Six-axis treatment couch

Abstract

The application discloses a six-axis treatment bed and belongs to the technical field of radiotherapy treatment beds. The six-axis treatment bed comprises a ground rail X-axis, one end of the ground rail X-axis is located in a treatment preparation room, the other end is located in a treatment room, and a chassis Y-axis and a chassis X-axis are integrated on the X-axis output end of the ground rail X-axis. A lifting Z-axis is assembled on the output end of the chassis Y-axis and the chassis X-axis. The six-axis treatment bed replaces the traditional series mechanical arm design through a multi-slide rail parallel base structure, realizes precise position adjustment of the treatment bed in six degrees of freedom, and forms a parallel layout with the ground rail X-axis, the chassis Y-axis and the chassis X-axis. Motion errors are dispersed along multiple independent axes instead of being linearly accumulated, the repeatability of the end bed plate is significantly improved, and meanwhile, the modular quick-release design allows key components such as slide rails and motors to be replaced independently, thereby solving the problems of inconvenient maintenance and long downtime of the integral structure in the prior art.

Description

Technical Field

[0001] This invention relates to the field of radiotherapy bed technology, and more specifically, to a six-axis radiotherapy bed. Background Technology

[0002] The six-axis treatment bed, as a core component of modern precision radiotherapy platforms, functions primarily to enable precise posture adjustments of the patient within the treatment space, achieving six degrees of freedom to ensure accurate alignment between the tumor target area and the therapeutic beam. Current mainstream technology employs a six-joint robotic arm with a serial configuration as the bed's support and actuator. This configuration uses each joint connected in series, typically integrating servo motors and high-precision reducers at the joints for drive, aiming to achieve complex spatial motion trajectories.

[0003] However, in actual use, due to the long kinematic chain at the adjustment end, the motion error of each joint is transmitted and accumulated along the chain, making it difficult to maintain the repeatability accuracy of the bed board supporting the patient in the long term, thus affecting the treatment effect. Secondly, the robotic arm and the bed are usually rigidly connected, presenting a highly integrated form with low modularity, which makes on-site maintenance extremely inconvenient. Even if a local component is damaged, it is often necessary to dismantle the associated structure or even return the entire bed to the factory for repair, resulting in long downtime.

[0004] The root cause lies in its fixed adjustment end structure. The complex mechanical structure and lengthy transmission chain in series affect the dynamic performance and reliability of the system, which accelerates the mechanical wear of key components. The mean time between failures (MTBF) is difficult to meet the expectations of high-load clinical use. While achieving flexible adjustment, it sacrifices the reliability and maintainability that should be emphasized as medical equipment, thus increasing the overall life cycle cost and the threshold for use of the equipment. Summary of the Invention

[0005] In view of the problems existing in the prior art, the purpose of this invention is to provide a six-axis treatment bed, which aims to solve the above-mentioned technical problems.

[0006] To solve the above problems, the present invention adopts the following technical solution.

[0007] A six-axis treatment bed includes a ground track X-axis, one end of which is located in the treatment preparation room and the other end in the treatment room. A chassis Y-axis and a chassis X-axis are integrated on the X-axis output end of the ground track X-axis. A lifting Z-axis is assembled on the output ends of the chassis Y-axis and the chassis X-axis. The lifting Z-axis can move in the X-axis and Y-axis directions on the ground track X-axis through the chassis Y-axis and chassis X-axis.

[0008] The output end of the lifting Z-axis integrates the bed board X-axis and bed board Y-axis. The output ends of the bed board X-axis and bed board Y-axis are assembled with modular bed board assemblies. The bed board X-axis and bed board Y-axis have the same structure as the chassis X-axis and chassis Y-axis, and are used to adjust the modular bed board assembly to move in the X-axis and Y-axis directions on the lifting Z-axis.

[0009] The system consists of a multi-rail parallel base formed by the X-axis of the ground rail, the Y-axis of the chassis, and the X-axis of the bed board on the surface of the lifting Z-axis, which together with the X-axis and Y-axis of the bed board enable independent adjustment of the modular bed board assembly in six degrees of freedom. This allows the adjustment error to be distributed along multiple axes rather than accumulated, ensuring the stability of the six-axis adjustment of the treatment bed.

