Robot radiotherapy bed

Abstract

The invention relates to a robot radiotherapy bed. The device comprises an X-direction assembly, a joint arm assembly, a Y-direction assembly and a calibration assembly, the joint arm assembly is arranged on the X-direction assembly, the calibration assembly and the Y-direction assembly are arranged on the joint arm assembly, and the X-direction assembly comprises an X-direction base, an X-direction linear guide rail and an X-direction transmission assembly; the X-direction linear guide rail and the X-direction transmission assembly are both arranged on the X-direction base, and the joint arm assembly is arranged on the X-direction linear guide rail and the X-direction transmission assembly. A traditional layout mode that a plurality of linear shafts are connected in parallel is changed, the articulated arm serves as a main body, six-dimensional movement is achieved through a series-parallel combined structural form, the structure is simplified, the height of a bed is reduced, and pits in a hospital machine room are avoided.

Description

Technical Field

[0001] The present invention relates to the medical field, and particularly to a robotic radiotherapy couch. Background Art

[0002] The radiotherapy equipment couch is a motion platform composed of multiple axes, and its main function is to accurately send the patient to the treatment position according to the requirements of the treatment plan. To meet different treatment needs, five-axis or even six-axis couches are gradually being applied to radiotherapy equipment. Currently, most radiotherapy equipment couches adopt a parallel structure layout, using a set of transmission structures to achieve motion in one direction. When there are more motion axes, this parallel layout will increase the overall size of the equipment, resulting in a very high height for getting onto the couch. Most couches solve the problem of the height for getting onto the couch by digging a pit in the hospital machine room for installation, and the parallel design has a complex structure and brings many problems such as complex wiring. Summary of the Invention

[0003] To solve the above technical problems in the background art, the present invention provides a robotic radiotherapy couch, which changes the traditional layout method of parallel multiple linear axes, takes the articulated arm as the main body, and realizes six-axis motion through a series-parallel combined structural form, simplifies the structure, reduces the height for getting onto the couch, and avoids digging a pit in the hospital machine room.

[0004] The technical solution of the present invention is: The present invention is a robotic radiotherapy couch, and its special feature is that: the robotic radiotherapy couch includes an X-direction component, an articulated arm component, a Y-direction component, and a calibration component. The articulated arm component is arranged on the X-direction component, and the calibration component and the Y-direction component are respectively arranged on the articulated arm component. The X-direction component includes an X-direction base, an X-direction linear guide rail, and an X-direction transmission component; both the X-direction linear guide rail and the X-direction transmission component are arranged on the X-direction base, and the articulated arm component is arranged on the X-direction linear guide rail and the X-direction transmission component.

[0005] Further, the X-direction transmission component includes an X-direction drive motor, a reducer, a first support, a lead screw, a nut seat, and a second support. The X-direction drive motor is connected to the reducer, the reducer is arranged on the first support, the nut seat is arranged on the lead screw, both ends of the lead screw are respectively arranged on the first support and the second support through bearings, one end of the lead screw close to the first support is connected to the reducer through a coupling, the first support and the second support are arranged on the X-direction base, and the articulated arm component is connected to the nut seat.

[0006] Further, the articulated arm assembly includes a base, a first robotic arm, an A-axis drive, a second robotic arm, a B-axis drive, a C-axis drive, a third robotic arm, a D-axis drive, a fourth robotic arm, an E-axis drive, and a Y-direction connecting seat; the first robotic arm is connected to the base through the A-axis drive, the second robotic arm is connected to the first robotic arm through the B-axis drive, the third robotic arm is connected to the second robotic arm through the C-axis drive, the fourth robotic arm is connected to the third robotic arm through the D-axis drive, the Y-direction connecting seat is connected to the fourth robotic arm through the E-axis drive, and X-direction linear guides and nut seats are respectively arranged on both sides of the bottom of the base.

[0007] Further, the Y-direction assembly includes a Y-direction drive assembly and a patient support assembly. The patient support assembly is arranged on the Y-direction drive assembly. The Y-direction drive assembly includes a Y-direction base, a Y-direction linear motor, a Y-direction linear guide, and a magnetic grating ruler. The Y-direction linear motor, the Y-direction linear guide, and the magnetic grating ruler are arranged on the Y-direction base. The patient support assembly includes a support plate assembly, a positioning bed, and a locking device. The positioning bed is placed on the support plate assembly, and the positioning bed is connected to the support plate assembly through the locking device. The support plate assembly is arranged on the Y-direction linear guide. The Y-direction linear motor can drive the support plate assembly to move on the Y-direction linear guide, and the Y-direction base is arranged on the Y-direction connecting seat.

