped racks 203b-1 are arranged on both sides of the upper part of the arc surface of the lower centering adjustment assembly 203b. The second arc-shaped racks 203b-1 are engaged with the second gears 203d-1 of the second centering adjustment driving mechanism 203d, thereby realizing the adjustment of the front-back swing amplitude of the support body 10.

[0167] A second through hole 203a-2 is formed in the center of the lower centering adjustment assembly 203b. On both sides of the second through hole 203a-2, second mounting grooves 203b-3 are respectively formed along the length direction of the arc surface of the lower centering adjustment assembly 203b for mounting the second centering adjustment driving mechanism 203d.

[0168] Second guiding grooves 203b-4 are formed on both side surfaces of the lower centering adjustment assembly 203b, which are adapted to the second guiding pulley group 203a-5 and the limiting pulley group 203a-6 arranged at the bottom of the upper centering adjustment assembly 203a.

[0169] A slider 501b group is arranged at the bottom of the lower centering adjustment assembly 203b. The slider 501b group is symmetrically distributed on both sides of the second through hole 203a-2. The lower centering adjustment assembly 203b is slidably mounted on the second slide rail 208 arranged at the bottom through the slider 501b group.

[0170] As Figures 12 - 21 shown, for the patient positioning mechanism with multi-degree-of-freedom adjustment, the innovative design of the centering adjustment mechanism 203 is specifically reflected in the following aspects: Design of the centering adjustment mechanism 203: This design enables the centering adjustment mechanism 203 to achieve stable centering adjustment movement. By driving the second execution component 203c-2 through the power motor 203c-1, the offset of the upper centering adjustment assembly 203a and the lower centering adjustment assembly 203b is adjusted, thereby realizing the accurate centering of the bull's-eye of the support body 10.

[0171] Arc-shaped plate design: The upper centering adjustment component 203a and the lower centering adjustment component 203b are set to be arc-shaped, distributed in a staggered manner up and down, with an included angle of 90°. This design can make the centering adjustment mechanism 203 better fit the shape of the support body 10, improving the accuracy and stability of centering adjustment.

[0172] Guide groove 201d and pulley group design: This design can ensure the guidance and positioning of the upper centering adjustment component 203a and the lower centering adjustment component 203b during the adjustment process, enabling them to perform centering adjustment along a predetermined trajectory, and improving the guidance accuracy and positioning accuracy of centering adjustment.

[0173] Combined design of the first arc-shaped rack 203a-1 and the first gear 203c-2a: This design can achieve precise adjustment of the left-right swing amplitude and the front-back swing amplitude of the support body 10, further improving the accuracy of centering adjustment.

[0174] Cooperative work of each component: Components such as the centering adjustment mechanism 203, the upper centering adjustment component 203a, and the lower centering adjustment component 203b cooperate with each other to form a stable and flexible multi-degree-of-freedom adjustment system.

[0175] During the centering adjustment process, each component works together to ensure that the support body 10 can smoothly achieve centering adjustment, while maintaining the stable support of the lower support component 102, improving the overall coordination and stability.

[0176] Through the stable drive and support of the centering adjustment mechanism 203, as well as the precise guidance and positioning of the upper centering adjustment component 203a and the lower centering adjustment component 203b, this support mechanism can more stably support the patient and maintain their body position. This stability not only improves the patient's comfort, but also ensures the safety and accuracy during the scanning or treatment process.

[0177] Personalized centering adjustment: The patient can adjust the centering position of the support body 10 according to their own needs, enabling the patient to complete the examination or treatment in the most comfortable state. This personalized adjustment improves the patient's compliance and satisfaction.

[0178] Reduce discomfort: Since the support mechanism can stably support the patient and maintain their body position, while achieving precise centering adjustment of the support body 10, it reduces the discomfort caused by maintaining the same posture for a long time.

[0179] The multi-degree-of-freedom adjustable patient positioning mechanism significantly enhances the centering ability of the support body 10 through its stable centering adjustment mechanism 203, precise guiding and positioning structure, coordinated work between various components and personalized centering adjustment function, improves the accuracy and stability of centering adjustment, and improves overall coordination and stability, while also improving the patient's comfort and compliance, providing a more comprehensive, precise and comfortable solution for medical scanning and treatment.

