Mechanical arm carrying E-flash radiotherapy equipment and control method thereof

Abstract

The invention relates to the technical field of mechanical arms, provides a mechanical arm carrying E-flash radiotherapy equipment and a control method of the mechanical arm, and aims to solve the technical problem that a current large-load mechanical arm for radiotherapy cannot be applied clinically temporarily. The radiotherapy robot comprises a treatment head, a base, a supporting unit, a telescopic unit, a connecting unit and a rotating unit, an E-flash radioactive source is carried in the treatment head, and the base is used for supporting all parts. The supporting unit is arranged on the base, the telescopic units are installed on the supporting unit, the connecting unit is arranged on the telescopic units, the rotating unit is arranged on the connecting unit, and the treatment head is arranged on the rotating unit. Through the rotating assembly and the multiple telescopic assemblies, supporting and position control over the treatment head are achieved, the treatment head is accurately controlled in the mode of establishing a basic coordinate system and a rotating coordinate system, and the robot has a simple mechanical structure and a simple control mode, so that the robot can be applied clinically more quickly.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a robotic arm equipped with an E-flash radiotherapy device and a control method thereof. Background Art

[0002] FLASH radiotherapy technology performs radiotherapy at an ultra-high dose rate (40 - 1000 Gy / s) in an extremely short time (< 1 second), which can significantly reduce normal tissue damage while killing tumors, compress the traditional treatment course of several months to the second level, and open up a new direction for precise radiotherapy.

[0003] Intraoperative radiotherapy (IORT), as a fusion technology of surgery and radiotherapy, realizes three major advantages by directly irradiating the tumor bed during surgery: improving the positioning accuracy by visualizing the lesion; physically isolating surrounding sensitive organs; avoiding the interference of respiratory movement, enabling the single radiation dose to be increased by 5 - 10 times compared with traditional radiotherapy, and significantly reducing the recurrence risk.

[0004] In the field of radiotherapy equipment, the internationally leading level is represented by six-axis robotic arms and multi-leaf collimator (MLC) technology. The six-axis robotic arm is equipped with a compact linear accelerator, supports 1400 non-coplanar irradiation angles, and realizes 0.5mm-level dynamic intensity modulation through real-time image tracking. The multi-leaf collimator (MLC) technology combined with CBCT image guidance can complete the sub-millimeter-level delivery of complex doses within 2 minutes, but both have a threshold of equipment cost exceeding 30 million yuan and annual maintenance cost exceeding one million yuan.

[0005] The technology of large-load robotic arms for radiotherapy in China started relatively late, and the large-load robotic arms for radiotherapy are still in the experimental stage, and there is still a certain distance from actual clinical use. Summary of the Invention

[0006] Aiming at the technical problem that large-load robotic arms for radiotherapy cannot be applied to clinical practice for the time being, the present invention provides a robotic arm equipped with an E-flash radiotherapy device and a control method thereof. By means of a rotating component and a plurality of telescopic components, the support and position control of the treatment head are realized, and the treatment head is accurately controlled by establishing a basic coordinate system and a rotating coordinate system, so that the robot has a simple mechanical structure and a simple control method, and thus can be clinically applied faster.

[0007] The technical solution of the present invention is as follows: A robotic arm equipped with an E-flash radiotherapy device, comprising a treatment head carrying an E-flash radiation source and a base, and further comprising: A support unit, arranged on the base, and a plurality of mounting parts are provided on the support unit; A plurality of telescopic units, one end of the telescopic unit is movably connected to the mounting part, and the other end extends away from the support unit; A connecting unit, which is movably connected to one end of all the telescopic units away from the installation part; A rotating unit, which is arranged on the connecting unit and connected to the radiotherapy head.

[0008] Optionally, the telescopic unit includes: A first movable component, which is arranged on the installation part; A telescopic component, one end of which is arranged on the first movable component; A second movable component, which is arranged between the other end of the telescopic component and the connecting unit; Wherein, both the first movable component and the second movable component have multiple degrees of freedom, so that the telescopic component can move arbitrarily on the installation part.

[0009] Optionally, the first movable component includes: A universal joint, one end of which is rotatably connected to the installation part, and the other end is connected to one end of the telescopic component.