[0010] As a further aspect of the present invention: the modular bed board assembly is assembled from several U-shaped assembly bases, and each U-shaped assembly base is equipped with a multi-angle servo adjustment mechanism and an adjustable bed rod unit. The arrangement of the adjustable bed rod units is adjusted by the multi-angle servo adjustment mechanism to form different bed board configurations according to different patients. The adjustable bed rod unit includes a hollow sleeve rod, and the multi-angle servo adjustment mechanism includes a partition plate fixedly connected to both ends of the hollow sleeve rod. An outwardly extending extension shaft is fixedly connected to the center of each partition plate. A first adjustment unit is provided on each extension shaft. The first adjustment unit consists of two independent U-shaped rotating frames that are symmetrically forked to the left and right, and each U-shaped rotating frame is movably hinged to the extension shaft.

[0011] As a further aspect of the present invention: the U-shaped opening end of the U-shaped rotating frame is radially outward relative to the extended shaft and directly aligned with the axis of the cavity sleeve. Each side of the U-shaped rotating frame opening end is provided with a sliding groove, and a limiting plate sleeve that is locked onto the opening end of the U-shaped rotating frame is slidably installed through the sliding groove. A reset spring sleeve rod connected to the middle position inside the opening end of the U-shaped rotating frame is fixedly installed on the limiting plate sleeve. A first electrically controlled servo telescopic rod is hinged at the middle position of the outer edge of the U-shaped rotating frame. By synchronously extending and retracting the first electrically controlled servo telescopic rods on both sides of the extended shaft, the two sides of the U-shaped rotating frame are pulled closer and further apart to achieve the upward protrusion and downward concavity adjustment of the cavity sleeve rod.

[0012] As a further aspect of the present invention: a second Hall magnetic detection module is fixedly installed on the outer surface of the partition plate around the outer side of the extended shaft, and the second Hall magnetic detection module is circular in shape; a second adjustment unit corresponding to the U-shaped rotating frame is respectively arranged on both sides of the partition plate, and the second adjustment unit includes a rotating side plate. A limiting turntable is movably installed on the side of the rotating side plate facing the partition plate, and a fitting rod is fixedly installed on the surface of each rotating side plate near the limiting turntable. The fitting rod is movably connected to the limiting plate sleeve on the same side of the U-shaped rotating frame, and the outer edge of the limiting turntable is pulled tightly against the outer edge of the partition plate by the return spring sleeve rod on one side of the limiting plate sleeve.

[0013] As a further aspect of the present invention: the second adjustment unit further includes a fourth Hall magnetic detection module fixedly installed on the surface of each rotating side plate. The surface of the fourth Hall magnetic detection module is configured with a plurality of permanent magnet detection points. Detection windows are fixedly installed on both sides of the U-shaped assembly base at positions directly opposite the rotating side plate, and a first Hall magnetic detection module is assembled on the outer side of each detection window. The position signals of the permanent magnet detection points on the surface of the fourth Hall magnetic detection module are detected in real time by the first Hall magnetic detection module to obtain the real-time arrangement angle and movement state of the rotating side plate. This allows for adaptive adjustment of the operating parameters of the multi-angle servo adjustment mechanism according to the patient's body shape and treatment needs, ensuring the positional adjustment of the modular bed board assembly.

[0014] As a further aspect of the present invention: the second adjustment unit further includes a third Hall magnetic detection module fixedly installed on the side of the fourth Hall magnetic detection module near the limiting turntable. The magnetic detection end of the third Hall magnetic detection module is attached to the upper surface of the second Hall magnetic detection module. The surface of the second Hall magnetic detection module is arranged with a plurality of permanent magnet detection points in a circular shape. The side of the fourth Hall magnetic detection module away from the third Hall magnetic detection module is fixedly connected with a protruding post, and a circular buckle is movably installed through the protruding post. The outer side of the circular buckle is fixedly connected with a second electrically controlled servo telescopic rod hinged to the bottom surface of the U-shaped assembly base. Through the telescopic movement of the second electrically controlled servo telescopic rod, the rotating side plate is driven to rotate around the fitting rod as the axis, so that the third Hall magnetic detection module moves relative to the circular surface of the second Hall magnetic detection module. The rotation angle of the rotating side plate is obtained in real time by detecting the position signal of the permanent magnet detection points.

