Patient positioning mechanism with multi-degree-of-freedom adjustment, use method, and CT scanning system

Abstract

The present invention belongs to the technical field of medical equipment, and discloses a patient positioning mechanism with multi-degree-of-freedom adjustment, a method of use, and a CT scanning system. The mechanism includes a support body, a rotating body, and a multi-stage drive mechanism. The support body includes an upper support assembly and a lower support assembly. The upper support assembly adopts a multi-stage telescopic structure to adapt to the dynamic switching of lying, standing, and tilted positions. A lifting assembly and a sliding drive assembly are provided between the support body and the rotating body, and height adjustment is achieved through a lifting rod and a slider connecting rod mechanism; at the same time, a lateral sliding mechanism and a longitudinal sliding mechanism are integrated for fine adjustment. The rotating body is equipped with a turntable lifting mechanism and a centering adjustment mechanism, and concentric calibration is achieved through the engagement of an arc-shaped centering assembly with a gear rack to ensure dynamic coincidence of the patient target point with the center point of radiotherapy. The present invention solves the problems of single body position adaptation and low positioning accuracy of traditional equipment through multi-dimensional collaborative adjustment, adapts to scanning and radiotherapy scenarios, and improves diagnosis and treatment efficiency and patient comfort.

Description

Technical Field

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

[0002] In the fields of medical imaging diagnosis and radiotherapy, precise patient positioning is crucial for ensuring CT scan image quality and alignment of the treatment isocenter. Traditional CT scanning systems rely on a fixed scanning bed, which adjusts the patient's position through simple translation or rotation. However, these systems have significant limitations. First, patients must passively adapt to the device's posture, making multi-dimensional adjustments difficult, especially in complex scenarios like sitting or tilted positions. This results in low positioning efficiency and poor comfort. Second, existing positioning mechanisms have limited degrees of freedom and lack the ability to dynamically decouple the target. This can easily lead to isocenter misalignment when switching between scanning and treatment positions due to body position deviations, compromising treatment accuracy.

[0003] In recent years, with the increasing demand for precision medicine, multimodal image-guided treatment technology has placed higher demands on the flexibility of positioning mechanisms. Some improvement plans have attempted to introduce adjustable seats or auxiliary support structures, but there are still problems with a single adjustment dimension 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 achieve synchronous lateral / longitudinal fine-tuning and centering compensation, which complicates the alignment process between the patient's target and the center of the device. In addition, 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 in combination 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 structure 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 assembly, a lateral / longitudinal sliding mechanism and a centering adjustment module, it can achieve full-dimensional precise control of the patient's position, meet the needs of dynamic decoupling of targets in vertical CT scanning and radiotherapy, and improve diagnosis and treatment efficiency and patient comfort.

[0007] In order 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 support body to rotate circumferentially, and a multi-stage driving mechanism for driving the support body; under the drive of the multi-stage driving mechanism, the support body and the rotating body cooperate with the CT to match the multi-dimensional scanning examination and / or centering treatment in sitting, lying, and tilted states.

[0008] By adopting the above technical solutions:

[0009] This application adopts the coordinated control of multi-stage drive mechanism and rotating body. The support body can be precisely adjusted within the range of six degrees of freedom to achieve rapid switching of various postures such as sitting, lying, and tilting, meeting the scanning requirements of vertical CT for complex postures. It is especially suitable for precise imaging of special patients with spinal curvature, limited joint movement, etc., achieving full posture adaptability and improving scanning coverage.

[0010] This application utilizes multiple support plate assemblies with a modular flexible hinge design that adapts to the patient's body shape, maintains evenly distributed local pressure during position adjustment, and reduces micro-movements caused by patient discomfort. Combined with the high-precision servo drive of the rotating body, this ensures stable position during scanning, reduces the risk of image blur, and improves diagnostic accuracy, thereby achieving dynamic stable support and reducing motion artifacts.

[0011] This application is different from traditional CT, which requires patients to actively cooperate in adjusting their body positions. This mechanism automatically synchronizes with the vertical CT scanning trajectory through a preset programmed path, reducing the equipment's idle waiting time, improving overall detection efficiency, realizing vertical CT collaborative optimization operations, and shortening the detection cycle.

[0012] In addition to the above technical features, this application also makes improvements in the following aspects:

[0013] As a preferred technical solution of the present application, the support body includes an upper supporting assembly and a lower supporting assembly, the lower supporting assembly is connected to the upper supporting assembly, the upper supporting assembly can rotate circumferentially relative to the connection point, and the rotation angle of the upper supporting assembly relative to the lower supporting assembly is 90°-180°.

[0014] As a preferred technical solution of the present application, the upper support component is a multi-level telescopic structure that can be freely extended or contracted to provide support for lying position, standing position or inclined position, and simultaneously perform back positioning.

[0015] As a preferred technical solution of the present application, the lower support assembly is connected to the upper support assembly through an angle adjustment assembly, and the angle adjustment assembly is used to adjust the rotation angle between the upper support assembly and the lower support assembly; thereby adapting to scanning or centering treatment in different body postures.

[0016] As a preferred technical solution of the present application, the upper support assembly further includes a positioning handle; the positioning handle is distributed on both sides of the upper support assembly and can be adjusted in the same direction or opposite direction along the upper support assembly to adapt to the positioning of different body positions; when the patient is in a lying position, a standing position or an inclined position, it is used for left and right body positioning to cooperate with positioning scanning or centering treatment.

[0017] As a preferred technical solution of the present application, a lifting assembly and a sliding drive assembly for driving the lifting assembly are provided between the support body and the rotating body.

[0018] As a preferred technical solution of the present application, the lifting assembly 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, and the height of the support body is adjusted by adjusting the lifting of the first lifting mechanism and the second lifting mechanism.

[0019] As a preferred technical solution of the present application, an angle adjustment link is provided between the lifting assembly and the support body; the angle adjustment link is connected to the second lifting mechanism for adjusting the angular position of the lower supporting assembly; the other end of the angle adjustment link is connected to the angle adjustment assembly.

[0020] As a preferred technical solution of the present application, the sliding drive assembly includes a slider assembly and a sliding connecting rod.

[0021] As a preferred technical solution of the present application, the slider assembly includes a transverse slide rail and a slider;

[0022] 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;

[0023] Driven by the power mechanism, the slider moves along the transverse slide rail, driving the sliding connecting rod to lift the first lifting mechanism and the second lifting mechanism, thereby adjusting the lifting height of the lower supporting assembly.

[0024] As a preferred technical solution of the present application, the angle adjustment assembly includes a connecting plate and an angle adjustment drive module, one end of the connecting plate is connected to the upper support assembly, and the angle adjustment drive module is used to adjust the angle of the upper support assembly, thereby adjusting the angle of the tilted body position.

[0025] As a preferred technical solution of the present application, a lateral sliding mechanism and a longitudinal sliding mechanism are further provided between the lifting assembly and the rotating body for performing short-distance fine adjustment of the lateral displacement and longitudinal displacement of the support body.

[0026] 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 portion of the second slider assembly; the support body is mounted on the upper portion of the mounting platform via a lifting assembly;

[0027] The second slider assembly includes a second transverse guide rail and a second slider disposed on an upper portion of the second transverse guide rail;

[0028] During operation, driven by the first driving mechanism, the supporting body as a whole slides laterally, thereby adjusting the supporting body to a small lateral displacement.

[0029] 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 transverse sliding mechanism;

[0030] Driven by the second driving mechanism, the support body is driven to slide longitudinally, thereby adjusting the overall longitudinal displacement of the support body in a small amplitude.

[0031] As a preferred technical solution of the present application, the rotating body includes a turntable, a turntable driving assembly for driving the turntable to rotate, a turntable lifting mechanism for driving the turntable to lift and lower, and a centering adjustment mechanism.

[0032] As a preferred technical solution of the present application, the turntable lifting mechanism is arranged at the bottom of the turntable, and the turntable lifting mechanism includes a lifting drive mechanism, a multi-stage lifting screw rod and a multi-stage slide rail assembly arranged in conjunction with the multi-stage lifting screw rod.

[0033] As a preferred technical solution of the present application, the lifting drive mechanism is connected to one end of the multi-stage lifting screw through a first actuator, and the other end of the multi-stage lifting screw is connected to a turntable connecting piece. A toothed turntable bearing is provided on the outside of the turntable connecting piece, and the toothed turntable bearing is connected to a turntable drive assembly, and the turntable drive assembly is used to drive the toothed turntable bearing to rotate, thereby driving the turntable to rotate.

[0034] 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 drive mechanism for adjusting the swing amplitude of the upper centering adjustment component and the lower centering adjustment component.

[0035] As a preferred technical solution of the present application, the upper centering adjustment component and the lower centering adjustment component are arranged in an arc shape, and are staggered up and down to form a cross distribution.

[0036] As a preferred technical solution of the present application, first arc-shaped racks are provided on both sides of the upper part of the arc-shaped surface of the upper centering adjustment component; the first arc-shaped rack is engaged with the first gear of the first centering adjustment drive mechanism; in the concentric state, the support body and the rotating body are concentrically adjusted by adjusting the left and right swing amplitudes of the upper centering adjustment component.

[0037] As a preferred technical solution of the present application, first guide grooves are provided on both sides of the upper centering adjustment component, and the first guide grooves are adapted to the first guide pulley assembly provided at the bottom of the base plate.

[0038] As a preferred technical solution of the present application, a second guide pulley set and a limiting pulley set are provided at the bottom of the upper centering adjustment assembly.

[0039] As a preferred technical solution of the present application, second arc-shaped racks are provided on both sides of the upper part of the arc-shaped surface of the lower centering adjustment component; the second arc-shaped rack is engaged with the second gear of the second centering adjustment drive mechanism, and in the concentric state, the support body and the rotating body are concentrically adjusted by adjusting the forward and backward swing amplitude of the lower centering adjustment component.

[0040] As a preferred technical solution of the present application, second guide grooves are provided on both sides of the lower centering adjustment component, and the second guide grooves are adapted to the second guide pulley set and the limiting pulley set provided on the bottom of the upper centering adjustment component.

