Abdomen pressurizing device for radiotherapy of liver cancer

Abstract

The invention relates to the technical field of medical instruments, in particular to an abdomen pressurizing device for liver cancer radiotherapy, which comprises a surgical console, X-ray bulb tubes, an infrared synchronous tracking camera and a medical bed, the surgical console is arranged on the outer side of the medical bed, and two groups of X-ray bulb tubes are arranged on the left side and the right side of the medical bed. An infrared synchronous tracking camera is arranged on the rear side of the medical bed, and the operation console, the X-ray bulb tube, the infrared synchronous tracking camera and the medical bed are all electrically connected with the main console. The mechanical arm joint can be provided with the swing arm, the second connecting plate is pushed by the electric push rod to move along the sliding rail, so that the auxiliary wheel moves in the movable groove, the first connecting rod is driven to swing, the swing angle of the swing arm is limited, and the mechanical arm joint can be matched with an irradiation head to move; therefore, the swinging relative to a fixed point is realized under the action of the driving mechanism, and the synchronization of the output beam and the target movement is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an abdominal compression device for radiotherapy of liver cancer. Background Art

[0002] Tumor radiotherapy is a local treatment method that uses radiation to treat tumors. The radiation includes α, β, γ rays generated by radioactive isotopes and X rays, electron beams, proton beams, and other particle beams generated by various X-ray therapy machines or accelerators. Approximately 70% of cancer patients need radiotherapy during the treatment of cancer, and about 40% of cancers can be cured by radiotherapy. The role and status of radiotherapy in tumor treatment have become increasingly prominent and have become one of the main means of treating malignant tumors.

[0003] Currently, for the radiotherapy of the liver of liver cancer patients, an additional irradiation width of 2 cm needs to be added on the basis of the movement range of the patient's liver to ensure that the diseased part of the patient's liver can always be radiated during radiotherapy. However, during normal breathing activities of the human body, the liver will move up and down significantly with the breathing movement.

[0004] However, the traditional robotic arm joints that achieve the fixed-point function mainly include three types: single parallelogram series robotic arm joints, multi-parallelogram series robotic arm joints, and series spherical link robotic arm joints. The structures of these robotic arm joints are mainly formed by connecting rods hinged together, and the movement of the surgical instruments is restricted by the rotation of the connecting rod mechanism. Not only is the structure complex, but also the transmission reduction ratio is large and the transmission efficiency is low, making it difficult to effectively guarantee the movement control accuracy and unable to synchronize with the target movement. Therefore, we propose an abdominal compression device for radiotherapy of liver cancer to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an abdominal compression device for radiotherapy of liver cancer to solve the problems in the above background art that the robotic arm has a complex structure, a large transmission reduction ratio, a low transmission efficiency, making it difficult to effectively guarantee the movement control accuracy and unable to synchronize with the target movement.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An abdominal compression device for radiotherapy of liver cancer, including a surgical console, an X-ray tube, an infrared synchronous tracking camera, and a medical bed. The surgical console is arranged outside the medical bed, two groups of X-ray tubes are arranged on the left and right sides of the medical bed, and the infrared synchronous tracking camera is arranged at the rear of the medical bed. The surgical console, the X-ray tube, the infrared synchronous tracking camera, and the medical bed are all electrically connected to the main console; The surgical console includes a support arm and a robotic arm. The support arm is disposed outside the medical bed. A robotic arm is installed inside the support arm. A protective shell is installed at the end of the robotic arm, and a drive mechanism is arranged inside the protective shell; The drive mechanism includes a fixing plate, a first fixing rod, a first connecting rod, a first connecting plate, an electric push rod, a slide rail, a first slider, a second connecting plate, a moving slot and an auxiliary wheel. A fixing plate is arranged inside the protective shell. A first fixing rod is arranged on the left side of the fixing plate. A first connecting rod is arranged on the outer side of the first fixing rod. A first connecting plate is arranged on the lower side of the first connecting rod. An electric push rod is arranged on the inner wall of the protective shell. A second connecting plate is arranged at the front end of the electric push rod. A slide rail is arranged inside the protective shell. A first slider is arranged on the surface of the slide rail. A moving slot is formed in the first connecting rod. An auxiliary wheel is arranged on the surface of the second connecting plate. An irradiation head is arranged on the surface of the first connecting plate.

