Six-degree-of-freedom proton heavy ion radiotherapy bed

Abstract

A six-degree-of-freedom proton heavy ion radiotherapy bed comprises a bed plate and a base, a Z-axis rotating module is arranged on the base, an XY-axis overturning module is arranged on the Z-axis rotating module, an XY plane moving module is arranged on the XY-axis overturning module, and the bed plate is arranged on the XY plane moving module; in conclusion, the flexibility and precision of the radiotherapy bed can be remarkably improved, and the system can more accurately position the patient to the optimal treatment position by combining the multi-dimensional adjustment capabilities of rotation, overturning, translation and the like, so that the radiotherapy effect is improved.

Description

TECHNICAL FIELD

[0001] The application relates to a six-degree-of-freedom proton heavy ion radiotherapy bed. BACKGROUND

[0003] Malignant tumors have always been a major threat to human survival. The data published by the World Health Organization shows that about 8.8 million people die of malignant tumors every year. However, with the continuous improvement of medical level, many cancers can be effectively controlled and cured. In the field of cancer treatment, radiotherapy is at the forefront of cancer treatment with its excellent treatment effect. Generally, the particle accelerator used for radiotherapy occupies a large area and is not suitable for movement and the particle track is fixed. Therefore, in the process of precise radiotherapy, we usually choose to adjust the position and posture of the radiotherapy bed to send particles to the ideal position for treatment. However, the existing treatment bed has low movement precision and is not suitable for adjustment, resulting in poor radiotherapy effect. SUMMARY

[0005] The application aims to provide a six-degree-of-freedom proton heavy ion radiotherapy bed, which solves the technical problems of low movement precision and unsuitable adjustment of the existing treatment bed.

[0006] To solve the above technical problems, the application adopts the following technical scheme: A six-degree-of-freedom proton heavy ion radiotherapy bed comprises a bed plate and a base, wherein the base is provided with a Z-axis rotating module, the Z-axis rotating module is provided with an XY-axis overturning module, the XY-axis overturning module is provided with an XY plane moving module, and the bed plate is arranged on the XY plane moving module. The Z-axis rotating module comprises a Z-axis rotating support table, an XY overturning fixed plate and a rotating driving mechanism, the XY overturning fixed plate is rotatably installed on the Z-axis rotating support table through a bearing, and the rotating driving mechanism is used for driving the XY overturning fixed plate to rotate on the Z-axis rotating support table. The XY axis overturning module comprises a first electric push rod, a second electric push rod, a third electric push rod, a fourth electric push rod and an XY plane fixing plate, the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod are respectively installed at four corners of the top surface of the XY overturning fixing plate, the push rod end of the first electric push rod is connected to the bottom surface of the XY plane fixing plate through a first spherical hinge, the push rod end of the second electric push rod is connected with a first sliding rail through a second spherical hinge, a first displacement sliding block is arranged on the first sliding rail, the first displacement sliding block can move along the Y axis direction on the first sliding rail, the first displacement sliding block is fixed to the bottom surface of the XY plane fixing plate, the push rod end of the third electric push rod is connected with a second sliding rail through a third spherical hinge, a second displacement sliding block is arranged on the second sliding rail, the second displacement sliding block can move along the X axis direction on the second sliding rail, the second displacement sliding block is fixed to the bottom surface of the XY plane fixing plate; the push rod end of the fourth electric push rod is connected with a third sliding rail through a fourth spherical hinge, a third displacement sliding block is arranged on the third sliding rail, the third displacement sliding block can move along the Y axis direction on the third sliding rail, two fourth sliding rails are fixed to the third displacement sliding block, a fourth displacement sliding block is arranged on each fourth sliding rail, the fourth displacement sliding block can move along the X axis direction on the fourth sliding rail, and the two fourth displacement sliding blocks are fixed to the bottom surface of the XY plane fixing plate. The XY plane moving module comprises an X axis translation module, a Y axis translation module and a bottom plate, the bottom plate is fixed to the top surface of the XY plane fixing plate, the X axis translation module comprises a translation stepping motor and two groups of linear sliding tables, the two groups of linear sliding tables are respectively fixed to the bottom plate through a plurality of fixing blocks, the two groups of linear sliding tables are arranged in parallel, two carrying sliding blocks are arranged on each group of linear sliding tables, the carrying sliding blocks can move along the X axis direction on the linear sliding tables, the two groups of linear sliding tables are drivingly connected through a shaft coupling and a connecting shaft, and the translation stepping motor is connected with the power input end of one group of linear sliding tables through the shaft coupling. The Y axis translation module has the same structure as the X axis translation module, the two groups of linear sliding tables of the Y axis translation module are installed on the four carrying sliding blocks of the X axis translation module, the two groups of linear sliding tables of the Y axis translation module are arranged along the Y axis direction, and the bed plate is installed on the four carrying sliding blocks of the Y axis translation module.