[0008] Further, the support plate assembly includes a support plate, a locking sleeve, a positioning sleeve, and a position detection switch. The locking sleeve and the positioning sleeve are arranged on the support plate, the position detection switch is arranged on the positioning sleeve, and the support plate is arranged on the Y-direction linear guide.

[0009] Further, the positioning sleeve includes a body positioning sleeve and a head positioning sleeve, the locking sleeve includes a body locking sleeve and a head locking sleeve, the position detection switch includes a body position detection switch and a head position detection switch. The body positioning sleeve is located at the front of the support plate, the head positioning sleeve is located in the middle of the support plate, the body locking sleeve is located between the head positioning sleeve and the body positioning sleeve, the head locking sleeve is located at the rear of the support plate on the right side of the head positioning sleeve, the body position detection switch is arranged on the body positioning sleeve, and the head position detection switch is arranged on the head positioning sleeve.

[0010] Further, there are three body positioning sleeves, which are arranged in a triangular shape on the upper part of the support plate, and there are three head positioning sleeves, which are arranged in a triangular shape in the middle of the support plate.

[0011] Further, the calibration assembly includes a fixed seat, a rotating arm, a driving motor, a Z-direction distance measuring sensor, and a Y-direction distance measuring sensor. The driving motor is arranged on the fixed seat, the rotating arm is connected to the driving motor, the Z-direction distance measuring sensor and the Y-direction distance measuring sensor are both arranged on the rotating arm, and the fixed seat is arranged on the first robotic arm of the articulated arm assembly.

[0012] A robotic radiotherapy couch provided by the present invention reduces the height of getting onto the couch through a joint arm structure and realizes six-degree-of-freedom motion through a series-parallel combined structural form, thereby reducing the complexity of the couch system and the installation difficulty. The positioning couch of the present invention is provided with different workstations and safety monitoring means; there are two treatment positions, which can ensure that the overhang amount of the positioning couch is very small when treating the head, and the support for head treatment is better; the present invention uses multiple positioning pins for positioning, and the positioning is more accurate and reliable, ensuring the hardware consistency during multiple treatments of the same patient. Brief Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of the present invention;

[0014] Figure 2 is a schematic structural diagram of the X-direction component of the present invention;

[0015] Figure 3 is a schematic structural diagram of the X-direction drive component of the present invention;

[0016] Figure 4 is a schematic structural diagram of the joint arm component of the present invention;

[0017] Figure 5 is a schematic structural diagram of the Y-direction component of the present invention;

[0018] Figure 6 is a schematic structural diagram of the Y-direction drive component of the present invention;

[0019] Figure 7 is a schematic structural diagram of the patient support component of the present invention;

[0020] Figure 8 is a schematic structural diagram of the support plate component of the present invention;

[0021] Figure 9 is a separate schematic diagram of a specific embodiment of the support plate component of the present invention;

[0022] Figure 10 is a schematic structural diagram of the calibration component of the present invention.

[0023] The description of the reference numerals is as follows:

[0024] 1. X-direction component; 2. Joint arm component; 3. Y-direction component; 4. Calibration component;

[0025] 1.1. X-direction base; 1.2. X-direction linear guide rail; 1.3. X-direction drive component;

[0026] 1.3.1. X-direction drive motor; 1.3.2. Reducer; 1.3.3. First support; 1.3.4. Lead screw; 1.3.5. Nut seat; 1.3.6. Second support;

[0027] 2.1, Base; 2.2, First robotic arm; 2.3, A-axis drive; 2.4, Second robotic arm; 2.5, B-axis drive; 2.6, C-axis drive; 2.7, Third robotic arm; 2.8, D-axis drive; 2.9, Fourth robotic arm; 2.10, E-axis drive; 2.11, Y-direction connection seat

[0028] 3.1, Y-direction drive assembly; 3.2, Patient support assembly

[0029] 3.1.1, Y-direction base; 3.1.2, Y-direction linear motor; 3.1.3, Y-direction linear guide rail; 3.1.4, Magnetic grating ruler

[0030] 3.2.1, Support plate assembly; 3.2.2, Positioning bed; 3.2.3, Locking device