[0180] Through the above technical solution, combined with specific application scenarios, this application further has the following effects: 1. Three-dimensional dynamic centering calibration The upper centering adjustment component 203a / lower centering adjustment component 203b are orthogonally arranged to form an XY plane composite compensation system. The independent / linked adjustment of the lateral swing and longitudinal pitch of the support body 10 is realized through the dual-arc rack drive, and the X / Y axial centering adjustment range is realized. In conjunction with the closed-loop control of the resolution grating ruler, the three-dimensional spatial overlap between the CT isocenter point and the lesion target area is improved, meeting the mechanical positioning accuracy requirements of proton therapy (ISO 13485 standard).

[0181] At the same time, the accuracy of center point offset compensation is improved to meet the stringent requirements of center drift compensation such as proton therapy.

[0182] 2. Zero backlash arc transmission system The arc-shaped rack and involute transmission teeth adopt the modification coefficient correction technology to maintain a reasonable side clearance in the 90° swing range, and cooperate with the double worm gear anti-backlash reducer to improve the centering adjustment and repeat positioning accuracy.

[0183] 3. Multi-level guide anti-eccentric load design The arc-shaped guide groove 201d and the four-group pulley system form a full-circumferential constraint guide rail network, which can maintain the straightness error within a reasonable range when bearing asymmetric loads, thereby avoiding treatment deviation caused by displacement of the interventional surgical catheter.

[0184] 4. Compact modular architecture The nested layout of the upper and lower adjustment plates compresses the thickness of the three-dimensional centering mechanism, and the hollow through-hole design enables the wiring harness / coolant pipe to pass through the center, adapting to the narrow space of the intraoperative CT aperture.

[0185] In summary, through the original design of orthogonal arc surface transmission-multi-level constraint guidance, technological breakthroughs have been achieved in three dimensions: large-angle dynamic centering, high precision and robustness in extreme environments. Its three-dimensional real-time compensation capability meets the aerospace-grade precision instrument standard (MIL-STD-810G), providing a technical platform application scenario for ultra-precision medical scenarios such as heavy ion therapy and brain-computer interface surgery.

[0186] (6) Lateral main drive mechanism As Figure 3 , Figure 6 , Figure 8a shown, the patient positioning mechanism with multi - degree - of - freedom adjustment further includes a driving support 10, a rotating body 20, and a lateral main drive mechanism 80 for driving the whole multi - stage drive mechanism 30 to move significantly.

[0187] The lateral main drive mechanism 80 includes a main drive motor 801, a sprocket transmission mechanism 802 (or a belt transmission mechanism), and a support connection frame 803 connected to the centering adjustment mechanism 203.

[0188] The main drive motor 801 is connected to the sprocket transmission mechanism 802 through a reducer. The sprocket transmission mechanism 802 includes a transmission chain 802a, sprockets 802b, and a sprocket mounting bracket 802c for mounting the sprockets 802b.

[0189] The transmission chain 802a adopts a double - chain structure. Driven by the sprocket transmission mechanism 802, the support 10, the rotating body 20, and the multi - stage drive mechanism 30 as a whole achieve large - stroke lateral sliding along the second slide rail 208.

[0190] Among them, the multi - stage drive mechanism 30 includes the lifting component 40, the sliding drive component 50, the lateral sliding mechanism 60, the longitudinal sliding mechanism 70, and the lateral main drive mechanism 80 described above. The above - mentioned various levels of mechanisms cooperate with each other to achieve precise scanning and detection of patients in different body positions.

[0191] For the patient positioning mechanism with multi - degree - of - freedom adjustment, the innovative design of the lateral main drive mechanism 80 is specifically reflected in the following aspects: Large - stroke lateral movement ability: Through the lateral main drive mechanism 80, including the main drive motor 801, the sprocket transmission mechanism 802 (or the belt transmission mechanism), and the support connection frame 803, the support 10, the rotating body 20, and the multi - stage drive mechanism 30 as a whole achieve large - amplitude lateral movement along the second slide rail 208.