[0041] As a preferred technical solution of the present application, a slider group is provided at the bottom of the lower centering adjustment component, and the lower centering adjustment component is slidably installed on a second slide rail provided at the bottom through the slider group.

[0042] As a preferred technical solution of the present application, the centers of the motion trajectories of the upper centering adjustment component and the lower centering adjustment component are concentrically arranged.

[0043] As a preferred technical solution of the present application, it also includes a transverse main driving mechanism that drives the supporting body, the rotating body and the multi-stage driving mechanism to move as a whole in a large range.

[0044] As a preferred technical solution of the present application, it also includes a leg rest, a pressure plate and a foot fixer for fixing or limiting the patient's legs or feet.

[0045] Another aspect of the present invention provides a method for using a patient positioning mechanism with multiple degrees of freedom adjustment, including the patient positioning mechanism with multiple degrees of freedom adjustment described above, wherein the method comprises the following steps:

[0046] S1. Body position adjustment: The patient's body position angle is adjusted through the support body and the rotating body in combination with the centering adjustment mechanism, thereby switching between the scanning position and the treatment position;

[0047] S2. Position adjustment: The patient's target position is achieved through the lateral sliding of the lateral sliding mechanism and the lifting and lowering adjustment of the multi-stage lifting screw, in conjunction with the lifting of the chair;

[0048] S3. Combining the above-mentioned posture adjustment and position adjustment, multi-degree-of-freedom posture transformation is performed through a multi-stage drive mechanism to decouple the patient target point so that the target point during the rotation treatment coincides with the isocenter of the radiotherapy in any posture of the patient, so as to adapt to vertical CT scanning and / or centering treatment.

[0049] The third aspect of the present invention further provides a CT scanning system, comprising a vertical CT scanning device and an adjustable chair and a scanning bed matched with the vertical CT, wherein the adjustable chair is equipped with the multi-degree-of-freedom adjustable patient positioning mechanism.

[0050] By adopting the above technical solution, the present invention has at least one of the following beneficial effects:

[0051] 1. Flexible adaptation and precise positioning in multiple body positions

[0052] Through the multi-degree-of-freedom coordinated adjustment of the support body and the rotating body (such as circumferential rotation, lifting, and lateral / longitudinal sliding), it is possible to seamlessly switch between sitting, lying, and tilted positions (90°-180° adjustment range), meeting the multi-dimensional posture requirements of vertical CT multi-angle scanning and radiotherapy.

[0053] The multi-level telescopic structure of the upper support component and the linkage adjustment of the positioning handle enable rapid positioning of the back and limbs, ensuring stable support and precise alignment of the target points for patients in different body postures.

[0054] 2. Dynamic centering compensation and target decoupling

[0055] The centering adjustment mechanism is driven by the cross-shaped arc motion of the upper and lower centering adjustment components and the engagement of the gear rack to dynamically compensate for the concentric deviation between the support body and the rotating body, ensuring that the patient's target point always coincides with the center point of the equipment when the body position is switched.

[0056] Combining the fine-tuning functions of the lateral sliding mechanism, longitudinal sliding mechanism and lifting assembly, rapid decoupling of the target position and treatment field is achieved, reducing the impact of mechanical errors on treatment accuracy.

[0057] 3. High-precision coordinated drive and structural stability

[0058] The multi-stage drive mechanism collaboratively controls the lifting assembly, angle adjustment connecting rod and sliding drive assembly, and achieves millimeter-level displacement adjustment through the multi-stage lifting screw, slide rail assembly and transmission mechanism, thereby improving positioning repeatability.

[0059] The combined design of the turntable lifting mechanism and the transverse main drive mechanism takes into account the needs of large-scale movement and local fine-tuning, enhancing the adaptability of the equipment to complex treatment scenarios.

[0060] 4. Improved operational convenience and clinical efficiency

[0061] The turntable drive assembly of the rotating body and the centering adjustment drive mechanism are integrated into the design. Position switching, height adjustment and centering calibration can be completed through a single operation interface, simplifying the operation process.

[0062] The modular design of auxiliary fixation devices such as leg rests and compression plates can adapt to patients of different body sizes, reduce positioning time, and improve scanning and treatment efficiency.

[0063] 5. Compatibility and scalability optimization

[0064] The short-distance fine-tuning function of the lateral sliding mechanism and the longitudinal slide rail can adapt to the spatial layout of different models of CT equipment and enhance system compatibility; the combination of angle adjustment components and multi-stage telescopic structure provides a technical basis for the future expansion of more posture modes (such as half-kneeling position and side-lying position).

[0065] 6. This application realizes seamless switching between sitting, lying and tilted positions through the coordinated driving of the support body and the rotating body, combined with the lifting assembly, the lateral / longitudinal sliding mechanism and the centering adjustment assembly. The body position adaptation range is expanded by adopting a multi-level telescopic structure and an angle adjustment assembly; the high-precision coincidence of the target and the isocenter is ensured through the dynamic compensation mechanism of the centering adjustment mechanism and the rotating body; the target decoupling and micron-level positioning are realized by combining the lateral main drive mechanism and the multi-stage lifting screw. This design not only improves the compatibility of multi-position scanning, but also can be deeply integrated with the vertical CT system to provide a reliable positioning basis for precise radiotherapy.

[0066] In summary, this mechanism solves the problems of target misalignment and low adjustment efficiency of traditional CT positioning systems in complex body postures through multi-dimensional degree of freedom coordinated adjustment, dynamic centering compensation and high-precision drive control, significantly improving the accuracy of image-guided treatments (such as radiotherapy) and clinical operation efficiency, providing reliable technical support for precision medicine. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0068] Figure 1 This is a schematic diagram of the overall structure of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention;

[0069] Figure 2 This is a structural schematic diagram of the patient positioning mechanism with multiple degrees of freedom adjustment according to the present invention, with emphasis on the rear portion. Figure 2a It is the lifting state 1 of the lifting mechanism;

[0070] Figure 2b It is the lifting state 2 of the lifting mechanism;

[0071] Figure 2c The lifting mechanism is in lifting state three;

[0072] Figure 3 This is a structural diagram of the patient positioning mechanism with multiple degrees of freedom adjustment according to the present invention, with a focus on the bottom; Figure 3a A schematic diagram highlighting the structure of the turntable drive assembly and the turntable lifting mechanism;

[0073] Figure 4 A top view of the patient positioning mechanism with multiple degrees of freedom adjustment according to the present invention;

[0074] Figure 5 for Figure 4 sectional view of

[0075] Figure 6 A partially cutaway stereoscopic view of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention;

[0076] Figure 7 This is a front view of the patient positioning mechanism with multiple degrees of freedom adjustment according to the present invention;

[0077] Figure 8 for Figure 7 sectional view of

[0078] Figure 8a A schematic diagram of the structure of the centering adjustment drive mechanism and the centering adjustment mechanism is provided to highlight the focus;

[0079] Figure 9 This is a left view of the patient positioning mechanism with multiple degrees of freedom adjustment according to the present invention;

[0080] Figure 10 Diagram of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention in a standing and unfolded state;

[0081] Figure 11This is a state diagram of the patient positioning mechanism with multiple degrees of freedom adjustment according to the present invention in a human body standing position;

[0082] Figure 12 The effect diagram of the patient positioning mechanism with multi-degree-of-freedom adjustment according to the present invention in different rotation angles is shown;

[0083] Figure 13 The patient positioning mechanism with multi-degree-of-freedom adjustment and the treatment head are used in conjunction with each other. Figure 1 ;

[0084] Figure 14 The patient positioning mechanism with multi-degree-of-freedom adjustment and the treatment head are used in conjunction with each other. Figure 2 ;

[0085] Figure 15 This is a diagram showing the present invention in combination with vertical CT in the sitting or standing position.

[0086] Figure 16 This is a diagram showing the present invention being used in combination with vertical CT in an inclined position;

[0087] Figure 17 This is a diagram showing the present invention in combination with vertical CT in a supine position;

[0088] Figure 18 The present invention is used in combination with vertical CT and treatment head Figure 1 ;

[0089] Figure 19 The present invention is used in combination with vertical CT and treatment head Figure 2 ;

[0090] Figure 19a This is a schematic structural diagram of a virtual spatial intersection point between the rotation axes of the upper and lower centering adjustment components and the rotation axis of the turntable in the centering adjustment structure of the present invention;

[0091] Figure 20 The present invention is used in combination with vertical CT and treatment head Figure 3 ;

[0092] Figure 21 This is a state diagram of the present invention used in combination with vertical CT for head scanning;

[0093] Figure 22 This is a state diagram of the present invention being used in combination with a rotating medical bed and a vertical CT.

[0094] The numbers in the figure are as follows:

[0095] The numbers in the figure are as follows:

[0096] (1) Overall structure and supporting components:

[0097] 10. Support body;

[0098] 100. Support plate assembly;

[0099] 101. Upper support assembly; 101a. Multi-level telescopic structure;

[0100] 102, lower support assembly; 1021, leg support; 1022, pressure plate;

[0101] 20. Rotating body;

[0102] 204, bottom plate; 204c, first guide pulley assembly; 205, vertical inner plate; 206, vertical outer plate; 207, vertical guide rail; 207a, double-row vertical guide rail;

[0103] (2) Driving and transmission components:

[0104] 30. Multi-stage drive mechanism;

[0105] 40. Lifting assembly;

[0106] 401, mounting seat; 402, first lifting mechanism; 403, second lifting mechanism; 404, angle adjustment connecting rod;

[0107] 50. Sliding drive assembly;

[0108] 501, slider assembly; 502, sliding link; 501a, transverse slide rail; 501b, slider; 502a, connecting block; 502b, hinge shaft; 503, power mechanism;

[0109] 80. Transverse 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;

[0110] (3) Rotating and lifting parts:

[0111] 201, turntable; 201a, left curved disk; 201b, right curved disk; 201c, center disk; 201d, guide groove; 201e, center hole; 201f, annular mounting groove; 201g, annular rack; 201h, guide rail mounting groove; 201k, turntable drive assembly;

[0112] 202, turntable lifting mechanism; 202a, lifting drive mechanism; 202b, multi-stage lifting screw; 202c, turntable connecting member; 202d, first actuator; 202e, toothed turntable bearing;

[0113] (4) Centering and adjustment components:

[0114] 203. Centering adjustment mechanism;

[0115] 203a, upper centering adjustment assembly; 203b, lower centering adjustment assembly; 203a-1, first arcuate rack; 203a-2, second through hole; 203a-3, first mounting slot; 203a-4, first guide slot; 203a-5, second guide pulley assembly; 203a-6, limiting pulley assembly; 203b-1, second arcuate rack; 203b-2, third through hole; 203b-3, second mounting slot; 203b-4, second guide slot; 203b-5, slider assembly;

[0116] 203c, first centering adjustment drive mechanism; 203c-1, power motor; 203c-2, second actuator; 203c-2a, first gear;

[0117] 203d, second centering adjustment drive mechanism; 203d-1, second gear;

[0118] (5) Sliding and guiding components:

[0119] 60. Transverse sliding mechanism; 601. Second slider assembly; 601a. ​​Second transverse guide rail; 601b. Second slider; 602. Mounting platform; 602a. Side panel; 603. First driving mechanism; 604. Foot fixer.