[0010] Optionally, the second movable component includes: A ball seat, which is arranged on the connecting unit, and a spherical movable part is arranged inside the ball seat; A sphere, which is arranged inside the movable part, can rotate freely inside the movable part, and the sphere is connected to one end of the telescopic component.

[0011] Optionally, the telescopic component includes: A base, which is arranged on the first movable component and has a rotational degree of freedom around a point relative to the support unit; A lead screw, one end of which is rotatably arranged on the base; A movable rod, one end of which has a threaded hole matching the lead screw; A limiting member, which is arranged on the base and is slidably connected to the movable rod; A driving member, which is arranged on the base and is power-connected to the lead screw, and the driving member can drive the lead screw to rotate; Wherein, the second movable component is arranged at the other end of the movable rod.

[0012] Optionally, the driving member includes: A first worm gear, which is rotatably arranged on the base, and a fixing part for installing the lead screw is arranged in the middle of the first worm gear; A first worm, which meshes with the first worm gear; A first servo motor, which is connected to the base, and the output shaft of the first servo motor is connected to one end of the first worm.

[0013] Optionally, the rotating unit includes: The main shaft is rotatably provided at one end on the connecting unit; The second worm gear is coaxially sleeved on the main shaft; The second worm is meshed with the second worm gear; The second servo motor is provided on the connecting unit, and the output shaft of the second servo motor is connected to one end of the second worm.

[0014] Optionally, the support unit includes: The support plate is provided on the base. Three support areas are evenly distributed on the support plate at an angle of 120°. Two mounting parts are provided on each support area, and one telescopic unit is provided on each mounting part; Wherein, in the initial state, all the telescopic units are of equal length and form a conical structure, and the rotation axis of the rotating unit is collinear with the symmetric central axis of the three support areas.

[0015] The present invention also provides a control method for a robotic arm, including the following steps: Step S1, establish a basic coordinate system O and a rotating coordinate system E; Step S2, input the target position (X, Y, Z), the target attitude matrix and the rotation angle θ of the rotating unit of the robotic arm; Step S3, decompose the target attitude matrix into the product of the attitude matrix (R) of the rotating unit of the robotic arm and the rotation matrix about the Y axis in the rotating coordinate system E; Step S4, solve the attitude matrix (R) of the rotating unit of the robotic arm through a numerical optimization algorithm; Step S5, calculate the telescopic lengths of the telescopic units of the robotic arm according to the target position and the attitude matrix ; Step S6, drive the telescopic units of the robotic arm to the target length, and at the same time drive the rotating unit of the robotic arm to rotate to the specified angle θ.

[0016] Optionally, in step S4, the convergence condition of the numerical optimization algorithm is the attitude error threshold (ε), and when the error satisfies , terminate the iteration; In step S3, the rotation matrix about the Y axis in the rotating coordinate system E is calculated by the following formula: .

[0017] Compared with the prior art, the beneficial effects of the present invention are: During use, the support unit supports the treatment head on the base, controls the position of the treatment head through a plurality of telescopic units arranged between the support unit and the treatment head, and then controls the orientation of the bottom of the treatment head through a rotation unit arranged between the treatment head and the telescopic unit.

[0018] During the control process, a basic coordinate system and a rotation coordinate system are established, the telescopic length of each telescopic unit and the rotation angle of the rotation unit are calculated according to the input target position, and then the telescopic unit and the rotation unit are controlled to perform corresponding actions, so as to complete the determination of the position of the treatment head.

[0019] The mechanical structure and control method of this technical solution are relatively simple compared with the prior art. Therefore, relatively speaking, it will have a lower cost threshold and can be applied in clinical practice faster. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0021] Figure 1 Schematic three-dimensional structure diagram of the present invention; Figure 2 Schematic three-dimensional structure diagram of the combination of a plurality of telescopic units; Figure 3 For Figure 2 Enlarged view of part A in Figure 4 For Figure 2 Enlarged view of part B in Figure 5 Schematic three-dimensional structure diagram of the assembly relationship of a single telescopic unit; Figure 6 Schematic three-dimensional structure diagram of the second movable component; Figure 7 Schematic three-dimensional structure diagram of a single telescopic unit; Figure 8 Schematic diagram of the steps of the control method in the present invention.