[0192] This design extends the stroke of the lateral main drive mechanism 80. Through the transmission of the sprocket 802b in cooperation with the second slide rail 208, it realizes a large - range lateral sliding of the support 10 and its attached mechanisms (far exceeding the movement range of traditional medical equipment).

[0193] For example, in the scenario of whole - body CT scanning, it can support the continuous movement of the scanning bed from the head to the feet, reducing the trouble of multiple patient positioning.

[0194] Stable and reliable transmission system: The main drive motor 801 is connected to the sprocket transmission mechanism 802 through a reducer 801a. The sprocket transmission mechanism 802 adopts a double - chain structure.

[0195] Adopting a double-chain structure, on the one hand, it enhances the stability and reliability of the transmission, ensuring that during the lateral movement, the supporting mechanism can remain stable, reducing vibration and deviation, thereby improving the safety and accuracy of the equipment.

[0196] On the other hand, it optimizes the dynamic response speed and efficiency. The main drive motor 801 directly drives the sprocket 802b through the speed reducer 801a. Combining with the low-friction characteristics of the double-chain, it significantly improves the dynamic response speed of the system. During emergency surgeries, the equipment position can be quickly adjusted to adapt to patients of different body types or the requirements of complex surgical postures.

[0197] Multi-degree-of-freedom adjustment function: This mechanism integrates a multi-stage drive mechanism 30, allowing the supporting mechanism to be adjusted in multiple degrees of freedom. This means that the medical supporting mechanism can not only move laterally but also be adjusted in other directions (such as longitudinally, vertically) to adapt to different medical needs and operation scenarios.

[0198] This multi-degree-of-freedom adjustment ability improves the versatility and flexibility of the equipment. The synergy with the centering adjustment mechanism 203: The linkage between the lateral main drive mechanism 80 and the centering adjustment mechanism 203 (such as the rotating body 20, multi-stage drive mechanism 30) realizes the composite adjustment of the equipment in multiple degrees of freedom of translation and rotation on the X / Y / Z axes.

[0199] Improve medical operation efficiency: Through large-stroke lateral movement and multi-degree-of-freedom adjustment, the medical supporting mechanism can more quickly locate to the required position and make precise adjustments. This helps to shorten the medical operation time, improve operation efficiency, and reduce the labor intensity of medical staff at the same time.

[0200] (VI) Usage method Such as Figures 14 - 19 shown, the usage method of the multi-degree-of-freedom adjustable patient positioning mechanism specifically includes the following steps: First, adjust the support body 10 to the target position through the multi-stage drive mechanism 30. For example, adjust the height of the support body 10 through the lifting component 40 and the sliding drive component 50, and adjust the lateral and longitudinal positions of the support body 10 through the lateral sliding mechanism 60 and the longitudinal sliding mechanism 70.

[0201] Then, drive the support body 10 to rotate circumferentially through the rotating body 20. For example, adjust the height of the turntable 201 through the turntable lifting mechanism 202, and adjust the left-right and front-back swing amplitudes of the support body 10 through the centering adjustment mechanism 203.

[0202] Finally, make fine adjustments in combination with the lateral sliding mechanism 60, the longitudinal sliding mechanism 70 and the centering adjustment mechanism 203 to adapt to vertical CT scanning, ensuring that accurate scan detections can be obtained for patients in different body positions.

[0203] As shown in Figure 10 and Figure 11 , the patient positioning mechanism with multi - degree - of - freedom adjustment further includes a leg support 1021, a pressing plate 1022, and a foot surface fixator 604, which are used to fix or limit the legs or feet of the patient. The leg support 1021 and the pressing plate 1022 are hinged to the angle adjustment assembly 103; the foot surface fixator 604 is slidably installed on the upper part of the installation platform 602.

[0204] In summary, the patient positioning mechanism with multi - degree - of - freedom adjustment in this embodiment realizes precise scanning detection of the patient in different body positions through the coordinated work of multiple groups of support plate assemblies 100, rotating bodies 20, and multi - stage drive mechanisms 30. This mechanism has the advantages of stable structure, flexible adjustment, and precise positioning, and can be widely applied in fields such as medical imaging examinations and radiotherapy, improving the utilization rate of medical equipment and the comfort of patients.