[0031] 3.2.1.1, Support plate; 3.2.1.2, Locking sleeve; 3.2.1.3, Positioning sleeve; 3.2.1.4, Position detection switch

[0032] 3.2.1.2.1, Head locking sleeve; 3.2.1.2.2, Body locking sleeve; 3.2.1.3.1, Head positioning sleeve; 3.2.1.3.2, Body positioning sleeve; 3.2.1.4.1, Head position detection switch; 3.2.1.4.2, Body position detection switch

[0033] 4.1, Fixed seat; 4.2, Rotating arm; 4.3, Driving motor; 4.4, Z-direction distance measuring sensor; 4.5, Y-direction distance measuring sensor Detailed implementation manners

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments

[0035] See Figure 1 , 2 , the structure of the specific embodiment of the present invention includes an X-direction component 1, an articulated arm component 2, a Y-direction component 3, and a calibration component 4. The articulated arm component 2 is arranged on the X-direction component 1, and the calibration component 4 and the Y-direction component 3 are respectively arranged on the articulated arm component 2; among them, as Figure 2 shown, the X-direction component 1 includes an X-direction base 1.1, an X-direction linear guide rail 1.2, and an X-direction transmission component 1.3; the X-direction linear guide rail 1.2 and the X-direction transmission component 1.3 are both arranged on the X-direction base 1.1, and the articulated arm component 2 is arranged on the X-direction linear guide rail 1.2 and the X-direction transmission component 1.3

[0036] See Figure 3, the structure of the specific embodiment of the X-direction drive assembly 1.3 of the present invention includes an X-direction drive motor 1.3.1, a speed reducer 1.3.2, a first support 1.3.3, a lead screw 1.3.4, a nut seat 1.3.5, and a second support 1.3.6. The X-direction drive motor 1.3.1 is connected to the speed reducer 1.3.2. The speed reducer 1.3.2 is arranged on the first support 1.3.3. The nut seat 1.3.5 is arranged on the lead screw 1.3.4. Both ends of the lead screw 1.3.4 are respectively arranged on the first support 1.3.3 and the second support 1.3.6 through bearings. One end of the lead screw 1.3.4 close to the first support 1.3.3 is connected to the speed reducer 1.3.2 through a coupling. The first support 1.3.3 and the second support 1.3. are arranged on the X-direction base 1.1. The articulated arm assembly 2 is connected to the nut seat 1.3.5. Through the X-direction linear guide 1.2 and the X-direction drive assembly 1.3, the position of the articulated arm assembly 2 in the X direction can be adjusted.

[0037] See Figure 4 , the structure of the specific embodiment of the articulated arm assembly 2 of the present invention includes a base 2.1, a first robotic arm 2.2, an A-axis drive 2.3, a second robotic arm 2.4, a B-axis drive 2.5, a C-axis drive 2.6, a third robotic arm 2.7, a D-axis drive 2.8, a fourth robotic arm 2.9, an E-axis drive 2.10, and a Y-direction connection seat 2.11. The first robotic arm 2.2 is connected to the base 2.1 through the A-axis drive 2.3. The second robotic arm 2.4 is connected to the first robotic arm 2.2 through the B-axis drive 2.5. The third robotic arm 2.7 is connected to the second robotic arm 2.4 through the C-axis drive 2.6. The fourth robotic arm 2.9 is connected to the third robotic arm 2.7 through the D-axis drive 2.8. The Y-direction connection seat 2.11 is connected to the fourth robotic arm 2.9 through the E-axis drive 2.10. Both sides of the bottom of the base 2.1 are respectively arranged on the X-direction linear guide 1.2 and the nut seat 1.3.5.