[0007] Preferably, an adjusting assembly is arranged outside the irradiation head. The adjusting assembly includes a third connecting plate, a servo motor, a second connecting rod and a fixing block. The lower end of the first connecting plate is fixedly connected with the third connecting plate. A servo motor is fixedly installed at the rear end of the third connecting plate. The left output end of the servo motor is fixedly connected with the second connecting rod. The rear end of the irradiation head is fixedly connected with the fixing block. The other end of the second connecting rod is connected to the fixing block.

[0008] Preferably, the right side of the fixing plate is fixedly connected with the inner wall of the protective shell. The right end of the first fixing rod is fixedly connected with the fixing plate. The upper end of the first connecting rod is rotatably connected with the first fixing rod through a bearing. The other end of the first connecting rod is rotatably connected with the first connecting plate through a bearing. The electric push rod is fixedly installed inside the protective shell. The right side of the slide rail is fixedly connected with the inner wall of the protective shell. The inner side of the first slider is movably connected with the slide rail. The right side of the second connecting plate is fixedly connected with the first slider. The rear end of the second connecting plate is fixedly connected with the output end of the electric push rod. The left surface of the second connecting plate is rotatably connected with the auxiliary wheel. The diameter of the moving slot is adapted to the auxiliary wheel. The auxiliary wheel is located inside the moving slot.

[0009] Preferably, a stabilizing assembly is arranged between the fixing plate and the first connecting plate. The stabilizing assembly includes a second fixing rod and a third connecting rod. The left surface of the fixing plate is fixedly connected with the second fixing rod. The outer side of the second fixing rod is rotatably connected with the third connecting rod. The other end of the third connecting rod is rotatably connected with the inner side of the first connecting plate.

[0010] Preferably, a positioning component is provided on the surface of the slide rail. The positioning component includes a second slider and a fourth connecting plate. The second slider is provided at the front end of the slide rail, and the fourth connecting plate is fixedly connected to the outside of the second slider. The diameter of the fourth connecting plate is the same as that of the second connecting plate.

[0011] Preferably, positioning holes are equidistantly formed on the surface of the slide rail. A positioning bolt is threadedly connected in the positioning hole, and the fourth connecting plate is fixedly installed on the slide rail through the positioning bolt.

[0012] Preferably, an angle sensor is fixedly installed in the second connecting rod. The output end of the angle sensor is in the same direction as the orientation of the irradiation head, and the angle sensor is electrically connected to the main control console.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In the surgical control console, support arm and robotic arm provided by the present invention, the robotic arm joint can be equipped with a swing arm. The second connecting plate is pushed along the slide rail by an electric push rod, so that the auxiliary wheel moves in the movable groove, driving the first connecting rod to swing, and limiting the swing angle of the swing arm, which can cooperate with the irradiation head to move, so as to realize the swing relative to a fixed point under the action of the driving mechanism, and realize the synchronization of the output beam and the target movement.

[0014] 2. Through the setting of the adjustment component, in the support arm and the robotic arm, the second connecting rod connected to the output end of the servo motor drives the fixed block to rotate, further simplifying the structure of the robotic arm joint, reducing the weight and volume of the entire robotic arm joint, further improving the motion control accuracy of the robotic arm joint, adjusting the irradiation angle when the irradiation head swings, and the irradiation distribution is relatively concentrated.