[0007] Further, the rotary driving mechanism comprises a rotary stepping motor, a transmission gear is arranged on the main shaft of the rotary stepping motor, the bottom surface of the XY overturning fixing plate is fixed with a cylindrical gear, the axis line of the cylindrical gear coincides with the axis line of the bearing, and a transmission belt is arranged between the cylindrical gear and the transmission gear.

[0008] Compared with the prior art, the beneficial effects of the present application are: the present application mainly comprises a Z-axis rotating module, an XY-axis flipping module and an XY plane moving module, etc., the Z-axis rotating module drives a transmission gear through a rotating stepper motor, and then drives a cylindrical gear through a transmission belt, so as to realize the rotation of the bed plate around the Z-axis, the XY-axis flipping module uses four electric push rods, corresponding slide rail sliders and spherical hinges in combination, so that the bed plate can perform a flipping action in the X-axis and Y-axis directions. Through the action of different combinations of electric push rods, different angle flipping of the bed plate can be realized; the XY plane moving module is composed of an X-axis translation module and a Y-axis translation module, and through a translation stepper motor, a carrying slider on a linear slide is driven to realize the accurate movement of the bed plate on the XY plane; the present application can significantly improve the flexibility and precision of the radiotherapy bed, and through the combination of the adjusting capabilities of rotation, flipping and translation in multiple dimensions, the system can more accurately position the patient to the best treatment position, thereby improving the effect of radiotherapy. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application together with the embodiments thereof, and explain the present application, but do not constitute a limitation of the present application. In the drawings: Figure 1 It is a structure schematic diagram of a six-degree-of-freedom proton heavy ion radiotherapy bed of the present application; Figure 2 It is a structure schematic diagram of a Z-axis rotating module; Figure 3 It is a structure schematic diagram of an XY-axis flipping module; Figure 4 It is a mapping point diagram of four electric push rods on the XY plane fixing plate; Figure 5 It is a schematic diagram of the second electric push rod and the fourth electric push rod in the raised state; Figure 6 It is a structure schematic diagram of an XY plane moving module. DETAILED DESCRIPTION

[0012] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0013] The present application will be further described in detail below in combination with the embodiments.

[0014] The specific embodiments of the six-degree-of-freedom proton heavy ion radiotherapy bed provided by the present application are: As shown in Figure 1 A six-degree-of-freedom proton heavy particle radiotherapy bed, comprising a bed plate 1 and a base 2, a Z-axis rotation module 3 is arranged on the base 2, an XY-axis flipping module 4 is arranged on the Z-axis rotation module 3, and an XY plane moving module 5 is arranged on the XY-axis flipping module 4, and the bed plate 1 is arranged on the XY plane moving module 5. As shown in Figure 2 The Z-axis rotation module 3 comprises a Z-axis rotation support table 6, an XY flipping fixed plate 7 and a rotation driving mechanism, the XY flipping fixed plate 7 is rotatably installed on the Z-axis rotation support table 6 through a bearing 8, and the rotation driving mechanism is used to drive the XY flipping fixed plate 7 to rotate on the Z-axis rotation support table 6; the rotation driving mechanism comprises a rotation stepping motor 9, a transmission gear 10 is arranged on the main shaft of the rotation stepping motor 9, a cylindrical gear 11 is fixed to the bottom surface of the XY flipping fixed plate 7, the cylindrical bottom of the cylindrical gear 11 is matched with the shaft hole of the bearing 8, the axis of the cylindrical gear 11 coincides with that of the bearing 8, and a transmission belt 12 is arranged between the cylindrical gear 11 and the transmission gear 10; when the rotation stepping motor 9 is driven, the transmission gear 10 will rotate, and then the cylindrical gear 11 will rotate through the transmission belt 12, and the cylindrical gear 11 and the XY flipping fixed plate 7 are in fixed connection, so the bed plate 1 can be driven to rotate along the Z-axis.