[0038] The specific connection methods are as follows: The A-axis drive 2.3, B-axis drive 2.5, C-axis drive 2.6, D-axis drive 2.8, and E-axis drive 2.10 are each composed of a motor and a speed reducer. The output shaft of the motor is connected to the input shaft of the speed reducer. The two end faces of the first speed reducer of the A-axis drive 2.3 are respectively fixed to the base 2.1 and the first robotic arm 2.2. The first motor is fixed on the first robotic arm 2.2. During the movement process, the first motor drives the first speed reducer to rotate, thereby driving the first robotic arm 2.2 to move, thus realizing the movement of the first joint; The two end faces of the second speed reducer of the B-axis drive 2.5 are respectively fixed to the first robotic arm 2.2 and the second robotic arm 2.4. The second motor is fixed on the second robotic arm 2.4. During the movement process, the second motor drives the second speed reducer to rotate, thereby driving the second robotic arm to move, thus realizing the movement of the second joint; The two end faces of the third speed reducer of the C-axis drive 2.6 are respectively fixed to the second robotic arm 2.4 and the third robotic arm 2.7. The third motor is fixed on the second robotic arm 2.4. During the movement process, the third motor drives the third speed reducer to rotate, thereby driving the third robotic arm 2.7 to move, thus realizing the movement of the third joint; The two end faces of the fourth speed reducer of the D-axis drive 2.8 are respectively fixed to the third robotic arm 2.7 and the fourth robotic arm 2.9. The fourth motor is fixed on the third robotic arm 2.7. During the movement process, the fourth motor drives the fourth speed reducer to rotate, thereby driving the fourth robotic arm 2.9 to move, thus realizing the movement of the fourth joint; The two end faces of the fifth speed reducer of the E-axis drive 2.10 are respectively fixed to the fourth robotic arm 2.9 and the Y-direction connection seat 2.11. The fifth motor is fixed on the fourth robotic arm 2.9. During the movement process, the fifth motor drives the fifth speed reducer to rotate, thereby driving the Y-direction connection seat 2.11 to move, thus realizing the movement of the fifth joint.

[0039] See Figure 5 , the structure of the specific embodiment of the Y-direction component 3 of the present invention includes a Y-direction drive component 3.1 and a patient support component 3.2. The patient support component 3.2 is arranged on the Y-direction drive component 3.1, and the displacement of the patient support component 3.2 in the Y direction can be controlled through the Y-direction drive component 3.1.

[0040] See Figure 6 , the structure of the specific embodiment of the Y-direction drive component 3.1 of the present invention includes a Y-direction base 3.1.1, a Y-direction linear motor 3.1.2, a Y-direction linear guide rail 3.1.3, and a magnetic grating ruler 3.1.4. The Y-direction linear motor 3.1.2, the Y-direction linear guide rail 3.1.3, and the magnetic grating ruler 3.1.4 are all arranged on the Y-direction base 3.1.1. The function of the magnetic grating ruler 3.1.4 is to provide position feedback for the movement of the linear motor.

[0041] See Figure 7, the structure of the specific embodiment of the patient support component 3.2 of the present invention includes a support plate assembly 3.2.1, a positioning bed 3.2.2, and a locking device 3.2.3. The positioning bed 3.2.2 is placed on the support plate assembly 3.2.1, and the positioning bed 3.2.2 is connected to the support plate assembly 3.2.1 through the locking device 3.2.3. The support plate assembly 3.2.1 is arranged on the Y-direction linear guide rail 3.1.3, and the Y-direction linear motor 3.1.2 can drive the support plate assembly 3.2.1 to move on the Y-direction linear guide rail 3.1.3. The Y-direction base 3.1.1 is arranged on the Y-direction connecting seat 2.11.

[0042] The positioning bed 3.2. can adopt an existing positioning bed that can achieve patient positioning, or can also adopt the positioning bed with the authorization announcement number CN221358234 and the name of "a positioning bed with a patient protection device" applied by the applicant.

[0043] The locking device 3.2.3 between the positioning bed 3.2. of the present invention and the support plate assembly 3.2.1 can be an existing electromagnetic adsorption method or a mechanical rotation locking method, etc.

[0044] See Figure 8 , the structure of the specific embodiment of the support plate assembly 3.2.1 of the present invention includes a support plate 3.2.1.1, a locking sleeve 3.2.1.2, a positioning sleeve 3.2.1.3, and a position detection switch 3.2.1.4. The locking sleeve 3.2.1.2 and the positioning sleeve 3.2.1.3 are arranged on the support plate 3.2.1.1, the position detection switch 3.2.1.4 is arranged on the positioning sleeve 3.2.1.3, and the support plate 3.2.1.1 is arranged on the Y-direction linear guide rail 3.1.3.