[0015] 3. Through the setting of the stabilizing component, the third connecting rod is arranged between the fixed plate and the first connecting plate, which can improve the center of gravity distribution, further improve the structural stiffness of the entire robotic arm joint, and further improve the motion control accuracy of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure at the surgical control console of the present invention; Figure 3 Structural schematic diagram of the driving mechanism of the present invention; Figure 4 Structural schematic diagram of the stabilizing component of the present invention; Figure 5 Structural schematic diagram of the positioning component of the present invention; Figure 6 For the present invention Figure 5 Partial enlarged schematic diagram of A in the present invention.

[0018] In the figure: 100, surgical console; 101, support arm; 1011, robotic arm; 200, X-ray tube; 300, infrared synchronous tracking camera; 400, medical bed; 500, protective shell; 600, driving mechanism; 601, fixing plate; 602, first fixing rod; 603, first connecting rod; 604, first connecting plate; 605, electric push rod; 606, slide rail; 607, first slider; 608, second connecting plate; 609, movable groove; 610, auxiliary wheel; 700, adjusting component; 701, third connecting plate; 702, servo motor; 703, second connecting rod; 704, fixing block; 705, angle sensor; 800, stabilizing component; 801, second fixing rod; 802, third connecting rod; 900, positioning component; 901, second slider; 902, fourth connecting plate; 903, positioning hole; 904, positioning bolt; 1000, irradiation head. Specific embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Please refer to Figures 1-6, an embodiment provided by the present invention: an abdominal compression device for liver cancer radiotherapy, including a surgical console 100, an X-ray tube 200, an infrared synchronous tracking camera 300, and a medical bed 400. The surgical console 100 is provided on the outer side of the medical bed 400. Two groups of X-ray tubes 200 are provided on the left and right sides of the medical bed 400. Two X-ray tubes 200 on the ceiling and digital detectors cross-opposite on both sides of the treatment bed are responsible for generating X-rays for kilovolt diagnosis, cross-projecting onto the patient and the tumor target area, and finally projecting onto the digital detector, so that the medical image is displayed on the computer screen for precise patient positioning before treatment and for detecting the displacement of the patient and the tumor during treatment. The digital detector is responsible for receiving the message from the X-ray projection. After receiving the message, it will transmit the image to the computer system (not visible in the treatment room) to provide patient information for synchronous processing of the treatment plan, including various immediate fine adjustments; the infrared synchronous tracking camera 300 is provided at the rear of the medical bed 400. The infrared synchronous tracking camera 300 is installed on the ceiling. During treatment, the patient wears a special tight-fitting garment with a red light emitter attached. Using the infrared rays emitted by it, the camera synchronously tracks, and the subtle displacement changes generated by the patient's chest during breathing during treatment can be specifically grasped; the surgical console 100, the X-ray tube 200, the infrared synchronous tracking camera 300, and the medical bed 400 are all electrically connected to the main console; the treatment bed used can adjust the distance and angle by computer. When the patient receives treatment, he lies on the treatment bed, and the treatment bed performs automatic positioning according to computer calculations to make the irradiated target position coincide with the image position of the patient's computed tomography.

[0021] The surgical console 100 includes a support arm 101 and a robotic arm 1011. The support arm 101 is provided on the outer side of the medical bed 400. The robotic arm 1011 is installed inside the support arm 101. A protective shell 500 is installed at the end of the robotic arm 1011. A driving mechanism 600 is provided inside the protective shell 500; The driving mechanism 600 includes a fixing plate 601, a first fixing rod 602, a first connecting rod 603, a first connecting plate 604, an electric push rod 605, a slide rail 606, a first slider 607, a second connecting plate 608, a movable groove 609 and an auxiliary wheel 610. A fixing plate 601 is arranged inside the protective shell 500. A first fixing rod 602 is arranged on the left side of the fixing plate 601. A first connecting rod 603 is arranged on the outer side of the first fixing rod 602. A first connecting plate 604 is arranged on the lower side of the first connecting rod 603. An electric push rod 605 is arranged on the inner wall of the protective shell 500. The front end of the electric push rod 605 is provided with a second connecting plate 608. A slide rail 606 is arranged inside the protective shell 500. A first slider 607 is arranged on the surface of the slide rail 606. A movable groove 609 is formed in the first connecting rod 603. An auxiliary wheel 610 is arranged on the surface of the second connecting plate 608. A radiation head 1000 is arranged on the surface of the first connecting plate 604; Through the arrangement of the driving mechanism 600 and the adjusting assembly 700, the problems that the structure of the robotic arm is complex, the transmission reduction ratio is large, the transmission efficiency is low, it is difficult to effectively guarantee the motion control accuracy, and it cannot move synchronously following the target are solved.