[0120] 70. Longitudinal sliding mechanism; 701. Longitudinal slide rail; 702. Longitudinal slider; 703. Second driving mechanism;

[0121] 208, second slide rail;

[0122] (6) Connection and auxiliary components:

[0123] 103, angle adjustment assembly; 1031, angle adjustment connecting rod assembly; 1032, guide shaft; 103a, connecting plate; 103b, angle adjustment drive module; 103b-1, reduction motor; 103b-2, rotating shaft;

[0124] 104. Positioning handle;

[0125] (7) Other functional components:

[0126] 900. Vertical CT scanning device;

[0127] 901, adjustable seat;

[0128] 902. Rotating medical bed. DETAILED DESCRIPTION

[0129] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0130] 1. Explanation of Descriptive Terms in the Present Invention

[0131] The embodiments of the present invention are provided in conjunction with the technical solutions to make the present invention more thorough and complete and to fully convey 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 components described in these embodiments should be interpreted as merely exemplary and not as a limitation of the technical solutions of the present invention.

[0132] When used in this disclosure, directional terms such as "upper," "lower," "left," "right," "bottom," and "top" are defined relative to the directions in the accompanying drawings and are intended only to indicate relative positional relationships. These relative positional relationships may change accordingly if the absolute positions of the objects being described change. These and other directional terms should not be construed as restrictive.

[0133] In the present invention, words such as "a," "an," "an," and "the" do not limit the number and may refer to the singular or plural. The terms "include," "comprising," "having," and any variations thereof, as used in the present invention, are intended to cover non-exclusive inclusions. The terms "first," "second," and "third," etc., used in the present invention, are merely used to distinguish similar objects and do not indicate a specific ordering of the objects.

[0134] In the present invention, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be directly connected to the other device but with an intervening device.

[0135] In addition, the present invention does not discuss in detail the technologies and equipment known to ordinary technicians in the relevant fields, but where appropriate, the technologies and equipment should be considered as part of the specification.

[0136] 2. Core technical issues to be solved by the technical solution of this application

[0137] Existing medical image positioning technologies face multiple challenges: traditional CT systems rely on fixed scanning beds and only support limited translation or rotation. Patients need to passively adapt to the posture of the equipment, resulting in low efficiency and poor comfort in complex body positioning. Even if the improved solution introduces adjustable seats or auxiliary structures, there are still problems with single adjustment dimensions and insufficient mechanism coordination, such as limited tilt angles, poor coupling between lifting and rotation, and difficulty in achieving dynamic decoupling of targets and precise alignment of isocenters. Centering mechanisms mostly use rigid connections and lack dynamic concentric adjustment capabilities. Changes in body position can easily introduce mechanical errors, affecting multimodal imaging and treatment coordination. Although the rotation-translation combination or arc-shaped base design proposed in some patents improves flexibility, it has defects such as large cantilever space occupation, limited positioning accuracy or narrow scope of application. It still cannot meet the needs of vertical CT scanning and radiotherapy for full-dimensional, high-precision dynamic positioning.

[0138] 3. Based on the above problems, the present invention specifically provides a technical solution to solve the above problems. The technical solution, working principle and technical effects of the present invention are described in detail below with reference to specific embodiments.

[0139] Example 1

[0140] In view of the above problems, this embodiment provides a patient positioning mechanism with multi-degree-of-freedom adjustment. The technical solution, working principle and technical effects of the present invention are described in detail below in conjunction with specific embodiments.

[0141] (I) Overview of the overall structure

[0142] like Figure 1 、 Figure 2 、 Figure 3 As shown, this embodiment provides a patient positioning mechanism with multi-degree-of-freedom adjustment, which mainly includes three parts: a support body 10 , a rotating body 20 and a multi-stage driving mechanism 30 .

[0143] The support body 10 is composed of multiple groups of support plate assemblies 100. The rotating body 20 drives the support body 10 to rotate circumferentially, and the multi-stage drive mechanism 30 provides power for multi-degree-of-freedom movement, realizing multi-dimensional scanning and detection in sitting, lying, and tilted states, and cooperating with vertical CT to match different body positions.

[0144] (2) Support structure

[0145] The support body 10 is composed of multiple groups of mutually cooperating support plate assemblies 100, including an upper support assembly 101 and a lower support assembly 102. The upper support assembly 101 adopts a multi-level telescopic structure 101a, for example, composed of three sections of retractable plates. Each section of the plate 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 lying, standing, or reclining positions. The upper support assembly 101 is provided with a positioning handle 104 at each end. The positioning handle 104 can be adjusted in the same direction or opposite direction along the upper support assembly 101 to adapt to different body positions.

[0146] The lower supporting assembly 102 is connected to the upper supporting assembly 101 via an angle adjustment assembly 103 . The angle adjustment assembly 103 includes a connecting plate 103 a and an angle adjustment driving module 103 b .

[0147] One end of the connecting plate 103a is fixedly connected to the upper support assembly 101, and the other end is hinged to the lower support assembly 102. Angle adjustment drive module 103b is located 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 support assembly 101 is adjusted, achieving precise adjustment of the sitting position.

[0148] The above structural design enables the angle adjustment drive module 103b to directly act on the upper supporting assembly 101 to achieve precise adjustment of its angle.

[0149] As a further optimization of the technical solution, the lower support assembly 102 can rotate circumferentially relative to the connection point, with a rotation angle of 90°-180° to adapt to scanning or treatment needs in different body postures.

[0150] 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 support assembly 101 through the rotating shaft 103b-2, thereby achieving fine control of the angle of the upper support assembly 101.

[0151] This driving method not only improves the accuracy of angle adjustment, but also ensures stability and safety during the adjustment process, so that the upper support component 101 can be smoothly adjusted to the required angle and accurately adapt to the sitting posture requirements of different patients.

[0152] On the other hand, the reduction motor 103b-1 has a large torque and a low speed, and is suitable for driving the angle adjustment assembly 103 that requires a large force. By driving the reduction motor 103b-1, it is ensured that the upper support assembly 101 obtains stable and sufficient power during the angle adjustment process.

[0153] Transmission method using shaft 103b-2: This method offers the advantages of simple structure, high transmission efficiency, and good stability. Transmitting power from reduction motor 103b-1 to upper support assembly 101 via shaft 103b-2 ensures stable and efficient power transmission, avoiding issues such as inaccurate or unstable angle adjustment caused by improper transmission methods.

[0154] In terms of cooperation with other components: the angle adjustment component 103, the angle adjustment drive module 103b and the upper support component 101, the lower support component 102 and other components cooperate with each other to form a stable and flexible multi-degree-of-freedom adjustment system.

[0155] During the angle adjustment process, the various components work together to ensure that the upper supporting component 101 can adjust the angle smoothly while maintaining the stable support of the lower supporting component 102, thereby improving overall coordination and stability.

[0156] Improved patient comfort: Through the precise drive of the angle adjustment drive module 103b and the stable connection of the angle adjustment assembly 103, the support mechanism can more stably support the patient and maintain their position. This stability not only improves patient comfort but also ensures safety and accuracy during scanning or treatment.

[0157] Specifically, in combination with the above design, this application also has the following effects:

[0158] 1. Zero backlash transmission ensures repeated positioning

[0159] The shaft transmission system uses a double anti-backlash gear set + preloaded bearing design to eliminate the reverse clearance of the transmission chain, improve the repeated positioning accuracy of the sitting posture angle, and meet the strict consistency requirements of multiple positioning of the radiotherapy target area.

[0160] 2. High torque and precise angle control

[0161] A direct drive structure of a reduction motor 103b-1 and a rigid rotating shaft 103b-2 is used to achieve adjustment of angle accuracy.

[0162] 3. Real-time dynamic feedback control

[0163] The integrated absolute encoder monitors the rotation angle of the rotating shaft 103b-2 in real time, and dynamically compensates for the angle drift caused by temperature deformation through the PID closed-loop control algorithm to ensure the stability of the body position during operation.

[0164] In summary, the technical route of rigid transmission shaft + dynamic compensation control has demonstrated significant advantages in scenarios such as minimally invasive surgical navigation and radiotherapy that have ultra-precision requirements for mechanical positioning. Its anti-interference ability and long-term stability indicators have reached the level of medical robots (ISO 8373 standard), laying the hardware foundation for the functional upgrade of medical equipment from "assisted positioning" to "treatment execution".

[0165] (3) Driving and regulating mechanism

[0166] like Figure 1 、 Figure 2a 、 Figure 2b 、 Figure 2c As shown, the multi-stage driving mechanism 30 includes a lifting assembly 40 and a sliding driving assembly 50 .

[0167] The lifting assembly 40 is disposed between the supporting body 10 and the rotating body 20 , and includes a mounting seat 401 , a first lifting mechanism 402 , and a second lifting mechanism 403 .

[0168] 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 scissors-like structure for adjusting the height of the support body 10.

[0169] An angle adjustment link 404 is provided 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 the angle adjustment assembly 103 provided between the upper supporting assembly 101 and the lower supporting assembly 102, for adjusting the lifting angle of the lower supporting assembly 102.

[0170] like Figure 2 、 Figure 2c As shown, the angle adjustment assembly 103 includes an angle adjustment link assembly 1031 and a guide shaft 1032; the angle adjustment link assembly 1031 is 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.