[0022] Reference Signs: 100. Treatment head.

[0023] 200. Support unit; 210. Installation part; 220. Support plate; 230. Support area.

[0024] 300. Telescopic unit; 310. First movable component; 320. Telescopic component; 330. Second movable component.

[0025] 311. Universal joint; 3111. U-shaped seat; 3112. Connecting body.

[0026] 321. Base; 322. Lead screw; 323. Movable rod; 324. Limiting part; 325. Driving part; 326. Plate part; 327. Limiting rod.

[0027] 3251. First worm gear; 3252. First worm; 3253. First servo motor; 3254. Motor base.

[0028] 331. Ball seat; 332. Sphere; 333. Ball cover.

[0029] 400. Connecting unit.

[0030] 500. Rotating unit.

[0031] 510. Main shaft; 520. Second worm gear; 530. Second worm; 540. Second servo motor. Detailed implementation mode

[0032] In the following text, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0033] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0034] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the units and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0035] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0036] Embodiment 1

[0037] See Figure 1 、 Figure 2 、 Figure 5 and Figure 7 Figure 7 , this embodiment discloses a robotic arm equipped with an E-flash radiotherapy device, including a treatment head 100, a base (not shown in the figure), a support unit 200, a telescopic unit 300, a connection unit 400, and a rotation unit 500. Among them, an E-flash radiation source is carried in the treatment head 100, and the base is used to support all components. The support unit 200 is arranged on the base, and a plurality of telescopic units 300 are installed on the support unit 200. The connection unit 400 is arranged on the telescopic unit 300, the rotation unit 500 is arranged on the connection unit 400, and the treatment head 100 is arranged on the rotation unit 500.

[0038] During use, the base and the support unit 200 play a supporting role. The plurality of telescopic units 300 are used to control the position of the connection unit 400, and thus control the position of the treatment head 100. The rotation unit 500 is used to drive the treatment head 100 to rotate, so as to control the orientation of the treatment head 100.

[0039] Specifically, a plurality of mounting parts 210 are arranged on one side of the support unit 200, and all the mounting parts 210 are located in the same plane. Generally, the base is arranged on a horizontal ground, and at this time all the mounting parts 210 are located in the same vertical plane. A telescopic unit 300 is arranged on each mounting part 210. The end of the telescopic unit 300 is movably connected to the mounting part 210, and the other end of the telescopic unit 300 extends in a direction away from the support unit 200. All the ends of the telescopic units 300 away from the support unit 200 are movably connected to the connection unit 400, so that by the cooperation of the telescopic lengths of different telescopic units 300, the connection unit 400 can move to different positions and the elevation angle of the connection unit 400 can be adjusted.

[0040] In this embodiment, through a simple mechanical structure, the arbitrary control of the position of the treatment head 100 is realized, which greatly simplifies the control structure and reduces the application threshold.

[0041] In another preferred technical solution, see Figure 1 and Figure 2, the support unit 200 includes a support plate 220. Among them, the support plate 220 is fixedly installed on the base. On the support plate 220, there are three support areas 230 distributed at an angle of 120°, and two mounting parts 210 are provided on each support area 230, and one telescopic unit 300 is provided on each mounting part 210. Among them, the distances between all the telescopic units 300 and the central position of the support plate 220 are the same. By uniformly installing the telescopic units 300, the control method can be simplified, and a stable support effect can be achieved on the treatment head 100.

[0042] In one specific embodiment: See Figure 2 , Figure 5 and Figure 7 , the telescopic unit 300 includes a first movable component 310, a telescopic component 320, and a second movable component 330. Among them, the first movable component 310 is arranged on the mounting part 210, one end of the telescopic component 320 is arranged on the first movable component 310, and the other end of the telescopic component 320 is arranged on the connection unit 400.

[0043] Both the first movable component 310 and the second movable component 330 have multiple degrees of freedom. One end of the first movable component 310 can rotate freely and change its orientation relative to the end where it is connected to the mounting part 210, so that the telescopic component 320 can rotate freely and change its orientation.