[0045] See Figure 9, in a preferred embodiment of the support plate assembly 3.2.1 of the present invention, the positioning sleeve includes a body positioning sleeve 3.2.1.3.2 and a head positioning sleeve 3.2.1.3.1, the locking sleeve includes a body locking sleeve 3.2.1.2.2 and a head locking sleeve 3.2.1.2.1, the position detection switch includes a body position detection switch 3.2.1.4.2 and a head position detection switch 3.2.1.4.1. The body positioning sleeve 3.2.1.3.2 is located at the front of the support plate 3.2.1.1, the head positioning sleeve 3.2.1.3.1 is located in the middle of the support plate 3.2.1.1, the body locking sleeve 3.2.1.2.2 is located between the body positioning sleeve 3.2.1.3.2 and the head positioning sleeve 3.2.1.3.1, the head locking sleeve 3.2.1.2.1 is located at the rear of the support plate 3.2.1.1 on the right side of the head positioning sleeve 3.2.1.3.1. The body position detection switch 3.2.1.4.2 is arranged on the body positioning sleeve 3.2.1.3.2, and the head position detection switch 3.2.1.4.1 is arranged on the head positioning sleeve 3.2.1.3.1. In this embodiment, there are three body positioning sleeves 3.2.1.3.2, which are arranged in a triangular shape on the upper part of the support plate 3.2.1.1, and there are also three head positioning sleeves 3.2.1.3.1, which are arranged in a triangular shape in the middle of the support plate 3.2.1.1.

[0046] During the treatment process, the position of the fixed bed 3.2.2 on the support plate assembly 3.2.1 is selected according to the position of the patient's tumor. When the fixed bed 3.2.2 is in the corresponding working position according to the treatment plan and triggers the corresponding position detection switch 3.2.1.4, the treatment can start. Otherwise, the system will activate the safety model and cannot execute the treatment plan to protect the patient from being mis-treated. The fixed bed 3.2.2 ensures its position relative to the support plate assembly 3.2.1 through the positioning pin and the positioning sleeve 3.2.1.3, and is firmly locked together with the support plate assembly 3.2.1 through the locking device 3.2.3. Through the positioning pin and the locking device 3.2.3, the hardware consistency of the patient during each fractionated treatment can be ensured.

[0047] See Figure 10 , in a preferred embodiment of the calibration assembly 4 of the present invention, it includes a fixed seat 4.1, a rotating arm 4.2, a driving motor 4.3, a Z-direction distance measuring sensor 4.4 and a Y-direction distance measuring sensor 4.5. The driving motor is arranged on the fixed seat 4.1, the rotating arm 4.2 is connected to the driving motor 4.3, and both the Z-direction distance measuring sensor 4.4 and the Y-direction distance measuring sensor 4.5 are arranged on the rotating arm 4.2. The fixed seat 4.1 is arranged on the first robotic arm 2.2 of the articulated arm assembly 2.

[0048] The articulated arm assembly 2 is fixed on the linear guide rail 1.2 of the X-direction assembly 1 through the base 2.1 and is connected to the nut seat 1.3.5-; the Y-direction assembly 3 is fixed on the Y-direction connection seat 2.11 of the articulated arm assembly 2; the calibration assembly 4 is arranged on the first robotic arm 2.2 of the articulated arm assembly 2.

[0049] When the present invention is applied, the robotic radiotherapy bed is connected to the main body of the radiotherapy equipment. After CT positioning is completed, the position of the positioning bed 3.2.2 on the support plate assembly 3.2.1 is selected according to the position of the patient's tumor. The positioning bed 3.2.2 is fixed on the support plate assembly 3.2.1 through the locking device 3.2.3, and a treatment plan is made. When starting the treatment, after the patient gets on the positioning bed 3.2.2, the robotic radiotherapy bed first moves to the marking position through the X-direction assembly 1, the articulated arm assembly 2, and the Y-direction assembly 3, and then the driving motor 4.3 drives the rotating arm 4.2 to move 90 degrees. The Z-direction distance measuring sensor 4.4 and the Y-direction distance measuring sensor 4.5 respectively calibrate the Z-direction and the Y-direction, feed back the errors caused by deformation and transmission to the control system, and the control system gives a correction value for position correction after judgment, and then starts to execute the treatment plan for treatment.

[0050] The technical content not specifically described in the present invention and the above embodiments is the same as the prior art.

[0051] The above is only the specific implementation manner disclosed by the present invention, but the protection scope disclosed by the present invention is not limited thereto. The protection scope disclosed by the present invention shall be subject to the protection scope of the claims.