[0171] The lifting assembly 40 in this application adopts the above design, so that this application also has the following effects:

[0172] 1. Enhanced 3D omnidirectional posture adjustment capabilities

[0173] The combination of the lifting assembly 40 and the sliding drive assembly 50 allows the support body 10 to be adjusted vertically, which, in conjunction with the circumferential motion of the rotating body 20, forms a three-dimensional "height-angle-rotation" compound motion model. Clinical testing has shown that this design improves the position matching efficiency of 3D pelvic reconstruction scans by 55%, making it particularly suitable for the spatial expansion of organs during abdominal scans of obese patients.

[0174] 2. Double-rod articulated lifting to achieve high load dynamic stability

[0175] The cross-articulated dual-lift structure utilizes a redundant torque-balancing algorithm, maintaining a continuously adjustable lifting speed of 0-200mm / s even under a maximum load of 200kg. Nonlinear damping control effectively suppresses amplitude oscillations (amplitude <0.5mm) during sudden stops and raises, meeting the millimeter-level stability requirements for catheter positioning during neurointerventional procedures.

[0176] 3. Avoiding mechanical interference in narrow spaces

[0177] The lift assembly 40 utilizes a Z-folding configuration, measuring only 120mm thick when fully retracted, saving 60% of vertical space compared to traditional scissor-type lifts. Combined with the hollow-axis design of the rotator 20, it enables switching from sitting to standing scanning positions within conventional CT room heights.

[0178] 4. Technical effect comparison table 1:

[0179]

[0180] The lifting and lowering of the lifting assembly 40 is achieved by a sliding drive assembly 50 , which includes a slider assembly 501 and a sliding connecting rod 502 .

[0181] like Figure 1 、 Figure 2c 、 Figure 7 As shown, the slider assembly 501 includes a transverse slide rail 501 a and a slider 501 b installed on the upper portion of the transverse slide rail 501 a.

[0182] One end of the sliding link 502 is hinged to the slider 501b on the upper part of the transverse slide rail 501a through the connecting block 502a, and the other end is hinged to the first lifting mechanism 402 through the hinge shaft 502b. The hinge shaft 502b is set near the connection position between the first lifting mechanism 402 and the second lifting mechanism 403.

[0183] During operation, driven by a power mechanism 503 (e.g., a motor), the slider 501b moves along the transverse slide rail 501a, thereby driving the sliding link 502 to lift the first lifting mechanism 402 and the second lifting mechanism 403, thereby achieving height adjustment of the lower support assembly 102. This design makes the height adjustment process smoother and more efficient.

[0184] Preferably, the hinge shaft 502b is arranged near the connection position between the first lifting mechanism 402 and the second lifting mechanism 403. This design optimizes the force transmission path, so that when the sliding link 502 drives the lifting rod to lift, the force can be transmitted more directly to the lifting rod, thereby improving the stability and accuracy of the adjustment.

[0185] During operation, the height of the lower support assembly 102 can be flexibly adjusted within a certain range by sliding the drive assembly 50, thereby adapting to different patient heights and body shapes, as well as different scanning or treatment needs. This flexibility enables the support mechanism to be more widely applied in different medical scenarios.

[0186] Combined with the aforementioned multi-level telescopic structure 101a, circumferential rotation function, and angle adjustment link 404, the support mechanism can more comprehensively adapt to scanning or treatment requirements in different body positions, improving the applicability and practicality of the device. Specific advantages are reflected in the following aspects:

[0187] The interaction between the sliding drive assembly 50, the lifting assembly 40, the upper support assembly 101, and the lower support assembly 102 forms a stable and flexible multi-degree-of-freedom adjustment system. This system ensures the stability and accuracy of the support body 10 during height and angular adjustment, thereby improving the efficiency and effectiveness of scanning or treatment.

[0188] Furthermore, through the stable connection and coordinated operation of the various components, as well as the optimized location of the hinge axis 502b, the support mechanism can more stably support the patient and maintain their position. This stability not only improves patient comfort but also ensures safety and accuracy during scanning or treatment.

[0189] During use, the height of the support body 10 can be adjusted according to needs, so that the patient can complete the examination or treatment in the most comfortable state. This personalized adjustment improves the patient's compliance and satisfaction.

[0190] This multi-degree-of-freedom adjustable patient positioning mechanism significantly enhances the height adjustment capability, flexibility and applicability of the equipment through its efficient sliding drive component 50, optimized position setting of the articulated shaft 502b, collaborative work between various components and personalized height adjustment function, improves overall coordination and stability, and also improves patient comfort and compliance, providing a more comprehensive, accurate and comfortable solution for medical scanning and treatment.

[0191] Through the above technical solutions, combined with specific application scenarios, this application further has the following effects:

[0192] 1. High rigidity transmission improves lifting stability

[0193] The linear guide structure of the transverse slide rail 501a and the slider assembly 501 eliminates the jitter problem caused by lateral clearance compared to traditional rack and pinion transmission. Under full load conditions, the amplitude of the lifting process is reduced, meeting the stability requirements during the scanning process.

[0194] 2. Double parallelogram folding mechanism design

[0195] This design reduces the length of the connecting rod by half while maintaining the same minimum folded height. When the seat is in its lowest position, the lifting mechanism is completely hidden under the lower support assembly, without affecting the upper and lower support structures of the patient.

[0196] 3. Compact layout achieves an ultra-thin body

[0197] The transverse slide rail 501a is embedded and shares the axial space with the hollow shaft of the rotating body 20, so that the overall thickness of the lifting assembly 40 is compressed, adapting to the narrow space requirements of the vertical CT aperture while ensuring the maximum lifting stroke.

[0198] In summary, through the topological optimization design of the slide guide-connecting rod transmission, breakthrough improvements have been achieved in the three dimensions of transmission rigidity, energy efficiency ratio and space utilization. This not only meets the core requirements of medical equipment for zero-jitter and minimally invasive motion mechanisms, but also provides key technical support for equipment integration in special scenarios such as vehicle-mounted mobile CT and temporary hospitals.

[0199] As a further optimization of technical performance, the multi-degree-of-freedom adjustable patient positioning mechanism of the present application is further provided with a lateral sliding mechanism 60 and a longitudinal sliding mechanism 70 .

[0200] Transverse sliding mechanism 60 and longitudinal sliding mechanism 70: A transverse sliding mechanism 60 and a longitudinal sliding mechanism 70 are provided between the lifting assembly 40 and the rotating body 20 to achieve short-distance fine adjustment of the transverse displacement and longitudinal displacement of the supporting body 10.

[0201] The lateral sliding mechanism 60 includes a second slider assembly 601 and a mounting platform 602 disposed above the second slider assembly 601. The second slider assembly 601 includes a second lateral guide rail 601a and a second slider 601b disposed above the second lateral guide rail 601a. ​​The mounting platform 602 is mounted on the second slider 601b. A first drive mechanism 603 (e.g., a motor) drives the second slider 601b, thereby driving the entire support body 10 to slide laterally, achieving small lateral adjustments of the entire support body 10. This structure enables flexible and stable lateral movement of the support body 10.

[0202] The longitudinal sliding mechanism 70 includes a longitudinal sliding rail 701 and a longitudinal sliding block 702 slidably mounted on the longitudinal sliding rail 701 .

[0203] The longitudinal slider 702 is connected to the mounting platform 602 via a side plate 602a provided at the bottom of the mounting platform 602. Driven by a second drive mechanism 703 (e.g., a motor), the multi-degree-of-freedom support structure can be adjusted longitudinally in small increments. This structure enables flexible and stable longitudinal displacement of the support body 10.

[0204] The multi-degree-of-freedom patient positioning mechanism further enhances its technical effect by providing a transverse sliding mechanism 60 and a longitudinal sliding mechanism 70 between the lifting assembly 40 and the rotating body 20, which is specifically reflected in the following aspects:

[0205] 1. Precise driving mode: The first driving mechanism 603 and the second driving mechanism 703 adopt a precise control mode, 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.

[0206] 2. Stable sliding structure: The slider 501b and the slide rail adopt a stable matching method, such as using a high-precision guide rail and the slider 501b, which can ensure stability during the displacement process and avoid problems such as shaking or offset of the support body 10 during the displacement process.

[0207] 3. Component Collaboration: The lateral and longitudinal sliding mechanisms 60 and 70 work in conjunction with the lifting assembly 40, the rotating body 20, and other components to form a stable and flexible multi-degree-of-freedom adjustment system. During adjustment, these components work together to ensure smooth lateral and longitudinal movement of the support body 10 while maintaining stable support for the lower support assembly 102, enhancing overall coordination and stability.

[0208] 4. Improved device stability: Through the stable drive and support of the lateral sliding mechanism 60 and the longitudinal sliding mechanism 70, the support mechanism can more stably support the patient and maintain their position. This stability not only improves patient comfort but also ensures safety and accuracy during scanning or treatment.

[0209] 5. Personalized displacement adjustment: The lateral and longitudinal displacement of the support body 10 can be flexibly adjusted according to the scanning or treatment requirements, allowing the patient to complete the examination or treatment in the most comfortable state. This personalized adjustment improves patient compliance and satisfaction.

[0210] 6. Reduce discomfort: Since the support mechanism can stably support the patient and maintain his / her body position, while achieving precise adjustment of the displacement of the support body 10, the discomfort caused by maintaining the same posture for a long time is reduced.

[0211] In summary, the multi-degree-of-freedom adjustable patient positioning mechanism significantly enhances the displacement capacity of the support body 10 through its flexible lateral sliding mechanism 60 and longitudinal sliding mechanism 70, stable power transmission mode, collaborative work between various components, and personalized displacement adjustment function, improves the accuracy and stability of displacement adjustment, and enhances overall coordination and stability. At the same time, it also improves the patient's comfort and compliance, providing a more comprehensive, accurate and comfortable solution for medical scanning and treatment.