[0044] In addition, one end of the second movable component 330 can rotate freely and change its orientation relative to the end where it is mounted on the telescopic component 320, so that the connection unit 400 can rotate freely and change its orientation.

[0045] After installation, by controlling the telescopic amounts of all the telescopic components 320, the position control of the connection unit 400 can be realized, and the support for the connection unit 400 can be achieved through the mutual restraint of all the telescopic components 320.

[0046] In this embodiment, by setting the first movable component 310 and the second movable component 330, the purpose is to be able to freely change their directions when all the telescopic components 320 extend or shorten, so as to complete the change of the position of the treatment head 100.

[0047] Preferably, see Figure 4, the first movable component 310 includes a universal joint 311, which includes two U-shaped seats 3111 and a connecting body 3112. Among them, the two U-shaped seats 3111 are arranged crosswise, one of the U-shaped seats 3111 is rotatably connected to the mounting part 210, and the other U-shaped seat 3111 is fixedly connected to one end of the telescopic component 320. The connecting body 3112 is a cube structure, and the open sides of the U-shaped seats 3111 are respectively rotatably connected to the opposite side surfaces of the connecting body 3112, and the four end parts of the open sides of the two U-shaped seats 3111 are respectively rotatably connected to the four side surfaces of the connecting body 3112. Thus, a structure that can rotate freely and change its orientation freely is formed.

[0048] In another preferred solution, refer to Figure 6 , the second movable component 330 includes a ball seat 331 and a sphere 332. Among them, the ball seat 331 is installed on the connecting unit 400, and a concave movable part is arranged on the side surface of the ball seat 331 facing away from the connecting unit 400, and the movable part is a spherical space structure. The sphere 332 is movably arranged in the movable part, and the center of the sphere 332 coincides with the center of the movable part.

[0049] Generally speaking, the movable part on the ball seat 331 is a hemispherical space. After the sphere 332 is movably arranged in the movable part, a ball cover 333 with a spherical space structure is also installed on the ball seat 331 to limit the sphere 332 on the ball seat 331, so that the sphere 332 can only rotate freely in the movable part. In addition, a through hole is arranged on the ball cover 333 to penetrate both sides of the ball cover 333, so that one end of the telescopic component 320 can pass through the through hole and then be connected to the sphere 332. It can be understood that since the sphere 332 is still in a rotatable state after being connected to the end of the telescopic component 320, the diameter of the through hole on the ball cover 333 is larger than the size of the end of the telescopic component 320, so as to ensure the free movement of the end of the telescopic component 320 in the through hole.

[0050] In another specific embodiment: Refer to Figure 2 、 Figure 4 、 Figure 5 and Figure 7 The telescopic component 320 includes a base 321, a lead screw 322, a movable rod 323, a limiting member 324 and a driving member 325. Among them, the base 321 is fixedly installed at one end of the first movable component 310 away from the support unit 200, and through the universal joint 311, the base 321 has the freedom of rotation around a point relative to the support unit 200.

[0051] One end of the lead screw 322 is rotatably connected to the middle of the base 321, and the lead screw 322 extends in a direction away from the universal joint 311. One end of the movable rod 323 is provided with a threaded hole, and the threaded hole extends towards the other end of the movable rod 323, and this threaded hole is matched with the lead screw 322. The length direction of the lead screw 322 is the same as the length direction of the movable rod 323.

[0052] One end of the limiting member 324 is an L-shaped structure. This end of the limiting member 324 is slidably connected to the movable rod 323 and is used to limit the movement direction of the movable rod 323. The other end of the limiting member 324 is fixedly arranged on the base 321, and the end of the movable rod 323 is located on the side of the lead screw 322. Generally speaking, the length direction of the limiting member 324 is the same as the length direction of the lead screw 322.

[0053] The driving member 325 is arranged on the base 321, and the driving member 325 is power-connected to the lead screw 322. By the driving member 325, the lead screw 322 can be driven to rotate, and then the movable rod 323 can be driven to perform a linear motion on the limiting member 324. The above-mentioned second movable assembly 330 is arranged at one end of the movable rod 323 away from the lead screw 322.