[0015] As a further aspect of the present invention: both sides of the adjustable bed frame unit are equipped with lateral extension bed boards, and each lateral extension bed board is assembled between the rotating side plates of two opposing second adjustment units on the same side; the rotating side plates are driven to rotate by the second electrically controlled servo telescopic rod to adjust the position of the lateral extension bed board, and a pressure matrix detection plate is also integrated at the surface end of the lateral extension bed board to detect the patient's body pressure distribution in real time, and the extension and retraction state of the second electrically controlled servo telescopic rod is controlled by the detection data feedback to adaptively optimize the fit and support stability of the bed board contour.

[0016] As a further aspect of the present invention: the cavity sleeve of the adjustable bed rod unit has a cavity-like structure inside, and a servo motor is fixedly installed in the middle of the cavity. The servo motor has independent and non-interfering output ends on both sides, and a threaded rotating rod is fixedly installed on each output end. A disc limiting buckle is engaged on each threaded rotating rod. The servo motor drives the threaded rotating rods on both sides to rotate synchronously or independently, causing the disc limiting buckle to reciprocate axially in the cavities on both sides. The inner walls on both sides of the cavity sleeve are provided with axial sliding grooves that match the disc limiting buckles. The sliding groove structure restricts the movement trajectory of the disc limiting buckles.

[0017] As a further aspect of the present invention: the adjustable bed rod unit further includes a first electrically controlled magnetic suction ring frame fixedly installed on the outer ring edge of the two side disc limiting buckles. The outer ring edge of the first electrically controlled magnetic suction ring frame is provided with a magnetic suction end, and the magnetic suction end is attached to the inner wall of the cavity sleeve rod. The outer surface of the cavity sleeve rod is fitted with a second electrically controlled magnetic suction ring frame at the position corresponding to the two sides of the first electrically controlled magnetic suction ring frame. The inner ring edge of the second electrically controlled magnetic suction ring frame is provided with a magnetic suction end, and the magnetic suction end is attached to the outer surface of the cavity sleeve rod and is attracted to the first electrically controlled magnetic suction ring frame on the same side. A circular airbag sleeve fitted on the outside of the cavity sleeve rod is assembled between the two second electrically controlled magnetic suction ring frames.

[0018] As a further aspect of the present invention: the annular airbag sleeve is composed of several independent airbag units connected in series, and each adjacent airbag unit is connected to a series electrically controlled valve tube. The series electrically controlled valve tube is equipped with an independent air path control valve to adjust the inflation state of each airbag unit, thereby adjusting the overall length and local support strength of the annular airbag sleeve. An outer protective sleeve is fixedly connected between the two second electrically controlled magnetically attracted annular frames. The outer protective sleeve is a tough rubber sleeve structure that fits around the outside of the annular airbag sleeve. During the process of the first electrically controlled magnetically attracted annular frame moving the second electrically controlled magnetically attracted annular frame through magnetic attraction, the annular airbag sleeve can be moved axially along the cavity sleeve rod simultaneously, so that the precise adjustment of the treatment position can be completed without the patient's active movement.

[0019] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects:

[0020] (1) This solution replaces the traditional serial robotic arm design with a multi-rail parallel base structure, which enables precise position and posture adjustment of the treatment bed in six degrees of freedom. The X-axis of the ground rail, the Y-axis of the chassis, and the X-axis of the chassis form a parallel layout, which disperses the motion error along multiple independent axes instead of accumulating nonlinearly, significantly improving the repeatability of the end plate. At the same time, the modular quick-release design allows key components such as the rails and motors to be replaced independently, solving the problems of inconvenient maintenance and long downtime of the integrated structure in the existing technology. The overall reliability is enhanced, and the mean time between failures meets the needs of high-load clinical use.

[0021] (2) Through the coordinated work of the multi-angle servo adjustment mechanism and the Hall magnetic detection system, the adaptive optimization of the bed board contour is realized. The U-shaped rotating frame is adjusted for protrusion and depression under the drive of the first electronically controlled servo telescopic rod. Combined with the pressure matrix detection plate to provide real-time feedback on the patient's body pressure distribution, the system dynamically adjusts the support posture, disperses local pressure, and effectively prevents pressure sores. The dual-channel Hall detection provides angle measurement and redundancy verification to ensure accurate motion control without cumulative error, thereby improving the stability of the treatment process and the patient's comfort.

[0022] (3) The local support strength can be adjusted by means of the ring airbag sleeve through the independent airbag unit and the electric control valve tube. With the axial movement of the magnetic ring frame, the treatment position can be finely adjusted without the patient's active displacement, which improves the clinical applicability, safety and operation efficiency of the treatment bed. Attached Figure Description

[0023] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the invention and, together with the specification, further serve to explain the principles of the invention and enable those skilled in the art to practice and use the invention.