[0205] As shown in Figure 22 , the present invention also provides a CT scanning system, which includes a vertical CT scanning device 900 and an adjustable seat 901 that cooperates with the vertical CT. The adjustable seat 901 is equipped with this patient positioning mechanism with multi - degree - of - freedom adjustment.

[0206] As a preferred technical solution of this application, the CT scanning system further includes a rotating medical bed that cooperates with the vertical CT scanning system, and the medical bed can perform multi - stage adjustment in height.

[0207] Combined with the description of the above - mentioned related technical features, the innovative design of this CT scanning system is specifically reflected in the following aspects: The combination of the vertical CT scanning device 900 and the adjustable seat 901 enables the CT scanning system to be adjusted in multiple degrees of freedom. The patient positioning mechanism with multi - degree - of - freedom adjustment integrated in the adjustable seat 901 can adapt to the body shapes and postures of different patients, ensuring that the patient maintains a comfortable and stable position during the scanning process.

[0208] The above design not only improves the flexibility of scanning but also makes the scanning process more efficient because there is no need to frequently adjust the patient's position or scanning parameters.

[0209] The introduction of the rotating medical bed enables the CT scanning system to perform scans at different angles and heights. The multi - stage height adjustment function of the medical bed can adapt to the heights and body shapes of different patients, ensuring that the scanning area accurately covers the target part. This design improves the accuracy and precision of scanning, helping doctors diagnose the condition more accurately.

[0210] The design of the adjustable seat 901 and the rotating medical bed fully considers the comfort of patients. The multi-degree-of-freedom adjustment function of the seat can adapt to different postures and needs of patients, reducing the discomfort caused by long-term scanning. The height adjustment function of the medical bed enables patients to receive scans in the most comfortable way, improving the patient's medical experience.

[0211] The design scheme of this CT scanning system realizes high flexibility and adjustability by integrating a patient positioning mechanism with multi-degree-of-freedom adjustment, an adjustable seat 901, and a rotating medical bed. This design enables the CT scanning system to be applicable to a wider range of patient groups, including patients with different body types, ages, and conditions, improving the versatility and practicality of the device.

[0212] In addition, the efficient scanning system helps to optimize the medical process, reduce the waiting time of patients, and improve the utilization rate of medical resources. Doctors can obtain accurate scanning results more quickly, thereby making diagnoses and treatments more timely, improving the overall efficiency of medical services.

[0213] In summary, this CT scanning system realizes the improvement of scanning flexibility and efficiency, enhances scanning accuracy and precision, improves patient comfort, expands the applicable range, and promotes the optimization of the medical process by integrating a patient positioning mechanism with multi-degree-of-freedom adjustment, an adjustable seat 901, and a rotating medical bed.

[0214] By adopting the above technical solutions and combining with specific application scenarios, this application also has the following functions and can achieve the following technical effects: 1. Full-attitude vertical scanning compatibility The combination of vertical CT and a multi-degree-of-freedom support mechanism breaks through the limitations of traditional horizontal CT scanning, supports special position imaging such as sitting / standing / inverted (0° - 180°), realizes innovative modes such as full-length spinal standing load scanning and joint dynamic motion imaging, and improves the detection rate of lesions.

[0215] 2. Scan-treatment integrated workflow The multi-stage adjustment of the rotating medical bed is seamlessly docked with the vertical CT gantry, reducing the error of the patient's position from transportation to scanning and reducing the time consumption of pathology-imaging review.

[0216] 3. Multi-modal imaging adaptability The adjustable seat 901 and the rotating medical bed are quickly switched through the ISO 12052 standard interface, compatible with multi-modal devices such as intraoperative O-arm CT, PET-CT, DSA, etc., and meeting the multi-dimensional imaging guidance requirements of tumor ablation surgery.

[0217] 4. Dynamic load balancing optimization The system integrates a six-axis force and position sensing network, analyzes the patient's center of gravity distribution in real time, and automatically adjusts the stiffness distribution of the support mechanism to ensure the geometric fidelity of the image.

[0218] Through the deep integration of vertical CT - multi-degree-of-freedom support body - intelligent workflow, the present invention constructs a new patient positioning device and imaging platform with full posture / full modality / full scene, bringing a new solution to the radiotherapy terminal.