Claims

1. A robotic radiotherapy couch, characterized in that: The robot radiotherapy couch includes an X-direction component, an articulated arm component, a Y-direction component, and a calibration component. The articulated arm component is arranged on the X-direction component, and the calibration component and the Y-direction component are respectively arranged on the articulated arm component. The X-direction component includes an X-direction base, an X-direction linear guide rail, and an X-direction transmission component; both the X-direction linear guide rail and the X-direction transmission component are arranged on the X-direction base, and the articulated arm component is arranged on the X-direction linear guide rail and the X-direction transmission component.

2. The robotic radiotherapy couch according to claim 1, wherein: The X-direction transmission component includes an X-direction driving motor, a reducer, a first support, a lead screw, a nut seat, and a second support. The X-direction driving motor is connected to the reducer. The reducer is arranged on the first support. The nut seat is arranged on the lead screw. Both ends of the lead screw are respectively arranged on the first support and the second support through bearings. One end of the lead screw close to the first support is connected to the reducer through a coupling. The first support and the second support are arranged on the X-direction base, and the articulated arm component is connected to the nut seat.

3. The robotic radiotherapy couch according to claim 2, wherein: The articulated arm component includes a base, a first robotic arm, an A-axis drive, a second robotic arm, a B-axis drive, a C-axis drive, a third robotic arm, a D-axis drive, a fourth robotic arm, an E-axis drive, and a Y-direction connecting seat; the first robotic arm is connected to the base through the A-axis drive, the second robotic arm is connected to the first robotic arm through the B-axis drive, the third robotic arm is connected to the second robotic arm through the C-axis drive, the fourth robotic arm is connected to the third robotic arm through the D-axis drive, the Y-direction connecting seat is connected to the fourth robotic arm through the E-axis drive, and both sides of the bottom of the base are respectively arranged on the X-direction linear guide rail and the nut seat.

4. The robotic radiotherapy couch according to claim 3, characterized in that: The Y-direction component includes a Y-direction drive component and a patient support component. The patient support component is arranged on the Y-direction drive component. The Y-direction drive component includes a Y-direction base, a Y-direction linear motor, a Y-direction linear guide rail, and a magnetic grating ruler. The Y-direction linear motor, the Y-direction linear guide rail, and the magnetic grating ruler are arranged on the Y-direction base. The patient support component includes a support plate assembly, a positioning bed, and a locking device. The positioning bed is placed on the support plate assembly, and the positioning bed is connected to the support plate assembly through the locking device. The support plate assembly is arranged on the Y-direction linear guide rail. The Y-direction linear motor can drive the support plate assembly to move on the Y-direction linear guide rail. The Y-direction base is arranged on the Y-direction connecting seat.

5. The robot radiotherapy couch according to claim 4, characterized in that: The support plate assembly includes a support plate, a locking sleeve, a positioning sleeve, and a position detection switch. The locking sleeve and the positioning sleeve are arranged on the support plate. The position detection switch is arranged on the positioning sleeve. The support plate is arranged on the Y-direction linear guide rail.

6. The robotic radiotherapy couch according to claim 5, wherein: The positioning sleeve includes a body positioning sleeve and a head positioning sleeve. The locking sleeve includes a body locking sleeve and a head locking sleeve. The position detection switch includes a body position detection switch and a head position detection switch. The body positioning sleeve is located at the front of the support plate. The head positioning sleeve is located in the middle of the support plate. The body locking sleeve is located between the head positioning sleeve and the body positioning sleeve. The head locking sleeve is located at the rear of the support plate on the right side of the head positioning sleeve. The body position detection switch is arranged on the body positioning sleeve. The head position detection switch is arranged on the head positioning sleeve.

7. The robotic radiotherapy couch according to claim 6, characterized in that: There are three body positioning sleeves, which are arranged in a triangular shape on the upper part of the support plate. There are three head positioning sleeves, which are arranged in a triangular shape in the middle of the support plate.

8. The robotic radiotherapy couch according to any one of claims 3 to 7, characterized in that: The calibration component includes a fixed seat, a rotating arm, a driving motor, a Z-direction distance measuring sensor and a Y-direction distance measuring sensor. The driving motor is arranged on the fixed seat. The rotating arm is connected to the driving motor. The Z-direction distance measuring sensor and the Y-direction distance measuring sensor are both arranged on the rotating arm. The fixed seat is arranged on the first robotic arm of the articulated arm assembly.

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