[0015] As shown in Figure 3As shown, the XY axis flipping module 4 includes a first electric push rod 13, a second electric push rod 14, a third electric push rod 15, a fourth electric push rod 16, and an XY plane fixing plate 17. The first electric push rod 13, the second electric push rod 14, the third electric push rod 15, and the fourth electric push rod 16 are respectively installed at the four corners of the top surface of the XY flipping fixing plate 7. The push rod end of the first electric push rod 13 is connected to the bottom surface of the XY plane fixing plate 17 through a first spherical hinge 18. The push rod end of the second electric push rod 14 is connected with a first sliding rail 20 through a second spherical hinge 19. The first sliding rail 20 is provided with a first displacement sliding block 21, which can move along the Y-axis direction on the first sliding rail 20. The first displacement sliding block 21 is fixed to the bottom surface of the XY plane fixing plate 17. The push rod end of the third electric push rod 15 is connected with a second sliding rail 23 through a third spherical hinge 22. The second sliding rail 23 is provided with a second displacement sliding block 24, which can move along the X-axis direction on the second sliding rail 23. The second displacement sliding block 24 is fixed to the bottom surface of the XY plane fixing plate 17. The push rod end of the fourth electric push rod 16 is connected with a third sliding rail 26 through a fourth spherical hinge 25. The third sliding rail 26 is provided with a third displacement sliding block 27, which can move along the Y-axis direction on the third sliding rail 26. The third displacement sliding block 27 is fixed with two fourth sliding rails 28. Each fourth sliding rail 28 is provided with a fourth displacement sliding block 29, which can move along the X-axis direction on the fourth sliding rail 28. The two fourth displacement sliding blocks 29 are fixed to the bottom surface of the XY plane fixing plate 17. The mapping points of the fourth electric push rod 16, the second electric push rod 14, the first electric push rod 13, and the third electric push rod 15 on the XY plane fixing plate 17 are A, B, C, and D, respectively, as shown in Figure 4 As shown, the arrows represent the moving direction, and no arrow represents fixation. At A, there are a third displacement sliding block 27 and a fourth displacement sliding block 29, which can move along the X-axis and Y-axis directions. At B, there is a first displacement sliding block 21, which can move along the Y-axis direction. At D, there is a second displacement sliding block 24, which can move along the X-axis direction. At C, it is a fixed point and does not need to move. However, if the above four electric push rods are directly connected with the XY plane fixing plate 17, and assuming that the distance between the two electric push rods is BA (as shown in Figure 5 After flipping, the distance between the two electric push rods becomes B`A`, which is obviously not equal to BA. Therefore, when controlling the flipping of the radiotherapy bed, if the electric push rod top end is directly fixed to the radiotherapy bed, the bed body will be unable to flip due to mechanical reasons. In order to solve this problem, the sliding rail sliding block and spherical hinge connection method is adopted at the connection to connect the electric push rod with the XY plane fixing plate 17. The working process is as follows: Meanwhile, the first electric push rod 13, the second electric push rod 14, the third electric push rod 15 and the fourth electric push rod 16 are driven to be raised to the same height, so that the bed plate 1 is vertically moved along the Z axis; when the first electric push rod 13 and the second electric push rod 14 are driven to be raised to the same height, the third electric push rod 15 and the fourth electric push rod 16 are not moved, the second displacement slider 24 is moved along the X axis on the second slide rail 23, the fourth displacement slider 29 is moved along the X axis on the fourth slide rail 28, and finally the bed plate 1 is overturned along the Y axis; When the first electric push rod 13 and the third electric push rod 15 are driven to be raised to the same height, the fourth electric push rod 16 and the second electric push rod 14 are not moved, the first displacement slider 21 and the third displacement slider 27 are moved along the positive direction of the Y axis, so that the bed plate 1 is overturned along the X axis; finally, the angle of the bed plate 1 overturned along the X and Y axes is controlled by whether the four electric push rods are extended and the length of the extension.