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a structural schematic diagram of the X-axis cross-section of the ground track of the present invention;

[0026] Figure 3 This is a schematic diagram of the bed board in the Y-axis split state of the present invention;

[0027] Figure 4 This is a schematic diagram of the overall structure of the modular bed board assembly of the present invention;

[0028] Figure 5 This is a structural diagram of the U-shaped assembly base of the present invention in a disassembled state;

[0029] Figure 6This is a schematic diagram of the overall structure of the multi-angle servo adjustment mechanism of the present invention;

[0030] Figure 7 This is a schematic diagram of the adjustable bed rod unit of the present invention in a half-sectional view of its disassembled state;

[0031] Figure 8 This is a schematic diagram of the structure of the first adjustment unit of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of the second adjustment unit of the present invention.

[0033] Figure Labels

[0034] 1. Ground rail X-axis; 2. Chassis Y-axis; 3. Chassis X-axis; 4. Lifting Z-axis; 5. Bed board X-axis; 6. Bed board Y-axis;

[0035] 7. Modular bed board assembly; 71. U-shaped assembly base; 72. Detection window; 73. First Hall magnetic detection module;

[0036] 8. Multi-angle servo adjustment mechanism; 81. Divider plate; 82. Extended shaft; 83. Second Hall magnetic detection module;

[0037] 84. First adjustment unit; 841. U-shaped rotating frame; 842. Return spring sleeve; 843. Limiting plate sleeve;

[0038] 85. Second adjustment unit; 851. Rotating side plate; 852. Fitting rod; 853. Third Hall magnetic detection module; 854. Limiting turntable; 855. Circular buckle; 856. Fourth Hall magnetic detection module;

[0039] 86. First electrically controlled servo telescopic mast; 87. Second electrically controlled servo telescopic mast;

[0040] 9. Adjustable bed rod unit; 91. Hollow sleeve rod; 92. Servo motor; 93. Threaded rotating rod; 94. Disc limit buckle; 95. First electrically controlled magnetic suction ring frame; 96. Second electrically controlled magnetic suction ring frame; 97. Ring airbag sleeve; 98. Series electrically controlled valve tube; 99. Outer protective sleeve;

[0041] 10. Laterally extended bed board; 11. Pressure matrix detection board.

[0042] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0043] The following is a detailed description of a six-axis treatment bed provided by the present invention, in conjunction with the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments; other alternative methods can be used by those skilled in the art for some well-known technologies. Furthermore, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0044] like Figures 1 to 9 As shown, this embodiment of the invention provides a six-axis treatment bed, including a ground rail X-axis 1. One end of the ground rail X-axis 1 is located in the treatment preparation room, and the other end is located in the treatment room. A chassis Y-axis 2 and a chassis X-axis 3 are integrated on the X-axis output end of the ground rail X-axis 1. A lifting Z-axis 4 is assembled on the output ends of the chassis Y-axis 2 and the chassis X-axis 3. The lifting Z-axis 4 can move in the X-axis and Y-axis directions on the ground rail X-axis 1 through the chassis Y-axis 2 and the chassis X-axis 3.

[0045] The output end of the lifting Z-axis 4 is integrated with the bed board X-axis 5 and bed board Y-axis 6. The output ends of the bed board X-axis 5 and bed board Y-axis 6 are assembled with a modular bed board assembly 7. The bed board X-axis 5 and bed board Y-axis 6 have the same structure as the chassis X-axis 3 and chassis Y-axis 2, and are used to adjust the modular bed board assembly 7 to move in the X-axis and Y-axis directions on the lifting Z-axis 4.

[0046] The system consists of a multi-rail parallel base formed by the X-axis 1 of the ground rail, the Y-axis 2 of the chassis, and the X-axis 3 of the chassis. Together with the X-axis 5 and Y-axis 6 of the bed board on the surface of the Z-axis 4, the modular bed board assembly 7 can be independently adjusted in six degrees of freedom. This allows the adjustment error to be distributed along multiple axes rather than accumulated, ensuring the stability of the six-axis adjustment of the treatment bed.