[0022] Furthermore, an adjusting assembly 700 is arranged on the outer side of the radiation head 1000. The adjusting assembly 700 includes a third connecting plate 701, a servo motor 702, a second connecting rod 703 and a fixing block 704. The lower end of the first connecting plate 604 is fixedly connected with a third connecting plate 701. A servo motor 702 is fixedly installed at the rear end of the third connecting plate 701. The left output end of the servo motor 702 is fixedly connected with a second connecting rod 703. The rear end of the radiation head 1000 is fixedly connected with a fixing block 704. The other end of the second connecting rod 703 is connected to the fixing block 704. As Figure 6 shown, this structure is used to drive the fixing block 704 to rotate and adjust by starting the servo motor 702 and under the connection of the second connecting rod 703, so that the radiation head 1000 is adjusted to the corresponding angle, improving the accuracy of the device.

[0023] Furthermore, the right side of the fixed plate 601 is fixedly connected to the inner wall of the protective shell 500, the right end of the first fixed rod 602 is fixedly connected to the fixed plate 601, the upper end of the first connecting rod 603 is rotatably connected to the first fixed rod 602 through a bearing, and the other end of the first connecting rod 603 is rotatably connected to the first connecting plate 604 through a bearing, the electric push rod 605 is fixedly installed in the protective shell 500, the right side of the slide rail 606 is fixedly connected to the inner wall of the protective shell 500, the inner side of the first slider 607 is movably connected to the slide rail 606, the right side of the second connecting plate 608 is fixedly connected to the first slider 607, the rear end of the second connecting plate 608 is fixedly connected to the output end of the electric push rod 605, and the left surface of the second connecting plate 608 is rotatably connected to the auxiliary wheel 610, the diameter of the movable groove 609 is adapted to the auxiliary wheel 610, and the auxiliary wheel 610 is located in the movable groove 609. Figure 3 As shown, the structure is used to move the protective shell 500 to a specified center position through a mechanical arm 1011, start the electric push rod 605, and the electric push rod 605 drives the second connecting plate 608 to move along the slide rail 606 through the first slider 607. At this time, the auxiliary wheel 610 at the second connecting plate 608 pushes the first connecting rod 603 to rotate in the movable groove 609, so that the irradiation head 1000 at the end of the first connecting rod 603 swings, thereby realizing the synchronization of the output beam and the target movement.

[0024] Furthermore, a stabilizing assembly 800 is provided between the fixing plate 601 and the first connecting plate 604. The stabilizing assembly 800 includes a second fixing rod 801 and a third connecting rod 802. The second fixing rod 801 is fixedly connected to the left surface of the fixing plate 601. The outer side of the second fixing rod 801 is rotatably connected to the third connecting rod 802. The other end of the third connecting rod 802 is rotatably connected to the inner side of the first connecting plate 604. Figure 4 As shown, this structure is used to drive the third connecting rod 802 to swing when the first connecting plate 604 moves, thereby stabilizing the center of gravity of the irradiation head 1000 and improving the stability of the device.

[0025] Furthermore, a positioning assembly 900 is disposed on the surface of the slide rail 606, and the positioning assembly 900 includes a second slider 901 and a fourth connecting plate 902. The front end of the slide rail 606 is provided with the second slider 901, and the outer side of the second slider 901 is fixedly connected to the fourth connecting plate 902, and the diameter of the fourth connecting plate 902 is consistent with that of the second connecting plate 608. Figure 5 As shown, this structure is used to contact the fourth connecting plate 902 when the second connecting plate 608 is pushed to move by the electric push rod 605, so as to limit the second connecting plate 608 and prevent the first slider 607 from leaving the surface of the slide rail 606.