[0054] Preferably, there are at least two holes on the limiting member 324 for the movable rod 323 to pass through, and the movement direction of the movable rod 323 is restricted by these holes. Generally speaking, in order to improve the support strength, the limiting members 324 are symmetrically arranged on both sides of the lead screw 322, and the two limiting members 324 share a set of holes for restricting the movable rod 323.

[0055] In addition, since the movable rod 323 is selected as a circular rod in the normal state, a plate member 326 is respectively arranged at both ends of the movable rod 323, a limiting rod 327 is arranged between the two plate members 326, and a limiting hole for the limiting rod 327 to pass through is arranged on the limiting member 324. Through this design, it can be avoided that when the driving member 325 drives the lead screw 322 to rotate, the movable rod 323 rotates together.

[0056] In another specific embodiment: See Figure 4 , the driving member 325 includes a first worm gear 3251, a first worm 3252 and a first servo motor 3253. Among them, one side of the first worm gear 3251 is rotatably arranged in the middle of the base 321. At the same time, there is a hole in the middle of the first worm gear 3251 for the lead screw 322 to pass through, and a fixing portion for installing the lead screw 322 is arranged in the middle of this hole, so that the lead screw 322 and the first worm gear 3251 are coaxially arranged, and the first worm gear 3251 and the lead screw 322 are fixedly connected.

[0057] The first servo motor 3253 is fixedly connected to the base 321. During the actual installation process, due to factors such as the position of the first worm gear 3251 and the volume of the first servo motor 3253, the specific connection method is to fixedly install a motor base 3254 on the above-mentioned limiting member 324, and through the motor base 3254 and the limiting member 324, the fixed connection between the first servo motor 3253 and the base 321 is achieved.

[0058] A first worm 3252 is coaxially arranged on the output shaft of the first servo motor 3253, and the first worm 3252 is engaged with the first worm gear 3251, so that the telescopic amount of the movable rod 323 can be controlled by controlling the first servo motor 3253.

[0059] In this embodiment, the worm and worm gear structure can not only meet the purpose of precise control during operation, but also achieve self-locking, avoiding the problem that the lead screw 322 rotates automatically under the action of other external forces.

[0060] In another specific embodiment: See Figure 2 and Figure 3 The rotating unit 500 includes a main shaft 510, a second worm gear 520, a second worm 530 and a second servo motor 540. Among them, one end of the main shaft 510 is rotatably arranged in the middle of the connecting unit 400, and when the lengths of all the telescopic units 300 are the same, the axis of the main shaft 510 is perpendicular to the plate surface of the support plate 220 and passes through the center of the support plate 220.

[0061] A second worm gear 520 is sleeved on the other end of the main shaft 510, and this end of the main shaft 510 passes through the second worm gear 520 and is fixedly connected to the treatment head 100.

[0062] The second servo motor 540 is fixedly arranged on one side surface of the connecting unit 400, and a second worm 530 is coaxially arranged on the output shaft of the second servo motor 540, and the second worm 530 is engaged with the second worm gear 520.

[0063] In this embodiment, the second servo motor 540 drives the second worm 530 to rotate, and then drives the second worm gear 520 to rotate, so as to drive the main shaft 510 and the treatment head 100 to rotate through the second worm 530.

[0064] Setting the rotating unit 500 as a worm and worm gear structure not only has the same self-locking function as the worm and worm gear structure in the driving member 325, but also can make the arrangement direction of the output shaft of the second servo motor 540 perpendicular to the main shaft 510, thereby reducing the space occupied by the second servo motor 540, and further reducing the length of the main shaft 510. After the length of the main shaft 510 is shortened, its strength is also improved accordingly.

[0065] Embodiment 2

[0066] Refer to Figure 1 、 Figure 2 、 Figure 4 and Figure 8 , this embodiment discloses a control method for a robotic arm, which is used to control the robotic arm carrying the E-flash radiotherapy device described in the embodiment, and specifically includes the following steps: Step S1: Establish a basic coordinate system O and a rotation coordinate system E.

[0067] Among them, the origin of the basic coordinate system O is at the center of the support plate 220, the direction perpendicular to the plate surface of the support plate 220 is the Y-axis, the vertical direction is the Z-axis, and the direction perpendicular to the Y-axis and the Z-axis is the X-axis, which are respectively denoted as 、 and .