[0047] To address the issues of motion error accumulation, maintenance inconvenience, and reduced reliability caused by the serial configuration of current six-axis treatment bed technology, which leads to unstable end-effector positioning accuracy, the above-mentioned technical solution is adopted. This solution mainly consists of a multi-rail parallel base formed by the ground rail X-axis 1, chassis Y-axis 2, and chassis X-axis 3, and is combined with a multi-rail parallel adjustment end on the top, consisting of a lifting Z-axis 4, bed board X-axis 5, and bed board Y-axis 6. The core of this solution lies in using a parallel architecture to distribute errors and achieving high-precision positioning through modular control. Specifically, the X-axis 1 of the ground rail serves as the basic moving axis and adopts a high-precision slide rail drive system in the prior art, including but not limited to the HGH30CA type linear slide rail in the prior art. It integrates a servo motor and harmonic reducer. The motor rotation drives the slide rail block to move linearly along the X-axis, thereby driving the entire chassis to move back and forth between the treatment preparation room and the treatment room. The output end of the X-axis 1 of the ground rail is connected to the integrated chassis Y-axis 2 and chassis X-axis 3 through a flange. Both of them also adopt a slide rail structure. The chassis Y-axis 2 is responsible for movement in the Y direction, and the chassis X-axis 3 is responsible for fine adjustment in the X direction. The position is fed back in real time through an absolute encoder to ensure the positioning accuracy of the lifting Z-axis 4 in the X and Y planes. By setting the X-axis of the ground rail to a sufficiently long length, with one end in the treatment preparation room and the other end in the treatment room, the patient undergoes simulated positioning in the preparation room. This involves matching the treatment coordinate system in the preparation room using an imaging system, at which point the bed's position is recorded as a reference point. After positioning, the X-axis of the ground rail automatically returns to its original position. Subsequently, a motor-driven rack and pinion system smoothly transports the patient, along with the bed, from the preparation room to the treatment room, replicating the positioning coordinates of the preparation room to ensure spatial consistency. This process utilizes closed-loop control with the existing STM32H7 main control chip, with the encoder providing real-time position feedback to achieve repeatable positioning accuracy. Therefore, the X-axis of the ground rail is not only used for spatial traversal but also achieves precise pose transfer through simulated positioning, transportation, and replication processes. Its rack and pinion drive and slide rail guidance mechanism ensure smooth and accurate movement.

[0048] The Z-axis 4 is assembled on the output end of the chassis Y-axis 2 and chassis X-axis 3, and adopts a lead screw lifting mechanism. The lead screw is driven by a servo motor to rotate, which drives the nut sleeve to move up and down along the Z-axis to adjust the bed height. The lead screw lifting mechanism integrates an anti-backlash design to ensure no backlash under load and high repeatability. The top output end of the Z-axis 4 further integrates the bed X-axis 5 and bed Y-axis 6. These two axes are similar in structure to the chassis axes, but more compact, and are used for fine X and Y axis adjustment of the modular bed assembly 7. The bed X-axis 5 and bed Y-axis 6 are driven by slide rails and motors, and can independently control the tilt and rotation of the modular bed assembly 7. For example, the bed X-axis 5 can realize pitch motion around the X-axis, and the bed Y-axis 6 can realize rolling motion around the Y-axis, thus covering six degrees of freedom, namely three translations and three rotations.

[0049] The modular bed assembly 7 serves as a patient support platform, achieving posture self-adaptation through the aforementioned multi-axis adjustment. Its basic structure is composed of multiple U-shaped assembly bases 71, each with a built-in multi-angle servo adjustment mechanism 8 and an adjustable bed rod unit 9. The modular bed assembly 7 is connected to the integrated output terminals of the bed X-axis 5 and bed Y-axis 6 via quick-release interfaces. When each axis moves, the assembly can adjust its position accordingly. Simultaneously, based on the existing STM32H7 main control chip and CAN bus system, the treatment bed receives instructions from the graphical programming interface and coordinates the movement of each axis in real time. The entire system, through a parallel base design, decomposes the lengthy transmission chain of the traditional serial structure into multiple independent slide rail modules, dispersing errors along each axis rather than accumulating them, significantly improving repeatability and positioning stability. In addition, the ground rail X-axis 1 and the chassis axis adopt a modular quick-release design, with key components such as slide rails and motors encapsulated in independent protective shells. During maintenance, modules can be directly replaced, simultaneously solving the problem of inconvenient maintenance of traditional robotic arm treatment beds.