[0026] Furthermore, the surface of the slide rail 606 is provided with equidistant positioning holes 903, the positioning holes 903 are internally threaded with positioning bolts 904, and the fourth connecting plate 902 is fixedly mounted on the slide rail 606 by the positioning bolts 904. Figure 5 As shown, the structure is used for a positioning bolt 904 connected by thread, and the positioning bolt 904 can be inserted into a matching positioning hole 903 to adjust the position of the second slider 901 and the fourth connecting plate 902.

[0027] Furthermore, an angle sensor 705 is fixedly installed in the second connecting rod 703, the output end of the angle sensor 705 is consistent with the direction of the irradiation head 1000, and the angle sensor 705 is electrically connected to the main control console. Figure 6 As shown, the structure is used to synchronize the angle data of the irradiation head 1000 through the angle sensor 705, transmit it to the main control console, and monitor the irradiation angle in real time.

[0028] Working principle: When used, Figure 1 and Figure 2 As shown, when the patient receives treatment, he lies on the medical bed 400. The patient wears a special tights with a red light emitter on the clothes. The infrared light emitted by the tights is used by the infrared synchronous tracking camera 300 for synchronous tracking. The patient's chest is finely shifted as the patient breathes during treatment. The medical bed 400 performs automatic positioning based on computer calculations to match the irradiation target position with the patient's CT image position. After the position change rule is understood, the data is transmitted to the surgical console 100 through the main console, and the support arm 101 and the mechanical arm 1011 are started to move the protective shell 500 to a swinging position at a fixed point. Figure 3 As shown, the electric push rod 605 is started again, and the electric push rod 605 drives the second connecting plate 608 to move along the slide rail 606 through the first slider 607. At this time, the auxiliary wheel 610 at the second connecting plate 608 pushes the first connecting rod 603 to rotate in the movable groove 609, so that the irradiation head 1000 at the end of the first connecting rod 603 swings, as shown in FIG. Figure 4 As shown, when the first connecting plate 604 moves, it drives the third connecting rod 802 to swing, thereby stabilizing the center of gravity of the irradiation head 1000. Figure 5 As shown, when the electric push rod 605 pushes the second connecting plate 608 to move, it contacts the fourth connecting plate 902, limits the second connecting plate 608, prevents the first slider 607 from leaving the surface of the slide rail 606, and realizes the synchronization of the output beam and the target movement. The above is the entire working principle of the present invention.

[0029] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in all respects, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. An abdominal compression device for radiotherapy of liver cancer, comprising an operation console (100), an X-ray tube (200), an infrared synchronous tracking camera (300) and a medical bed (400), characterized in that: A surgical console (100) is provided on the outside of the medical bed (400). Two groups of X-ray tubes (200) are provided on the left and right sides of the medical bed (400). An infrared synchronous tracking camera (300) is provided at the rear of the medical bed (400). The surgical console (100), the X-ray tubes (200), the infrared synchronous tracking camera (300) and the medical bed (400) are all electrically connected to the main console; The surgical console (100) includes a support arm (101) and a robotic arm (1011). A support arm (101) is provided on the outside of the medical bed (400). A robotic arm (1011) is installed inside the support arm (101). A protective shell (500) is installed at the end of the robotic arm (1011). A driving mechanism (600) is provided inside the protective shell (500); The driving mechanism (600) includes a fixing plate (601), a first fixing rod (602), a first connecting rod (603), a first connecting plate (604), an electric push rod (605), a slide rail (606), a first slider (607), a second connecting plate (608), a movable groove (609) and an auxiliary wheel (610). A fixing plate (601) is provided inside the protective shell (500). A first fixing rod (602) is provided on the left side of the fixing plate (601). A first connecting rod (603) is provided on the outside of the first fixing rod (602). A first connecting plate (604) is provided on the lower side of the first connecting rod (603). An electric push rod (605) is provided on the inner wall of the protective shell (500). A second connecting plate (608) is provided at the front end of the electric push rod (605). A slide rail (606) is provided on the inner side of the protective shell (500). A first slider (607) is provided on the surface of the slide rail (606). A movable groove (609) is formed inside the first connecting rod (603). An auxiliary wheel (610) is provided on the surface of the second connecting plate (608). An irradiation head (1000) is provided on the surface of the first connecting plate (604).