[0068] The origin of the rotation coordinate system E is at the center position of the rotation unit 500, and 、 and are defined corresponding to the basic coordinate system O. And in the initial state (the state where the lengths of all telescopic units 300 are the same), the origin of the rotation coordinate system E is on , and are parallel, and are parallel, and are parallel.

[0069] Step S2: Input the target position (X, Y, Z), the target attitude matrix and the rotation angle θ of the rotation unit 500 itself.

[0070] Among them, the target position (X, Y, Z) is the coordinate of the treatment head 100 in the coordinate system O of the base 321.

[0071] The target attitude matrix is the attitude matrix of the treatment head 100 in the coordinate system O of the base 321. In the target attitude matrix , it includes the roll, pitch, and yaw of the rotation unit 500. Roll represents the rotation around the Y-axis, pitch represents the rotation around the X-axis, and yaw represents the rotation around the Z-axis.

[0072] Step S3: Decompose the target attitude matrix into the product of the attitude matrix (R) of the rotation unit 500 and the rotation matrix around the axis in the rotation coordinate system E , that is Among them, the attitude matrix (R) of the rotation unit 500 is the basic attitude matrix of the rotation unit 500 generated by adjusting the telescopic unit 300. is a rotation array for the treatment head 100 to rotate around an axis. The rotation matrix for rotation around the axis in the rotation coordinate system E is calculated by the following formula: .

[0073] Step S4: Solve the attitude matrix (R) of the rotation unit 500 through a numerical optimization algorithm. The convergence condition of the numerical optimization algorithm is the attitude error threshold (ε). When the error satisfies , terminate the iteration.

[0074] Step S5: Calculate the telescopic length of each telescopic unit 300 according to the target position and the attitude matrix. .

[0075] Adopt inverse kinematics to calculate the telescopic length of the telescopic unit 300. Calculate the length of each telescopic unit 300 according to the following formula: .

[0076] Where: is the position of the active end (the end connected to the connection unit 400) of the i-th telescopic unit 300 in the base coordinate system O.

[0077] is the position of the fixed end (the end connected to the support unit 200) of the i-th telescopic unit 300 in the base coordinate system O. This position coordinate is a known value and has been determined when installing the entire device.

[0078] Step S6: Drive the telescopic unit 300 to the target length, and at the same time drive the rotation unit 500 to rotate to the specified angle θ.

[0079] In one specific embodiment: Given a target position P = (0, 1, 0), which means moving one meter along the direction in the base coordinate system O.

[0080] Set a target attitude matrix , indicating that the treatment head 100 remains vertical and has no rotation.

[0081] Set a rotation angle θ = 30° of the rotation unit 500.

[0082] Basic mechanical parameters: The connection point of the telescopic unit 300 on the support unit 200 , , , where one support area 230 is installed for every two telescopic units 300. Therefore, for the sake of example, only one of the two telescopic units 300 within each support area 230 needs to be considered.

[0083] The position of the rotating unit 500 in the rotating coordinate system E , , .

[0084] Attitude decomposition: Decompose into .

[0085] Initial conjecture: Assume that the rotation axis is approximately that of the basic coordinate system O , then: .

[0086] Iterative optimization: Calculate the error , since the initial guess already satisfies R = I, so the error e = 0 and it converges directly.

[0087] Calculate the coordinates of the rotating unit 500, taking as an example: ; Calculate the length of the telescopic rod, taking the first telescopic unit 300 as an example : .

[0088] Calculated in the above manner: meters, meters, meters, meters, meters.

[0089] Finally, control the 6 telescopic units 300 to extend to the corresponding lengths, and control the rotating unit 500 to rotate by the corresponding angles.

[0090] In this technical solution, the treatment head can be accurately and quickly controlled to reach the specified position through simple calculations.

[0091] The above-described embodiments merely represent the specific implementation manners of the present invention, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention.

Claims

1. A robotic arm equipped with an E-flash radiotherapy device, comprising a treatment head carrying an E-flash radiation source and a base, characterized in that, Further included are: A support unit, disposed on the base, and having a plurality of mounting portions thereon; A plurality of telescopic units, one end of the telescopic unit being movably connected to the mounting portion, and the other end extending away from the support unit; A connecting unit, movably connected to one ends of all the telescopic units away from the mounting portion; A rotating unit, disposed on the connecting unit and connected to the radiotherapy head.