[0050] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the modular bed board assembly 7 is assembled from several U-shaped assembly bases 71, and each U-shaped assembly base 71 is equipped with a multi-angle servo adjustment mechanism 8 and an adjustable bed rod unit 9. The arrangement of the adjustable bed rod unit 9 can be adjusted by the multi-angle servo adjustment mechanism 8 to form different bed board configurations according to different patients. The adjustable bed rod unit 9 includes a hollow sleeve rod 91. The multi-angle servo adjustment mechanism 8 includes a partition plate 81 fixedly connected to both ends of the hollow sleeve rod 91, and an outwardly extending extension shaft 82 is fixedly connected to the center of each partition plate 81. Each extension shaft 82 is provided with a first adjustment unit 84, which consists of two independent U-shaped rotating frames 841 that are symmetrically forked to the left and right, and each U-shaped rotating frame 841 is movably hinged to the extension shaft 82.

[0051] The modular bed board assembly 7 is composed of several U-shaped assembly bases 71, assembled via modular quick-release interfaces to form an expandable bed board support surface. Each U-shaped assembly base 71 is independently equipped with a multi-angle servo adjustment mechanism 8 and an adjustable bed rod unit 9, enabling adaptive adjustment of the bed board profile through distributed control. This modular design allows for flexible adjustment of the number of bases according to the patient's body size or treatment needs. For example, for smaller patients, fewer bases can be added to reduce the bed surface size, while for larger patients, more bases can be added to expand the support area. Furthermore, damaged bases can be quickly replaced, solving the problem of inconvenient maintenance associated with traditional integrated bed boards. Based on the requirement for artifact-free medical imaging in radiotherapy, the modular design of the bed board assembly 7 includes a detachable carbon fiber bed board component in the central cantilever area corresponding to the main radiotherapy field of the patient's torso during actual assembly, as shown in the instruction manual. Figure 4 As shown in the figure (not individually labeled), the carbon fiber bed plate assembly is made of high-strength carbon fiber composite material, which is radiopaque, ensuring that imaging rays such as X-rays can penetrate efficiently, avoiding scattering and artifacts, thereby ensuring the clarity of the tumor target area image and the accuracy of dose calculation. Simultaneously, the multi-angle servo adjustment mechanism 8 and the second adjustment unit 85, among other mechanical drive components, are positioned on both sides of the carbon fiber bed plate assembly in non-critical imaging areas. As purely support and drive structures, their spatial position is strictly limited to the lateral edges of the carbon fiber bed plate's projection surface to avoid the central radiation field.

[0052] The core of the adjustable bed rod unit 9 is a hollow sleeve rod 91, which has a hollow internal structure to accommodate transmission components. A multi-angle servo adjustment mechanism 8 is fixedly connected to both sides of the hollow sleeve rod 91. Specifically, a partition plate 81 is bolted to the end face of the hollow sleeve rod 91. Each partition plate 81 has an outwardly extending extension shaft 82 welded at its center. This shaft is made of high-strength steel and chrome-plated to reduce friction. A first adjustment unit 84 is movably mounted on the extension shaft 82. This unit consists of two symmetrically spaced independent U-shaped rotating frames 841. Each U-shaped rotating frame 841 is hinged to the extension shaft 82 via bearings, allowing it to rotate radially around the shaft. Multiple U-shaped assembly bases 71 work in parallel, distributing errors across the independent units rather than accumulating like in a series of robotic arms. Each base can be independently calibrated, and its position is monitored in real-time via a detection window 72 and a Hall magnetic detection module, ensuring overall bed board posture stability.

[0053] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the U-shaped opening end of the U-shaped rotating frame 841 is radially outward relative to the extended shaft 82 and directly aligned with the axis of the cavity sleeve 91. Each side of the U-shaped rotating frame 841 opening end is provided with a sliding groove, and a limiting plate sleeve 843 is slidably installed through the sliding groove and locked to the opening end of the U-shaped rotating frame 841. A reset spring sleeve 842 connected to the middle position inside the opening end of the U-shaped rotating frame 841 is fixedly installed on the limiting plate sleeve 843. A first electrically controlled servo telescopic rod 86 is hinged at the middle position of the outer edge of the U-shaped rotating frame 841. By synchronously extending and retracting the first electrically controlled servo telescopic rod 86 on both sides of the U-shaped rotating frame 841 of the extended shaft 82, the two sides of the U-shaped rotating frame 841 are pulled closer and further apart to achieve the upward protrusion and downward concavity adjustment of the cavity sleeve 91.