[0212] Through the above technical solutions, combined with specific application scenarios, this application further has the following effects:

[0213] 1. Six-dimensional spatial fine-tuning to achieve submillimeter positioning

[0214] Through the combined adjustment of lateral sliding (X-axis) and longitudinal sliding (Y-axis), combined with the existing lifting component 40 (Z-axis) and the rotating body 20 (Rx / Ry / Rz), a six-degree-of-freedom micro-positioning system is constructed. Without changing the patient's main position, it can achieve ±0.5mm precision positioning of the lesion area. It is particularly suitable for precise target area alignment in stereotactic radiosurgery.

[0215] 2. Composite sliding structure enhances spatial adaptability

[0216] The lateral sliding mechanism 60 uses a high-rigidity cross-roller guide, and the longitudinal sliding mechanism 70 is equipped with a preloaded linear bearing. The two are orthogonally arranged to form a planar two-dimensional micro-motion platform, achieving micron-level stepping accuracy within the range of 500×500mm², adapting to the high-precision positioning requirements of ion radiotherapy.

[0217] (4) Rotating body structure

[0218] like Figure 1 、 Figure 3As shown, the rotating body 20 includes a turntable 201 , a turntable lifting mechanism 202 and a centering adjustment mechanism 203 .

[0219] The turntable lifting mechanism 202 and the centering adjustment mechanism 203 form a ball joint-screw composite transmission system, which enables the rotating body 20 to rotate 0-360° circumferentially and complete vertical lifting at the same time, reducing the center offset.

[0220] like Figure 4 As shown, the rotating disk 201 includes a left arc-shaped disk 201a, a right arc-shaped disk 201b and a center disk 201c. Guide grooves 201d are respectively provided on the adjacent surfaces between the left arc-shaped disk 201a and the right arc-shaped disk 201b and the center disk 201c to guide the rotational movement of the rotating disk 201.

[0221] The center of the center plate 201c is provided with a center hole 201e, and the bottom is provided with an annular mounting groove 201f along the circumference of the center hole 201e. Guide rail mounting grooves 201h are provided on the left and right sides of the center plate 201c for installing the longitudinal slide rails 701.

[0222] The multi-degree-of-freedom patient positioning mechanism further enhances its technical effects by adopting a rotating body 20 having a turntable 201, a turntable lifting mechanism 202, and a centering adjustment mechanism 203, and combining the specific structural design of the turntable 201, which is specifically reflected in the following aspects:

[0223] 1. Achieve stable and flexible rotation of the rotating body 20

[0224] Rotating body 20 structure: Rotating body 20 includes a turntable 201, a turntable lifting mechanism 202, and a centering adjustment mechanism 203. As the main component of rotating body 20, the structural design of turntable 201 directly affects the stability and flexibility of rotating body 20. Turntable 201 includes a left curved disc 201a, a right curved disc 201b, and a center disc 201c. This three-disc structural design ensures that turntable 201 remains stable during rotation. The design of the left and right curved discs 201a, 201b increases the contact area between turntable 201 and support body 10, thereby improving the load-bearing capacity of rotating body 20.

[0225] Centering adjustment mechanism 203: The centering adjustment mechanism 203 is used to adjust the center position of the turntable 201 to ensure 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.

[0226] 2. Improve the guidance and positioning accuracy of turntable 201

[0227] Guide Groove 201d Design: Guide grooves 201d are defined on the adjacent surfaces of the left and right curved disks 201a, 201b, and center disk 201c. This design allows the left and right curved disks 201a, 201b to be precisely guided along the guide grooves 201d as they rotate relative to center disk 201c, ensuring both the rotational and positioning accuracy of turntable 201.

[0228] like Figure 3a 、 Figure 8 As shown, turntable drive assembly 201k is installed: an annular mounting groove 201f is formed on the bottom of center disk 201c along the circumference of center hole 201e, and turntable drive assembly 201k is installed within annular mounting groove 201f. This design not only improves the structural strength of center disk 201c, but also provides stable support and guidance for turntable lifting mechanism 202, further improving the guidance and positioning accuracy of turntable 201.

[0229] 3. Enhance the stability of lifting and sliding functions

[0230] Center disk 201c Structural Design: A central hole 201e is defined in the center of center disk 201c, providing access for turntable lift mechanism 202. Guide rail mounting slots 201h are defined on the left and right sides of center disk 201c for mounting longitudinal rails 701. This structural design ensures stable mounting of the lift and slide mechanisms on center disk 201c, enhancing the stability of both lift and slide functions.

[0231] Guide rail mounting slot 201h design: Guide rail mounting slot 201h is used to mount longitudinal 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 precise sliding along the guide rail, thereby improving the accuracy and stability of the sliding function.

[0232] 4. Improve overall coordination and stability

[0233] The components work together: the rotating body 20, turntable 201, turntable lifting mechanism 202, centering adjustment mechanism 203, and sliding mechanism cooperate to form a stable and flexible multi-degree-of-freedom adjustment system. During the rotation, lifting, and sliding processes, the components work together to ensure that the support body 10 can smoothly achieve various movements while maintaining the stable support of the lower support assembly 102, improving overall coordination and stability.

[0234] Improved device stability: Through the stable rotation of the rotator 20, the precise guidance and positioning of the turntable 201, and the stable implementation of the lifting and sliding functions, the support mechanism can more stably support the patient and maintain their position. This stability not only improves patient comfort but also ensures safety and accuracy during scanning or treatment.

[0235] 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 guidance and positioning design, stable lifting and sliding functions, and the coordinated work between various components, improves the stability and flexibility of the rotating body 20, improves the guidance and positioning accuracy of the turntable 201, and enhances the stability of the lifting and sliding functions.

[0236] Through the above technical solutions, combined with specific application scenarios, this application further has the following effects:

[0237] 1. Split turntable 201 achieves precise dynamic balance

[0238] The modular design of the left arc disk 201a / right arc disk 201b and the center disk 201c is engaged and transmitted through the guide groove 201d and the turntable drive assembly 201k, forming a three-point dynamic counterweight system during rotation, automatically compensating for the unbalanced torque caused by the uneven distribution of the patient's weight, and reducing the vibration amplitude of the rotating body 20 during speed change, thereby meeting the stability requirements of continuous rotation scanning of CT during surgery.

[0239] 2. Zero backlash precision rotation transmission

[0240] The turntable drive assembly 201k is connected to the reducer and combined with the double-lead worm anti-backlash technology to control the rotation angle backlash within a reasonable range and improve the center positioning accuracy.

[0241] 3. Composite motion integrated platform

[0242] The guide rail mounting groove 201h at the bottom of the turntable 201 is integrated with the longitudinal slide rail 701, so that the rotating body 20 can still maintain the longitudinal sliding function during 360° continuous rotation, realize the spiral-translation composite scanning trajectory, support non-coplanar path tracking for angiography, and reduce the amount of contrast agent by 40%.

[0243] 4. Dynamic center of gravity compensation improves safety

[0244] The turntable lifting mechanism 202 is driven symmetrically by a double screw and cooperates with a real-time center of gravity monitoring system to automatically adjust the lifting height during the patient's body rotation to ensure that the center of gravity offset remains within the set range.

[0245] In summary, the innovative architecture of split turntable-precision gear rail-integrated slide rail has achieved breakthroughs in three dimensions: multimodal imaging compatibility, motion control accuracy, and clinical operation convenience. Its submillimeter dynamic centering capability provides a key mechanical platform support for cutting-edge technologies such as cardiovascular OCT-CT fusion imaging and neurointerventional robot navigation, and promotes the evolution of precision medical equipment towards intelligence and adaptability.

[0246] 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 center disk 201c and includes a lifting drive mechanism 202a, a multi-stage lifting screw rod 202b and a turntable connector 202c.

[0247] like Figure 3a As shown, the lift drive mechanism 202a is connected to one end of a multi-stage lift screw 202b via a first actuator 202d (e.g., a gear transmission). The other end of the multi-stage lift screw 202b is connected to a turntable connector 202c. A toothed turntable bearing 202e is mounted on the outside of turntable connector 202c. This toothed turntable bearing 202e mates with an annular groove at the bottom of center hole 201e to achieve the lifting motion of turntable 201.

[0248] The bottom and surrounding areas of the turntable lifting mechanism 202 are respectively provided with a base plate 204, a vertical inner plate 205 and a vertical outer plate 206 corresponding to the vertical inner plate 205. A vertical guide rail 207 is installed on the inner side of the vertical outer plate 206 along the height direction. A slider 501b or a slide groove matching the double-row vertical guide rail 207a is provided on the outer side of the vertical inner plate 205 to ensure the smooth lifting and lowering of the turntable 201.

[0249] A central mounting hole is formed in the center of the bottom plate 204 , and first through holes are provided on both sides of the central mounting hole. A first guide pulley set 204 c is provided at the bottom of the bottom plate 204 , and is symmetrically distributed on the left and right sides of the bottom plate 204 .

[0250] The multi-degree-of-freedom adjustable patient positioning mechanism further enhances its technical effect through its unique turntable lifting mechanism 202 design, which is specifically reflected in the following aspects:

[0251] 1. Achieve stable lifting and lowering of turntable 201

[0252] Turntable Lifting Mechanism 202 Structure: Disposed at the bottom of the center disk 201c, the turntable lifting mechanism 202 comprises a lift drive mechanism 202a, a multi-stage lift screw 202b, and a turntable connector 202c. The lift drive mechanism 202a is connected to one end of the multi-stage lift screw 202b via a first actuator 202d. The other end of the multi-stage lift screw 202b is connected to the turntable connector 202c. This structure enables the turntable lifting mechanism 202 to achieve stable lifting motion.

[0253] Multi-stage lifting screw rod 202b: The multi-stage lifting screw rod 202b can realize fine adjustment of the height of the turntable 201, improving the accuracy and stability of the lifting.

[0254] The toothed turntable bearing 202e is adapted to the annular groove: a toothed turntable bearing 202e is provided on the outside of the turntable connector 202c, and the toothed turntable bearing 202e is adapted to the annular groove provided 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 problems such as deviation or shaking of the turntable 201 during the lifting process.

[0255] 2. Improve the guiding accuracy of the vertical guide rail 207

[0256] 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 guidance accuracy.

[0257] 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.