2. The abdominal compression device for liver cancer radiotherapy according to claim 1, characterized in that: An adjustment assembly (700) is provided on the outside of the irradiation head (1000). The adjustment assembly (700) includes a third connecting plate (701), a servo motor (702), a second connecting rod (703) and a fixing block (704). The lower end of the first connecting plate (604) is fixedly connected to a third connecting plate (701). A servo motor (702) is fixedly installed at the rear end of the third connecting plate (701). The left output end of the servo motor (702) is fixedly connected to a second connecting rod (703). The rear end of the irradiation head (1000) is fixedly connected to a fixing block (704). The other end of the second connecting rod (703) is connected to the fixing block (704).

3. The abdominal compression device for liver cancer radiotherapy according to claim 1, wherein: The right side of the fixed plate (601) is fixedly connected to the inner wall of the protective shell (500). The right end of the first fixed rod (602) is fixedly connected to the fixed plate (601). The upper end of the first connecting rod (603) is rotatably connected to the first fixed rod (602) through a bearing. The other end of the first connecting rod (603) is rotatably connected to the first connecting plate (604) through a bearing. The electric push rod (605) is fixedly installed in the protective shell (500). The right side of the slide rail (606) is fixedly connected to the inner wall of the protective shell (500). The inner side of the first slider (607) is movably connected to the slide rail (606). The right side of the second connecting plate (608) is fixedly connected to the first slider (607). The rear end of the second connecting plate (608) is fixedly connected to the output end of the electric push rod (605). The left side surface of the second connecting plate (608) is rotatably connected to an auxiliary wheel (610). The diameter of the movable groove (609) is adapted to the auxiliary wheel (610). The auxiliary wheel (610) is located in the movable groove (609).

4. The abdominal compression device for liver cancer radiotherapy according to claim 1, characterized in that: A stabilizing component (800) is arranged between the fixed plate (601) and the first connecting plate (604). The stabilizing component (800) includes a second fixed rod (801) and a third connecting rod (802). The left side surface of the fixed plate (601) is fixedly connected to the second fixed rod (801). The outer side of the second fixed rod (801) is rotatably connected to the third connecting rod (802). The other end of the third connecting rod (802) is rotatably connected to the inner side of the first connecting plate (604).

5. The abdominal compression device for liver cancer radiotherapy according to claim 1, characterized in that: A positioning component (900) is arranged on the surface of the slide rail (606). The positioning component (900) includes a second slider (901) and a fourth connecting plate (902). The second slider (901) is arranged at the front end of the slide rail (606). The outer side of the second slider (901) is fixedly connected to the fourth connecting plate (902). The diameter of the fourth connecting plate (902) is the same as that of the second connecting plate (608).

6. The abdominal compression device for liver cancer radiotherapy according to claim 5, wherein: Positioning holes (903) are equidistantly arranged on the surface of the slide rail (606). A positioning bolt (904) is threadedly connected in the positioning hole (903). The fourth connecting plate (902) is fixedly installed on the slide rail (606) through the positioning bolt (904).

7. The abdominal pressure device for liver cancer radiotherapy according to claim 2, wherein: An angle sensor (705) is fixedly installed in the second connecting rod (703). The output end of the angle sensor (705) is in the same direction as the orientation of the irradiation head (1000). The angle sensor (705) is electrically connected to the main console.

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