[0219] (VII) CT scanning system operation process: Step 1: Patient position adjustment The patient lies supine on the support body, the upper support component 101 extends, the lower support component 102 rotates to an inclined position, and the positioning handle 104 automatically locks the patient's shoulders and hips.

[0220] The lifting component 40 raises the support body to an appropriate height to match the aperture of the vertical CT scanning device 900.

[0221] Step 2: Circumferential scanning positioning The rotating body 20 drives the support body to rotate clockwise by 90°, making the patient lie on the side.

[0222] The centering adjustment mechanism 203 finely adjusts the angle of the support body to ensure that the spine is perpendicular to the CT ray.

[0223] Step 3: Multi-degree-of-freedom fine adjustment Move the transverse sliding mechanism 60 and adjust the longitudinal sliding mechanism 70 to accurately align the lesion area with the CT detector.

[0224] Fine-tune the height of the turntable lifting mechanism 202 to compensate for the patient's position error.

[0225] Step 4: Scanning execution The vertical CT scanning device 900 is started, and the support body maintains dynamic fine adjustment to track the patient's position change in real time and complete high-resolution imaging.

[0226] Implementation effect: The support mechanism can support the vertical CT to complete whole-body multi-site scans in sitting, lying, and inclined states, improving the positioning accuracy and shortening the scanning time. Clinical tests show that its adaptability to complex positions (such as scoliosis correction position) is improved.

[0227] Comparison table 2 of the technical effects between the traditional CT system and the CT scanning system:

[0228] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0229] In addition, the technical solutions between various embodiments may be combined with each other, provided that they can be implemented by those of ordinary skill in the art. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A patient positioning mechanism with multi - degree - of - freedom adjustment, characterized in that, It includes a support body (10), a rotating body (20) for driving the circumferential rotation of the support body (10), and a multi-stage driving mechanism (30) for driving the support body (10); driven by the multi-stage driving mechanism (30), through the cooperation of the support body (10) and the rotating body (20) with the CT, it matches the scanning examination and / or centering treatment of multi-dimensional different body positions in sitting, lying, and inclined states.

2. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 1, characterized in that: The support body (10) includes an upper support component (101) and a lower support component (102), the lower support component (102) is connected to the upper support component (101), the upper support component (101) can rotate circumferentially relative to the connection point, and the rotation angle of the upper support component (101) relative to the lower support component is 90° - 180°.

3. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 2, characterized in that: The upper support component (101) is a multi-level telescopic structure (101a), which can be freely extended or contracted to provide support for the lying position, standing position or inclined position, and at the same time perform head and neck and back positioning.

4. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 3, characterized in that: The lower support component (102) is connected to the upper support component (101) through an angle adjustment component (103), the upper support component (101) and the angle adjustment component (103) are hinged for adjusting the backrest angle; the lower support component (102) and the angle adjustment component (103) are hinged, and the sitting and standing postures are switched by adjusting the seat cushion angle.

5. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 3, characterized in that: The upper support component (101) further includes positioning handles (104); the positioning handles (104) are distributed on both sides of the upper support component (101) and can be adjusted in the same or opposite directions along the upper support component (101) to adapt to the position positioning of different body positions; when the patient is in the lying position, standing position or inclined position, it is used for the positioning of the left and right body positions to cooperate with the positioning scan or centering treatment.

6. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 1, characterized in that: A lifting component (40) and a sliding driving component (50) for driving the lifting component (40) are provided between the support body (10) and the rotating body (20).

7. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 6, characterized in that: The lifting component (40) includes two-stage lifting mechanisms, namely a first lifting mechanism (402) and a second lifting mechanism (403); The first lifting mechanism (402) and the second lifting mechanism (403) are arranged in a parallelogram structure; One connecting rod of the first lifting mechanism (402) is hinged to the installation platform, and the other connecting rod is hinged to the sliding driving component (50), and the sliding driving component is driven through a lead screw mechanism, and then the two-stage lifting mechanism is driven to lift and lower to adjust the height of the support body.

8. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 7, characterized in that: An angle adjustment component (103) is provided between the second lifting mechanism (403) and the support body (10), and the angle adjustment component (103) is hinged to the second lifting mechanism (403); The angle adjustment component (103) includes an angle adjustment link component (1031) and a guide shaft (1032); the angle adjustment link component (1031) is in an equilateral triangle structure; the guide shaft (1032) Pass through the angle adjustment link assembly; during the lifting process, the guide shaft (1032) is used to keep the upper surface of the angle adjustment assembly (103) parallel to the mounting platform (602).

9. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 6, characterized in that: The sliding drive assembly (50) includes a slider assembly (501) and a sliding link (502).

10. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 9, characterized in that: The slider assembly (501) includes a transverse slide rail (501a) and a slider (501b); One end of the slider (501b) is hinged to one end of the sliding link (502), and the other end of the sliding link (502) is hinged to the first lifting mechanism (402); Driven by the power mechanism (503), the slider (501b) moves along the transverse slide rail (501a), driving the sliding link (502) to drive the first lifting mechanism (402) and the second lifting mechanism (403) to lift, thereby adjusting the lifting height of the lower support assembly (102).

11. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 4, characterized in that: The angle adjustment assembly (103) includes a connecting plate (103a) and an angle adjustment drive module (103b). One end of the connecting plate (103a) is connected to the upper support assembly (101), and the angle adjustment drive module (103b) is used to adjust the angle of the upper support assembly (101), thereby adjusting the angle of the inclined body position.

12. The patient positioning mechanism with multi - degree - of - freedom adjustment according to any one of claims 6 - 8, characterized in that: Further, a transverse sliding mechanism (60) and a longitudinal sliding mechanism (70) are provided between the lifting assembly (40) and the rotating body (20) for short-distance fine adjustment of the transverse displacement and longitudinal displacement of the support body (10).

13. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 12, characterized in that: The transverse sliding mechanism (60) includes a second slider assembly (601) and a mounting platform (602) provided on the upper part of the second slider assembly (601); the support body is installed on the upper part of the mounting platform (602) through the lifting assembly (40); The second slider assembly (601) includes a second transverse guide rail (601a) and a second slider (601b) provided on the upper part of the second transverse guide rail (601a); During operation, driven by the first drive mechanism (603), the support body (10) slides transversely as a whole, thereby performing a small transverse displacement adjustment of the support body.

14. The patient positioning mechanism with multi - degree - of - freedom adjustment according to claim 12, characterized in that:The longitudinal sliding mechanism (70) includes a longitudinal slide rail (701) and a longitudinal slider (702) slidably installed on the longitudinal slide rail (701); the longitudinal slider (702) is connected to the mounting platform (602) of the transverse sliding mechanism (60); Driven by the second drive mechanism (703), the support body (10) is driven to slide longitudinally, thereby performing a small longitudinal displacement adjustment of the support body (10) as a whole.

15. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 1, characterized in that: The rotating body (20) includes a turntable (201), a turntable drive assembly (201k) for driving the turntable (201) to rotate, a turntable lifting mechanism (202) for driving the turntable (201) to lift, and a centering adjustment mechanism (203).

16. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 15, characterized in that: The turntable lifting mechanism (202) is provided at the bottom of the turntable (201). The turntable lifting mechanism (202) includes a lifting drive mechanism (202a), a multi-stage lifting screw rod (202b), and a turntable connecting member (202c) provided in cooperation with the multi-stage lifting screw rod (202b).

17. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 16, characterized in that: The lifting drive mechanism (202a) is connected to one end of a multi-stage lifting lead screw (202b) through a first actuator assembly (202d). The other end of the multi-stage lifting lead screw (202b) is connected to a turntable connecting member (202c). An externally toothed turntable bearing (202e) is provided on the turntable connecting member (202c). The toothed turntable bearing (202e) is connected to a turntable drive assembly (201k). The turntable drive assembly (201k) is configured to drive the toothed turntable bearing (202e) to rotate, thereby driving the turntable (201) to rotate.

18. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 15, characterized in that: The centering adjustment mechanism (203) includes an upper centering adjustment assembly (203a), a lower centering adjustment assembly (203b), and a centering adjustment drive mechanism for adjusting the swing amplitude of the upper centering adjustment assembly (203a) and the lower centering adjustment assembly (203b).

19. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 18, characterized in that: The upper centering adjustment assembly (203a) and the lower centering adjustment assembly (203b) are arranged in an arc shape, and are arranged in a cross shape with an upper and lower stagger. The rotation axes of the upper centering adjustment assembly (203a) and the lower centering adjustment assembly (203b) intersect at a point in space with the turntable rotation axis, and also intersect with the beam axis of the treatment head.

20. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 18, characterized in that: On both sides of the upper part of the arc surface of the upper centering adjustment assembly (203a), there are first arc-shaped racks (203a-1); the first arc-shaped racks (203a-1) are engaged with the first gears (203c-2a) of the first centering adjustment drive mechanism (203c); in the concentric state, by adjusting the left and right swing amplitudes of the upper centering adjustment assembly (203a), concentric adjustment of the support body (10) and the rotating body (20) is performed.

21. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 20, characterized in that: On both sides of the upper centering adjustment assembly (203a), first guide grooves (203a-4) are provided, and the first guide grooves (203a-4) are adapted to a first guide pulley set (204c) provided at the bottom of the bottom plate (204).

22. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 20, characterized in that: At the bottom of the upper centering adjustment assembly (203a), a second guide pulley set (203a-5) and a limit pulley set (203a-6) are provided.

23. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 18, characterized in that: On both sides of the upper part of the arc surface of the lower centering adjustment assembly (203b), there are second arc-shaped racks (203b-1); the second arc-shaped racks (203b-1) are engaged with the second gears (203d-1) of the second centering adjustment drive mechanism (203d); in the concentric state, by adjusting the front and back swing amplitudes of the lower centering adjustment assembly (203b), concentric adjustment of the support body (10) and the rotating body (20) is performed.

24. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 23, characterized in that: On both sides of the lower centering adjustment assembly (203b), second guide grooves (203b-4) are provided, and the second guide grooves (203b-4) are adapted to the second guide pulley set (203a-5) and the limit pulley set (203a-6) provided at the bottom of the upper centering adjustment assembly (203a).

25. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 23, characterized in that: A slider group (203b-5) is provided at the bottom of the lower centering adjustment component (203b), and the lower centering adjustment component (203b) is slidably mounted on a second slide rail (208) provided at the bottom through the slider group (203b-5).

26. The multi-degree-of-freedom adjustable patient positioning mechanism according to any one of claims 18 - 25, characterized in that: The centers of the movement trajectories of the upper centering adjustment component (203a) and the lower centering adjustment component (203b) are concentrically arranged.

27. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 1, characterized in that: It further includes a lateral main driving mechanism (80), and the lateral main driving mechanism (80) moves along with the centering adjustment mechanism (203) and is used to drive the bottom plate to translate along with the support body (10).

28. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 1, characterized in that: It further includes a leg support (1021), a pressing plate (1022) and a foot surface fixator (604) for fixing or limiting the legs or feet of a patient; the leg support (1021) and the pressing plate (1022) are hinged to an angle adjustment component (103); the foot surface fixator (604) is slidably mounted on the upper part of the mounting platform (602).

29. A method for using a multi-degree-of-freedom adjustable patient positioning mechanism, characterized in that: It includes the multi-degree-of-freedom adjustable patient positioning mechanism according to any one of claims 1-28, and is characterized by the following steps: S1. Posture adjustment: Adjust the patient's body position angle through the support body and the rotating body, and in combination with the centering adjustment mechanism, so as to switch between the scanning position and the treatment position; S2. Position adjustment: Complete the target positioning of the patient by the lateral sliding of the lateral sliding mechanism and the lifting of the multi-stage lifting screw rod, in cooperation with the lifting of the seat; S3. Combining the above-mentioned posture adjustment and position adjustment, driven by the multi-stage driving mechanism, perform multi-degree-of-freedom posture transformation, decouple the patient's target, so that during the rotation treatment process, the target coincides with the isocenter of radiotherapy at any posture of the patient, so as to adapt to vertical CT scanning and / or centering treatment.

30. A CT scanning system, characterized in that: It includes a vertical CT scanning device (900), an adjustable seat (901) cooperating with the vertical CT and a scanning bed, and the adjustable seat (901) is installed with the multi-degree-of-freedom adjustable patient positioning mechanism according to any one of claims 1-28.

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