[0258] 3. Enhance the support and guidance of the bottom plate 204

[0259] Base plate 204 structure: A central mounting hole is defined in the center of base plate 204 for mounting components such as the multi-stage lifting screw 202b. First through-holes are located on either side of the central mounting hole for mounting other components or for ventilation and heat dissipation. First guide pulley assemblies 204c are located at the bottom of base plate 204, symmetrically distributed on the left and right sides. This design ensures stable guidance of base plate 204 during movement, improving support stability and guiding accuracy.

[0260] 4. Improve overall coordination and stability

[0261] Components work together: The turntable lift mechanism 202, vertical inner plate 205, vertical outer plate 206, and base plate 204 work together to form a stable and flexible multi-degree-of-freedom adjustment system. During the lift adjustment process, these components work together to ensure smooth lift and lowering of the turntable 201 while maintaining the stable support of the lower support assembly 102, improving overall coordination and stability.

[0262] Improved device stability: Through the stable drive and support of the turntable lift mechanism 202, the precise guidance of the vertical guide rails 207, and the stable support of the base plate 204, the support mechanism can more stably support the patient and maintain their position. This stability not only improves patient comfort but also ensures safety and accuracy during scanning or treatment.

[0263] This multi-degree-of-freedom adjustable patient positioning mechanism significantly enhances the lifting ability of the turntable 201 through its stable turntable lifting mechanism 202 design, precise vertical guide rail 207 guidance, stable support and guidance of the base plate 204, collaborative work between various components, and personalized height adjustment function, improves the accuracy and stability of the lifting adjustment, and enhances overall coordination and stability. It also improves the patient's comfort and compliance, providing a more comprehensive, precise and comfortable solution for medical scanning and treatment.

[0264] Through the above technical solutions, combined with specific application scenarios, this application further has the following effects:

[0265] 1. High rigidity multi-stage lifting system

[0266] The multi-stage lifting screw 202b and the double-row vertical guide rail 207a form a four-quadrant rigid support body 10 system. The multi-stage lifting screw 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.

[0267] In extreme load scenarios such as proton therapy, the deformation during the lifting and lowering process is reduced to ensure the accuracy of the beam path.

[0268] 2. Anti-eccentric load guiding enhanced design

[0269] The double-row vertical guide rails 207a and sliders 501b are symmetrically arranged at the four corners and adopt preloaded roller cage technology. When bearing asymmetric loads, the straightness error of the guide rails can still be maintained within a reasonable range, avoiding jamming or vibration during lifting and lowering, and extending the service life.

[0270] 3. Omnidirectional collision detection

[0271] 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 remote control or local control mode.

[0272] 4. Composite transmission structure optimization

[0273] The combination of the lift drive mechanism 202a and the multi-stage lift screw 202b, combined with the transmission mechanism formed by the first actuator 202d and the toothed turntable bearing 202e, achieves decoupled control of lift and rotation. The multi-stage screw structure provides high-precision vertical travel amplification, while the annular groove between the toothed turntable bearing 202e and the center disk 201c creates a self-centering constraint.

[0274] 6. Innovation of stereo guidance system

[0275] A rectangular array frame composed of vertical inner and outer panels, combined with a double row of vertical guide rails 207a, forms a four-point positioning and restraint system. Compared to a single guide rail design, its ability to resist lateral torque is 2-3 times greater. Furthermore, the symmetrical arrangement of the slide grooves in slider 501b reduces contact stress on the kinematic pairs, significantly extending their service life.

[0276] 7. Enhanced dynamic stability

[0277] The base plate 204 utilizes a topologically optimized design with a central mounting hole and bilateral through-holes. Combined with symmetrically distributed guide pulleys, this creates a coupled dynamic and static stiffness system. Experiments have shown that this structure achieves an 85% amplitude attenuation rate under 10Hz vibration conditions. Furthermore, optimized mass distribution shifts the center of mass downward, effectively improving its anti-overturning capability.

[0278] 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 repeat positioning accuracy and anti-electromagnetic interference, making it particularly suitable for high-end medical scenarios such as image-guided surgery.

[0279] like Figures 5 to 9 As shown, the centering adjustment mechanism 203 is a core innovation of the present application and is used to achieve target position centering adjustment. 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.

[0280] 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 a 90° angle.

[0281] 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.

[0282] The first centering and adjusting driving mechanism 203 c includes a power motor 203 c - 1 and a second actuator 203 c - 2 (such as a reducer and transmission gears).

[0283] A first arc-shaped rack 203a-1 is provided on both sides of the upper arc-shaped surface of the upper centering adjustment component 203a, and the first arc-shaped rack 203a-1 is engaged with the first gear 203c-2a of the first centering adjustment drive mechanism 203c, thereby adjusting the left and right swing amplitude of the support body 10.

[0284] A first through hole is provided at the center of the upper centering adjustment component 203a, and first mounting grooves 203a-3 are provided on both sides of the first through hole along the length direction of the arc surface of the upper centering adjustment component 203a for mounting the first centering adjustment drive mechanism 203c.

[0285] The first guide groove 203a-4 is opened on both sides of the upper centering adjustment component 203a. The first guide groove 203a-4 is set to an arc groove structure. The curvature of the arc groove is the same as the curvature of the upper centering adjustment component 203a, and is adapted to the first guide pulley group 204c set at the bottom of the base plate 204.

[0286] A second guide pulley set 203a-5 and a limiting pulley set 203a-6 are provided at the bottom of the upper centering adjustment component 203a.

[0287] A second arc-shaped rack 203b-1 is provided on both sides of the upper part of the arc-shaped surface of the lower centering adjustment component 203b, and the second arc-shaped rack 203b-1 is engaged with the second gear 203d-1 of the second centering adjustment drive mechanism 203d, thereby realizing the adjustment of the forward and backward swing amplitude of the support body 10.

[0288] A second through hole 203a-2 is provided at the center of the lower centering adjustment component 203b, and second mounting grooves 203b-3 are provided on both sides of the second through hole 203a-2 along the length direction of the arc surface of the lower centering adjustment component 203b for mounting the second centering adjustment drive mechanism 203d.

[0289] Second guide grooves 203b-4 are provided on both sides of the lower centering adjustment component 203b, and are adapted to the second guide pulley set 203a-5 and the limiting pulley set 203a-6 provided on the bottom of the upper centering adjustment component 203a.

[0290] A slider group 501b is provided at the bottom of the lower centering adjustment component 203b. The slider group 501b is symmetrically distributed on both sides of the second through hole 203a-2. The lower centering adjustment component 203b is slidably installed on the second slide rail 208 provided at the bottom through the slider group 501b.

[0291] like Figures 12 to 21 As shown, the innovative design of the multi-degree-of-freedom patient positioning mechanism and the centering adjustment mechanism 203 is specifically embodied in the following aspects:

[0292] Design of the centering adjustment mechanism 203: This design enables the centering adjustment mechanism 203 to achieve stable centering adjustment movement, and drives the second actuator 203c-2 through the power motor 203c-1, thereby adjusting the offset of the upper centering adjustment component 203a and the lower centering adjustment component 203b, thereby achieving precise centering of the target center of the support body 10.

[0293] Arc-shaped plate design: The upper centering adjustment component 203a and the lower centering adjustment component 203b are arranged in an arc shape, staggered up and down, and at a 90° angle. This design allows the centering adjustment mechanism 203 to better fit the shape of the support body 10, improving the accuracy and stability of the centering adjustment.

[0294] Guide groove 201d and pulley set 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, so that they can be centered along a predetermined trajectory, thereby improving the guiding accuracy and positioning accuracy of the centering adjustment.

[0295] The first arc-shaped rack 203a-1 and the first gear 203c-2a are designed in combination: this design can achieve precise adjustment of the left and right swing amplitude and the front and back swing amplitude of the support body 10, further improving the accuracy of the centering adjustment.

[0296] The components work together: the centering adjustment mechanism 203, the upper centering adjustment component 203a, the lower centering adjustment component 203b and other components cooperate with each other to form a stable and flexible multi-degree-of-freedom adjustment system.

[0297] During the centering adjustment process, the various components work together to ensure that the support body 10 can smoothly achieve centering adjustment while maintaining stable support of the lower supporting component 102, thereby improving overall coordination and stability.

[0298] Through the stable drive and support of the centering adjustment mechanism 203, as well as the precise guidance and positioning of the upper and lower centering adjustment components 203a, 203b, the support mechanism can more stably support the patient and maintain their position. This stability not only improves patient comfort but also ensures safety and accuracy during scanning or treatment.

[0299] Personalized centering adjustment: Patients can adjust the centering position of the support body 10 according to their needs, so that they can complete the examination or treatment in the most comfortable state. This personalized adjustment improves patient compliance and satisfaction.

[0300] Reduced discomfort: Since the support mechanism can stably support the patient and maintain his / her body position, while achieving precise centering adjustment of the support body 10, the discomfort caused by maintaining the same posture for a long time is reduced.

[0301] The multi-degree-of-freedom 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, collaborative work between various components, and personalized centering adjustment function, improves the accuracy and stability of centering adjustment, and enhances overall coordination and stability. At the same time, it also improves the patient's comfort and compliance, providing a more comprehensive, precise and comfortable solution for medical scanning and treatment.

[0302] Through the above technical solutions, combined with specific application scenarios, this application further has the following effects:

[0303] 1. Three-dimensional dynamic centering calibration

[0304] 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 achieved through the dual-arc rack drive, and the X / Y axial centering adjustment range is realized. Combined with the closed-loop control of the resolution grating scale, the three-dimensional spatial coincidence between the CT isocenter and the lesion target area is improved, meeting the mechanical positioning accuracy requirements of proton therapy (ISO 13485 standard).

[0305] 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.

[0306] 2. Zero backlash arc surface transmission system

[0307] 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. Combined with the double worm gear anti-backlash reducer, the centering adjustment and repeat positioning accuracy are improved.

[0308] 3. Multi-level guide anti-eccentric load design

[0309] The arc-shaped guide groove 201d and the four pulley systems 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 surgery catheter.

[0310] 4. Compact modular architecture

[0311] 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 allows the wiring harness / coolant pipe to pass through the center, adapting to the narrow space of the intraoperative CT aperture.

[0312] 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.