[0016] As shown in Figure 6 The XY plane moving module 5 includes an X axis translation module, a Y axis translation module and a bottom plate 30, the bottom plate 30 is fixed on the top surface of the XY plane fixing plate 17, the X axis translation module includes a translation stepping motor 31 and two groups of linear slide tables 32, the two groups of linear slide tables 32 are fixed on the bottom plate 30 through a plurality of fixed blocks 33, the two groups of linear slide tables 32 are arranged in parallel, each group of linear slide tables 32 is provided with two carrying sliders 34, the carrying sliders 34 can be moved along the X axis on the linear slide table 32, the two groups of linear slide tables 32 are drivingly connected through a shaft coupling 35 and a connecting shaft 36, and the translation stepping motor 31 is connected with the power input end of one group of linear slide tables 32 through the shaft coupling 35; the linear slide table 32 is a conventional technology, and the specific structure is not described herein.

[0017] The Y axis translation module has the same structure as the X axis translation module, the two groups of linear slide tables 32 of the Y axis translation module are installed on the four carrying sliders 34 of the X axis translation module, the two groups of linear slide tables 32 of the Y axis translation module are arranged along the Y axis, and the bed plate 1 is installed on the four carrying sliders 34 of the Y axis translation module. The X axis translation module controls the bed plate 1 to move along the X axis, and the Y axis translation module controls the bed plate 1 to move along the Y axis.

[0018] It should be noted that in this text, terms such as "including", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such a process, method, article or device.

[0019] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A six degree of freedom proton heavy ion radiotherapy couch, characterized in that: The bed plate and the base are included, the base is provided with Z-axis rotating module, Z-axis rotating module is provided with XY-axis overturning module, XY-axis overturning module is provided with XY plane moving module, the bed plate is arranged on the XY plane moving module; Z-axis rotating module includes Z-axis rotating support table, XY overturning fixed plate and rotating drive mechanism, XY overturning fixed plate is rotatably installed on Z-axis rotating support table through bearing, and the rotating drive mechanism is used to drive XY overturning fixed plate to rotate on Z-axis rotating support table; XY-axis overturning module includes first electric push rod, second electric push rod, third electric push rod, fourth electric push rod and XY plane fixed plate, first electric push rod, second electric push rod, third electric push rod, fourth electric push rod are respectively installed at four corners of the top surface of XY overturning fixed plate, the push rod end of first electric push rod is connected to the bottom surface of XY plane fixed plate through first spherical hinge, the push rod end of second electric push rod is connected with first sliding rail through second spherical hinge, first sliding rail is provided with first displacement slider, first displacement slider can move on first sliding rail along Y-axis direction, first displacement slider is fixed to the bottom surface of XY plane fixed plate, the push rod end of third electric push rod is connected with second sliding rail through third spherical hinge, second sliding rail is provided with second displacement slider, second displacement slider can move on second sliding rail along X-axis direction, second displacement slider is fixed to the bottom surface of XY plane fixed plate, the push rod end of fourth electric push rod is connected with third sliding rail through fourth spherical hinge, third sliding rail is provided with third displacement slider, third displacement slider can move on third sliding rail along Y-axis direction, third displacement slider is fixed with two fourth sliding rails, each fourth sliding rail is provided with fourth displacement slider, fourth displacement slider can move on fourth sliding rail along X-axis direction, and two fourth displacement sliders are fixed to the bottom surface of XY plane fixed plate; XY plane moving module includes X-axis translation module, Y-axis translation module and bottom plate, the top surface of XY plane fixed plate is fixed with bottom plate, X-axis translation module includes translation stepping motor and two groups of linear sliding tables, two groups of linear sliding tables are fixed on bottom plate through a plurality of fixed blocks, two groups of linear sliding tables are arranged in parallel, two groups of linear sliding tables are each provided with two carrying sliders, the carrying sliders can move on the linear sliding tables along X-axis direction, two groups of linear sliding tables are drivingly connected through shaft coupling and connecting rod, and the translation stepping motor is connected with the power input end of one group of linear sliding tables through shaft coupling; Y-axis translation module is same in structure with X-axis translation module, two groups of linear sliding tables of Y-axis translation module are installed on four carrying sliders of X-axis translation module, two groups of linear sliding tables of Y-axis translation module are arranged along Y-axis direction, and the bed plate is installed on four carrying sliders of Y-axis translation module.

2. The six degree of freedom proton heavy ion radiotherapy couch of claim 1, wherein: Rotating drive mechanism includes rotating stepping motor, transmission gear is arranged on the main shaft of rotating stepping motor, the bottom surface of XY overturning fixed plate is fixed with cylindrical gear, the axis of cylindrical gear coincides with bearing, and transmission belt is arranged between cylindrical gear and transmission gear.

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