2. The robotic arm equipped with the E-flash radiotherapy device according to claim 1, characterized in that, The telescopic unit includes: A first movable assembly, disposed on the mounting portion; A telescopic assembly, one end of which is disposed on the first movable assembly; A second movable assembly, disposed between the other end of the telescopic assembly and the connecting unit; Wherein, both the first movable assembly and the second movable assembly have multiple degrees of freedom, such that the telescopic assembly can move arbitrarily on the mounting portion.

3. The robotic arm equipped with the E-flash radiotherapy device according to claim 2, characterized in that, The first movable assembly includes: A universal joint, one end of which is rotatably connected to the mounting portion, and the other end is connected to one end of the telescopic assembly.

4. The robotic arm equipped with the E-flash radiotherapy device according to claim 2, characterized in that, The second movable assembly includes: A ball seat, disposed on the connecting unit, and having a spherical movable portion therein; A sphere, disposed within the movable portion, capable of freely rotating within the movable portion, and the sphere is connected to one end of the telescopic assembly.

5. The robotic arm equipped with the E-flash radiotherapy device according to claim 2, characterized in that, The telescopic assembly includes: A base, disposed on the first movable assembly, having a degree of freedom of rotation about a point relative to the support unit; A lead screw, one end of which is rotatably disposed on the base; A movable rod, having a threaded hole matching the lead screw at one end; A limiting member, disposed on the base and slidably connected to the movable rod; A driving member, disposed on the base and power-connected to the lead screw, and the driving member can drive the lead screw to rotate; Wherein, the second movable assembly is disposed at the other end of the movable rod.

6. The robotic arm equipped with the E-flash radiotherapy device according to claim 5, characterized in that, The driving member includes: A first worm gear, rotatably disposed on the base, and having a fixing portion for mounting the lead screw in the middle; A first worm, meshing with the first worm gear; A first servo motor, connected to the base, and the output shaft of the first servo motor is connected to one end of the first worm.

7. The robotic arm equipped with the E-flash radiotherapy device according to claim 1, wherein, The rotating unit includes: A main shaft, one end of which is rotatably disposed on the connecting unit; A second worm gear, coaxially sleeved on the main shaft; A second worm, meshing with the second worm gear; A second servo motor, disposed on the connecting unit, and the output shaft of the second servo motor is connected to one end of the second worm.

8. The robotic arm equipped with the E-flash radiotherapy device according to any one of claims 1-7, characterized in that, The support unit includes: A support plate, disposed on the base, and having three support areas uniformly distributed at an angle of 120° on the support plate, two of the mounting portions being provided on each support area, and one of the telescopic units being provided on each mounting portion; Wherein, in the initial state, all the telescopic units are of equal length and form a conical structure, and the rotation axis of the rotating unit is collinear with the symmetric central axis of the three support areas.

9. A control method applied to the robotic arm according to any one of claims 1-8, characterized in that, Including the following steps: Step S1, establishing a basic coordinate system O and a rotation coordinate system E; Step S2, input the target position (X, Y, Z), the target attitude matrix and the rotation angle θ of the robotic arm rotation unit; Step S3: Decompose the target pose matrix into the product of the manipulator rotation unit pose matrix (R) and the rotation matrix about the Y-axis in the rotation coordinate system E ; Step S4, solving the attitude matrix (R) of the robotic arm rotating unit through a numerical optimization algorithm; Step S5: Calculate the telescopic lengths of the telescopic units of the robotic arm based on the target position and the pose matrix ; Step S6, driving the telescopic unit of the robotic arm to the target length, and simultaneously driving the rotating unit of the robotic arm to rotate to the specified angle θ.

10. The control method of the robotic arm according to claim 9, wherein In step S4, the convergence condition of the numerical optimization algorithm is the attitude error threshold (ε), and when the error satisfies , the iteration is terminated; In step S3, the rotation matrix for rotating about the Y-axis in the rotating coordinate system E is calculated by the following formula: 。

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