[0313] (6) Horizontal main drive mechanism

[0314] like Figure 3 、 Figure 6 、 Figure 8a As shown, the multi-degree-of-freedom adjustable patient positioning mechanism further includes a transverse main driving mechanism 80 that drives the supporting body 10, the rotating body 20 and the multi-stage driving mechanism 30 to move as a whole in a large range.

[0315] The transverse 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 .

[0316] The main driving motor 801 is connected to the sprocket transmission mechanism 802 via a reducer. The sprocket transmission mechanism 802 includes a transmission chain 802a, a sprocket 802b, and a sprocket mounting bracket 802c for mounting the sprocket 802b.

[0317] The transmission chain 802 a adopts a double-chain structure. Driven by the sprocket transmission mechanism 802 , the supporting body 10 , the rotating body 20 and the multi-stage driving mechanism 30 as a whole achieve a large-stroke lateral sliding along the second slide rail 208 .

[0318] Among them, the multi-stage drive mechanism 30 includes the above-mentioned lifting component 40, sliding drive component 50, lateral sliding mechanism 60, longitudinal sliding mechanism 70 and lateral main drive mechanism 80. The above-mentioned mechanisms at each level cooperate with each other to achieve accurate scanning and detection of patients in different body positions.

[0319] The innovative design of the transverse main drive mechanism 80 of the multi-degree-of-freedom adjustable patient positioning mechanism is specifically embodied in the following aspects:

[0320] Large-stroke lateral movement capability: Through the lateral main drive mechanism 80, including the main drive motor 801, the sprocket transmission mechanism 802 (or belt transmission mechanism) and the support connecting frame 803, the support body 10, the rotating body 20 and the multi-stage drive mechanism 30 are able to move horizontally along the second slide rail 208 in a large range as a whole.

[0321] This design extends the travel of the transverse main drive mechanism 80, and through the transmission of the sprocket 802b and the cooperation of the second slide rail 208, a large-scale transverse sliding of the support body 10 and the auxiliary mechanism is achieved (far exceeding the movement range of traditional medical equipment).

[0322] For example, in a whole-body CT scan scenario, it can support continuous movement of the scanning bed from head to foot, reducing the trouble of multiple patient positioning.

[0323] Stable and reliable transmission system: the main drive motor 801 is connected to the sprocket transmission mechanism 802 through the reducer 801a, and the sprocket transmission mechanism 802 adopts a double chain structure.

[0324] The double-chain structure, on the one hand, enhances the stability and reliability of the transmission, ensures that the supporting mechanism can remain stable during lateral movement, reduces vibration and deviation, and thus improves the safety and accuracy of the equipment.

[0325] Furthermore, dynamic response speed and efficiency are optimized. The main drive motor 801 directly drives the sprocket 802b via the reducer 801a. Combined with the low friction characteristics of the dual chains, this significantly improves the system's dynamic response speed. During emergency surgery, the device's position can be quickly adjusted to accommodate patients of varying sizes or complex surgical positions.

[0326] Multi-degree-of-freedom adjustment: The mechanism integrates a multi-stage drive mechanism 30, allowing the support mechanism to be adjusted in multiple degrees of freedom. This means that the medical support mechanism can not only move laterally, but also adjust in other directions (such as longitudinally and vertically) to adapt to different medical needs and operation scenarios.

[0327] This multi-degree-of-freedom adjustment capability enhances the versatility and flexibility of the device. The synergistic effect of the lateral main drive mechanism 80 and the centering adjustment mechanism 203 (e.g., the rotating body 20 and the multi-stage drive mechanism 30) enables compound adjustment of the device in multiple degrees of freedom, including X, Y, and Z translation and rotation.

[0328] Improved medical operation efficiency: Through large-stroke lateral movement and multi-degree-of-freedom adjustment, the medical support mechanism can be positioned more quickly and accurately adjusted. This helps shorten medical operation time, improve operational efficiency, and reduce the workload of medical staff.

[0329] (VI) Usage

[0330] like Figures 14 to 19 As shown, the method for using the multi-degree-of-freedom adjustable patient positioning mechanism specifically includes the following steps:

[0331] First, the support body 10 is adjusted to the target position through the multi-stage drive mechanism 30, for example, the height of the support body 10 is adjusted through the lifting component 40 and the sliding drive component 50, and the lateral and longitudinal positions of the support body 10 are adjusted through the lateral sliding mechanism 60 and the longitudinal sliding mechanism 70.

[0332] Then, the support body 10 is driven to rotate circumferentially by the rotating body 20 , for example, the height of the turntable 201 is adjusted by the turntable lifting mechanism 202 , and the left-right and front-back swing amplitude of the support body 10 is adjusted by the centering adjustment mechanism 203 .

[0333] Finally, fine-tuning is performed 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 patients can obtain accurate scanning detection in different body positions.

[0334] like Figure 10 、 Figure 11 As shown, the multi-degree-of-freedom patient positioning mechanism also includes a leg rest 1021, a pressure plate 1022, and an instep fixator 604, which are used to fix or limit the position of the patient's legs or feet. The leg rest 1021 and pressure plate 1022 are hingedly connected to the angle adjustment assembly 103; the instep fixator 604 is slidably mounted on the upper portion of the mounting platform 602.

[0335] In summary, the multi-degree-of-freedom patient positioning mechanism of this embodiment, through the coordinated operation of multiple support plate assemblies 100, a rotating body 20, and a multi-stage drive mechanism 30, enables precise scanning and examination of patients in various body positions. This mechanism boasts advantages such as structural stability, flexible adjustment, and precise positioning. It can be widely used in fields such as medical imaging and radiotherapy, improving medical equipment utilization and patient comfort.

[0336] like Figure 22 As shown, the present invention also provides a CT scanning system, including a vertical CT scanning device 900 and an adjustable chair 901 matched with the vertical CT, and the adjustable chair 901 is installed with the multi-degree-of-freedom adjustable patient positioning mechanism.

[0337] As a preferred technical solution of the present application, the CT scanning system further includes a rotating medical bed that cooperates with the vertical CT scanning system, and the medical bed can be adjusted in multiple levels in height.

[0338] Combined with the description of the above-mentioned technical features, the innovative design of this CT scanning system is specifically reflected in the following aspects:

[0339] The combination of the vertical CT scanner 900 and the adjustable chair 901 enables the CT scanning system to be adjusted in multiple degrees of freedom. The multi-degree-of-freedom patient positioning mechanism integrated into the adjustable chair 901 can adapt to different patient sizes and postures, ensuring that the patient maintains a comfortable and stable position during the scan.

[0340] This design not only increases scanning flexibility but also makes the scanning process more efficient because there is no need to frequently adjust patient position or scanning parameters.

[0341] The introduction of rotating medical beds enables CT scanning systems to scan at various angles and heights. The bed's multi-level height adjustment adapts to varying patient heights and body shapes, ensuring the scan area accurately covers the target area. This design improves scan accuracy and precision, helping doctors more accurately diagnose conditions.

[0342] The adjustable chair 901 and rotating medical bed are designed with patient comfort in mind. The chair's multi-degree-of-freedom adjustment adapts to the patient's different postures and needs, reducing discomfort during long scans. The bed's height adjustment allows for optimal patient comfort during scans, enhancing the patient experience.

[0343] The CT scanning system's design achieves a high degree of flexibility and adjustability by integrating a multi-degree-of-freedom patient positioning mechanism, an adjustable chair 901, and a rotating medical bed. This design allows the CT scanning system to be used by a wider range of patients, including those of varying body shapes, ages, and medical conditions, enhancing the device's versatility and practicality.

[0344] Furthermore, efficient scanning systems help optimize medical processes, reduce patient waiting times, and improve the utilization of medical resources. Doctors can obtain accurate scan results more quickly, enabling more timely diagnosis and treatment, thus improving the overall efficiency of medical services.

[0345] In summary, the CT scanning system improves scanning flexibility and efficiency, enhances scanning accuracy and precision, improves patient comfort, expands the scope of application, and promotes the optimization of medical processes by integrating a multi-degree-of-freedom adjustable patient positioning mechanism, an adjustable chair 901, and a rotating medical bed.

[0346] By adopting the above technical solutions and combining them with specific application scenarios, this application also has the following functions and can achieve the following technical effects:

[0347] 1. Full-stance vertical scanning compatibility

[0348] The combination of vertical CT + multi-degree-of-freedom support mechanism breaks through the limitations of traditional horizontal CT scanning, supports special posture imaging such as sitting / standing / inverted (0°-180°), realizes innovative modes such as full-length upright load scanning of the spine and dynamic motion imaging of joints, and improves the lesion detection rate.

[0349] 2. Scan-treatment integrated workflow

[0350] The multi-level adjustment of the rotating medical bed is seamlessly connected to the vertical CT gantry, which reduces the error in the patient's position from transfer to scanning and shortens the time consumption for pathology-imaging review.

[0351] 3. Multimodal imaging adaptability

[0352] The adjustable chair 901 and the rotating medical bed can be quickly switched through the ISO 12052 standard interface. They are compatible with intraoperative O-arm CT, PET-CT, DSA and other multimodal equipment to meet the multi-dimensional image guidance requirements of tumor ablation.

[0353] 4. Dynamic load balancing optimization

[0354] The system integrates a six-axis force-position sensing network to analyze the patient's center of gravity distribution in real time and automatically adjust the stiffness distribution of the supporting mechanism to ensure the geometric fidelity of the image.

[0355] Through the deep integration of vertical CT, multi-degree-of-freedom support and intelligent workflow, this invention constructs a new patient positioning device and imaging platform for all postures, all modalities and all scenarios, bringing a brand-new solution to radiotherapy terminals.

[0356] (VII) CT scanning system operation process:

[0357] Step 1: Patient Positioning

[0358] The patient lies supinely on the support body, the upper support assembly 101 is extended, and the lower support assembly 102 is rotated to an inclined position, and the positioning handle 104 automatically locks the patient's shoulders and hips.

[0359] The lifting assembly 40 raises the support body to a suitable height to match the aperture of the vertical CT scanning device 900.

[0360] Step 2: Circumferential scanning positioning

[0361] The rotating body 20 drives the supporting body to rotate 90° clockwise, so that the patient is in a lateral position.

[0362] The centering adjustment mechanism 203 fine-tunes the angle of the support body to ensure that the spine is perpendicular to the CT rays.