[0054] The core components of the configured multi-angle servo adjustment mechanism 8 include a U-shaped rotating frame 841, a limiting plate sleeve 843, a return spring sleeve 842, and a first electrically controlled servo telescopic rod 86. Specifically, the U-shaped open end of the U-shaped rotating frame 841 is arranged radially outward relative to the outward extension shaft 82 and is directly aligned with the axis of the cavity sleeve 91, ensuring that the movement trajectory is perpendicular to the bed support surface and avoiding skewing. The return spring sleeve 842 is fixedly installed on the limiting plate sleeve 843, and its other end is connected to the middle position inside the open end of the U-shaped rotating frame 841 to provide elastic return force. The configured first electrically controlled servo telescopic rod 86 is driven by a servo motor and can precisely control the extension stroke. When the control system issues a command to drive the first electrically controlled servo telescopic rods 86 on both sides to retract synchronously, the telescopic rods pull the outer edge of the U-shaped rotating frame 841 towards the center. According to the lever principle, with the central hinge point as the fulcrum, the U-shaped rotating frame 841 moving towards the center pushes the hollow sleeve rod 91 upward, forming an upwardly convex support point on the bed board plane. This convexity can gently support the patient's back and other body parts, achieving the effect of assisted passive turning and effectively changing the pressure points. When the first electrically controlled servo telescopic rods 86 extend synchronously, they push the outer edges of the U-shaped rotating frame 841 away from each other. According to the lever principle, this pulls the hollow sleeve rod 91 downward, causing it to form a downward depression under the patient's weight or elastic recovery. The depression area can avoid continuous pressure, provide a small ventilation space for the skin, and continue to provide support using the surrounding round rods, achieving dynamic redistribution of pressure. By controlling the U-shaped rotating frame 841 to drive the hollow sleeve rod 91 in periodic, small-amplitude convex and concave movements, the contact points and pressure distribution between the patient's body and the bed surface can be continuously fine-tuned, preventing long-term ischemia of the same soft tissue and simulating the unconscious turning over during sleep in healthy individuals. Furthermore, the round rod-shaped hollow sleeve rod 91 itself can disperse pressure, and combined with this adjustment function, it further eliminates the mattress effect of a hard flat bed. By setting U-shaped assembly bases 71 at different intervals, adjusting the appropriate spacing between the round rods ensures support strength while preventing limbs from sinking in.

[0055] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9As shown, a second Hall magnetic detection module 83 is fixedly installed on the outer surface of the partition disk 81 around the outer side of the extended shaft 82. The second Hall magnetic detection module 83 is generally circular. A second adjustment unit 85 corresponding to the U-shaped rotating frame 841 is respectively arranged on both sides of the partition disk 81. The second adjustment unit 85 includes a rotating side plate 851. A limiting turntable 854 is movably installed on the side of the rotating side plate 851 facing the partition disk 81. A fitting rod 852 is fixedly installed on the surface of each rotating side plate 851 near the limiting turntable 854. The fitting rod 852 is movably connected to the limiting plate sleeve 843 on the same side of the U-shaped rotating frame 841. The outer edge of the limiting turntable 854 is pulled tightly against the outer edge of the partition disk 81 by the reset spring sleeve rod 842 on one side of the limiting plate sleeve 843.

[0056] The second adjustment unit 85 includes a rotating side plate 851, which is movably assembled onto a limiting plate sleeve 843 on both sides of the U-shaped rotating frame 841 via a fitting rod 852. The limiting plate sleeve 843 is connected by a return spring sleeve rod 842, which is a spring sleeve with tension return in the prior art. It is used to pull the limiting plate sleeve 843 toward the inner opening of each side of the U-shaped rotating frame 841, so that the end of the rotating side plate 851 that is movably connected to it is close to the outer edge of the partition plate 81 and can be tightly attached to the outer edge of the partition plate 81. That is, the limiting turntable 854 at the side end of the rotating side plate 851 is attached to the outer edge of the partition plate 81. During the rotation of the rotating side plate 851, the limiting turntable 854 will synchronously rotate around the outer edge of the partition plate 81.