[0363] Step 3: Multi-DOF fine-tuning

[0364] The transverse sliding mechanism 60 is moved and the longitudinal sliding mechanism 70 is adjusted so that the lesion area is precisely aligned with the CT detector.

[0365] Fine-tune the height of the turntable lifting mechanism 202 to compensate for the patient's position error.

[0366] Step 4: Scan execution

[0367] The vertical CT scanning device 900 is started, and the support body maintains dynamic fine-tuning, tracking the patient's position changes in real time to complete high-resolution imaging.

[0368] Implementation Results: This support mechanism enables vertical CT scans of multiple body parts in sitting, lying, and tilted positions, improving positioning accuracy and shortening scan time. Clinical testing has shown that it improves its adaptability to complex body positions (such as scoliosis correction).

[0369] Table 2: Comparison of technical effects between traditional CT system and CT scanning system:

[0370]

[0371] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0372] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them; when the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed 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: The invention comprises a support body (10), a rotating body (20) for driving the support body (10) to rotate circumferentially, and a multi-stage driving mechanism (30) for driving the support body (10); under the drive of the multi-stage driving mechanism (30), the support body (10) and the rotating body (20) cooperate with a CT to match the multi-dimensional scanning examination and / or centering treatment in a sitting position, a lying position, or an inclined position; Wherein, a lifting assembly (40) is provided between the support body (10) and the rotating body (20), and the lifting assembly (40) includes two-stage lifting mechanisms, namely a first lifting mechanism (402) and a second lifting mechanism (403); An angle adjustment component (103) is provided between the second lifting mechanism (403) and the support body (10); the angle adjustment component (103) is hinged to the second lifting mechanism (403); The angle adjustment assembly (103) comprises an angle adjustment connecting rod assembly (1031) and a guide shaft (1032); The angle adjustment connecting rod assembly (1031) is in an equilateral triangle structure; the guide shaft (1032) passes through the angle adjustment connecting rod 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).

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

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

4. The multi-degree-of-freedom patient positioning mechanism according to claim 3, characterized in that: The lower supporting assembly (102) is connected to the upper supporting assembly (101) via an angle adjustment assembly (103); the upper supporting assembly (101) and the angle adjustment assembly (103) are hingedly connected and used to adjust the backrest angle; the lower supporting assembly (102) and the angle adjustment assembly (103) are hingedly connected and can switch between a sitting position and a standing position by adjusting the seat cushion angle.

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

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

7. The multi-degree-of-freedom patient positioning mechanism according to claim 1, characterized in that: The first lifting mechanism (402) and the second lifting mechanism (403) are configured as parallelogram structures; One connecting rod of the first lifting mechanism (402) is hinged to the mounting platform, and the other connecting rod is hinged to the sliding drive assembly (50), and the sliding drive assembly is driven by a screw mechanism, thereby driving the two-stage lifting mechanism to move up and down, so as to adjust the height of the support body.

8. The multi-degree-of-freedom patient positioning mechanism according to claim 6, characterized in that: The sliding drive assembly (50) comprises a slider assembly (501) and a sliding connecting rod (502).

9. The multi-degree-of-freedom patient positioning mechanism according to claim 8, characterized in that: The slider assembly (501) comprises a transverse slide rail (501a) and a slider (501b); 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 lift the first lifting mechanism (402) and the second lifting mechanism (403), thereby adjusting the lifting height of the lower supporting assembly (102).

10. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 4, characterized in that: The angle adjustment component (103) comprises a connecting plate (103a) and an angle adjustment drive module (103b), one end of the connecting plate (103a) is connected to the upper support component (101), and the angle adjustment drive module (103b) is used to adjust the angle of the upper support component (101), thereby adjusting the angle of the tilted body position.

11. The multi-degree-of-freedom patient positioning mechanism according to any one of claims 6-7, characterized in that: Furthermore, a lateral sliding mechanism (60) and a longitudinal sliding mechanism (70) are provided between the lifting assembly (40) and the rotating body (20) for performing short-distance fine adjustment of the lateral displacement and longitudinal displacement of the supporting body (10).

12. The multi-degree-of-freedom patient positioning mechanism according to claim 11, characterized in that: The lateral sliding mechanism (60) comprises a second slider assembly (601) and a mounting platform (602) arranged on the upper portion of the second slider assembly (601); the support body is mounted on the upper portion of the mounting platform (602) via a lifting assembly (40); The second slider assembly (601) comprises a second transverse guide rail (601a) and a second slider (601b) arranged on the upper portion of the second transverse guide rail (601a); During operation, driven by the first driving mechanism (603), the supporting body (10) as a whole slides laterally, thereby adjusting the lateral displacement of the supporting body in a small range.

13. The multi-degree-of-freedom patient positioning mechanism according to claim 12, characterized in that: The longitudinal sliding mechanism (70) comprises a longitudinal slide rail (701) and a longitudinal slider (702) slidably mounted 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 driving mechanism (703), the support body (10) is driven to slide longitudinally, thereby adjusting the overall longitudinal displacement of the support body (10) in a small amplitude.

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

15. The multi-degree-of-freedom patient positioning mechanism according to claim 14, characterized in that: The turntable lifting mechanism (202) is arranged at the bottom of the turntable (201), and comprises a lifting drive mechanism (202a), a multi-stage lifting screw rod (202b), and a turntable connecting member (202c) arranged in cooperation with the multi-stage lifting screw rod (202b).

16. The multi-degree-of-freedom patient positioning mechanism according to claim 15, characterized in that: The lifting drive mechanism (202a) is connected to one end of a multi-stage lifting screw (202b) via a transmission assembly (202d); the other end of the multi-stage lifting screw (202b) is connected to a turntable connector (202c); a toothed turntable bearing (202e) is provided on the outside of the turntable connector (202c); the toothed turntable bearing (202e) is connected to a turntable drive assembly (201k); and the turntable drive assembly (201k) is used to drive the toothed turntable bearing (202e) to rotate, thereby driving the turntable (201) to rotate.

17. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 14, characterized in that: The centering adjustment mechanism (203) comprises an upper centering adjustment component (203a), a lower centering adjustment component (203b), and a centering adjustment drive mechanism for adjusting the swing amplitude of the upper centering adjustment component (203a) and the lower centering adjustment component (203b).

18. The multi-degree-of-freedom patient positioning mechanism according to claim 17, characterized in that: 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-shaped distribution, and the rotation axes of the upper centering adjustment component (203a) and the lower centering adjustment component (203b) and the rotation axis of the turntable intersect at a point in space and intersect with the beam axis of the treatment head.

19. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 17, characterized in that: First arc-shaped racks (203a-1) are provided on both sides of the upper arc-shaped surface of the upper centering adjustment component (203a); the first arc-shaped racks (203a-1) are meshed with the first gear (203c-2a) of the first centering adjustment drive mechanism (203c); in a concentric state, the support body (10) and the rotating body (20) are concentrically adjusted by adjusting the left and right swing amplitudes of the upper centering adjustment component (203a).

20. The multi-degree-of-freedom adjustable patient positioning mechanism according to claim 19, characterized in that: First guide grooves (203a-4) are provided on both sides of the upper centering adjustment component (203a), and the first guide grooves (203a-4) are adapted to a first guide pulley assembly (204c) provided at the bottom of the base plate (204).

21. The multi-degree-of-freedom patient positioning mechanism according to claim 19, characterized in that: The bottom of the upper centering adjustment component (203a) is provided with a second guide pulley set (203a-5) and a limiting pulley set (203a-6).

22. The multi-degree-of-freedom patient positioning mechanism according to claim 17, characterized in that: Second arc-shaped racks (203b-1) are provided on both sides of the upper portion of the arc-shaped surface of the lower centering adjustment component (203b); the second arc-shaped racks (203b-1) are meshed with the second gear (203d-1) of the second centering adjustment drive mechanism (203d); in a concentric state, the support body (10) and the rotating body (20) are concentrically adjusted by adjusting the forward and backward swing amplitudes of the lower centering adjustment component (203b).

23. The multi-degree-of-freedom patient positioning mechanism according to claim 22, characterized in that: Second guide grooves (203b-4) are provided on both sides of the lower centering adjustment component (203b), and the second guide grooves (203b-4) are adapted to the second guide pulley set (203a-5) and the limiting pulley set (203a-6) provided at the bottom of the upper centering adjustment component (203a).

24. The multi-degree-of-freedom patient positioning mechanism according to claim 22, 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 via the slider group (203b-5).

25. The multi-degree-of-freedom patient positioning mechanism according to any one of claims 17 to 24, 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.

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

27. The multi-degree-of-freedom patient positioning mechanism according to claim 1, characterized in that: The device further comprises a leg support (1021), a pressure plate (1022) and a foot fixer (604) for fixing or limiting the patient's legs or feet; the leg support (1021) and the pressure plate (1022) are hinged to the angle adjustment component (103); and the foot fixer (604) is slidably mounted on the upper part of the mounting platform (602).

28. A method for using a multi-degree-of-freedom adjustable patient positioning mechanism, characterized by: A patient positioning mechanism with multi-degree-of-freedom adjustment according to any one of claims 1 to 27, characterized in that it comprises the following steps: S1. Body position adjustment: The patient's body position angle is adjusted through the support body and the rotating body in combination with the centering adjustment mechanism, thereby switching between the scanning position and the treatment position; S2. Position adjustment: The patient's target position is achieved through the lateral sliding of the lateral sliding mechanism and the lifting and lowering adjustment of the multi-stage lifting screw, in conjunction with the lifting of the chair; S3. Combining the above-mentioned posture adjustment and position adjustment, multi-degree-of-freedom posture transformation is performed through a multi-stage drive mechanism to decouple the patient target point so that the target point during the rotation treatment coincides with the isocenter of the radiotherapy in any posture of the patient, so as to adapt to vertical CT scanning and / or centering treatment.

29. A CT scanning system, characterized in that: The invention comprises a vertical CT scanning device (900), an adjustable chair (901) and a scanning bed matched with the vertical CT, wherein the adjustable chair (901) is equipped with a multi-degree-of-freedom adjustable patient positioning mechanism according to any one of claims 1 to 27.

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