[0057] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the second adjustment unit 85 also includes a fourth Hall magnetic detection module 856 fixedly installed on the surface of each rotating side plate 851. The surface of the fourth Hall magnetic detection module 856 is configured with a number of permanent magnet detection points. Detection windows 72 are fixedly installed on both sides of the U-shaped assembly base 71 at positions directly opposite the rotating side plate 851, and a first Hall magnetic detection module 73 is assembled on the outer side of each detection window 72. The first Hall magnetic detection module 73 detects the position signals of the permanent magnet detection points on the surface of the fourth Hall magnetic detection module 856 in real time to obtain the real-time arrangement angle and movement state of the rotating side plate 851, thereby adaptively adjusting the operating parameters of the multi-angle servo adjustment mechanism 8 according to the patient's body shape and treatment needs, ensuring the positional adjustment of the modular bed board assembly 7.

[0058] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the second adjustment unit 85 also includes a third Hall magnetic detection module 853 fixedly installed on the side of the fourth Hall magnetic detection module 856 near the limiting turntable 854. The magnetic detection end of the third Hall magnetic detection module 853 is attached to the upper surface of the second Hall magnetic detection module 83. The surface of the second Hall magnetic detection module 83 is arranged with several permanent magnet detection points in a ring shape. The side of the fourth Hall magnetic detection module 856 away from the third Hall magnetic detection module 853 is fixedly connected with protruding posts, and a ring buckle 855 is movably installed through the protruding posts. The outer side of the ring buckle 855 is fixedly connected with a second electrically controlled servo telescopic rod 87 hinged to the bottom surface of the U-shaped assembly base 71. Through the telescopic movement of the second electrically controlled servo telescopic rod 87, the rotating side plate 851 is driven to rotate around the fitting rod 852 as the axis, so that the third Hall magnetic detection module 853 moves relative to the ring surface of the second Hall magnetic detection module 83. The rotation angle of the rotating side plate 851 is obtained in real time by detecting the position signal of the permanent magnet detection points.

[0059] The third Hall magnetic detection module 853 is configured to work in conjunction with the second Hall magnetic detection module 83, and the fourth Hall magnetic detection module 856 is configured to work in conjunction with the first Hall magnetic detection module 73 outside the detection window 72.

[0060] During the angle detection process of the rotating side plate 851, the detection route consists of a fourth Hall magnetic detection module 856 acting as the moving element and a first Hall magnetic detection module 73 acting as the stationary element. The fourth Hall magnetic detection module 856 is fixedly installed on the surface of the rotating side plate 851, and its surface is regularly arranged with several permanent magnet detection points. The first Hall magnetic detection module 73 is fixedly installed on the outside of the detection windows 72 on both sides of the U-shaped assembly base 71, facing the movement trajectory of the rotating side plate 851. When the second electronically controlled servo telescopic rod 87 drives the rotating side plate 851 to rotate around the axis of the sleeve rod 852, the fourth Hall magnetic detection module 856 on it moves accordingly. The stationary first Hall magnetic detection module 73 senses the changes in the spatial distribution of the magnetic field generated by the permanent magnet detection points on the surface of the fourth Hall magnetic detection module 856 in real time through the detection window 72. The main control chip of the control system continuously reads the voltage signal output by the first Hall magnetic detection module 73. Since the arrangement of the permanent magnet detection points is known, the system can directly and absolutely calculate the real-time rotation angle and angular velocity of the rotating side plate 851 relative to the U-shaped assembly base 71 by solving the magnetic field change mode. The current angle can be known without the need for a reference point.

[0061] During the angle detection process of the U-shaped rotating frame 841, the detection route consists of a third Hall magnetic detection module 853 acting as the moving element and a second Hall magnetic detection module 83 acting as the stationary element. The second Hall magnetic detection module 83 is annular and fixedly installed on the outer surface of the partition plate 81, with a ring of permanent magnet detection points regularly arranged on its annular surface. The third Hall magnetic detection module 853 is fixed on the rotating side plate 851, and its magnetic detection end is lightly attached to the annular surface of the second Hall magnetic detection module 83 under the preload of the return spring sleeve 842. The rotating side plate 851 is linked to the U-shaped rotating frame 841 through the sleeve rod 852. Therefore, when the U-shaped rotating frame 841 is driven to rotate by the first electrically controlled servo telescopic rod 86, it will drive the rotating side plate 851 to move, thereby causing the third Hall magnetic detection module 853 to move relative to the annular detection surface of the second Hall magnetic detection module 83. The third Hall magnetic detection module 853 detects in real time the position of the permanent magnet detection point on the surface of the second Hall magnetic detection module 83. By counting these pulse signals, the rotation angle and angular velocity of the U-shaped rotating frame 841 can be calculated. This detection path has two main functions: firstly, it is used for verification, that is, its result is cross-verified with the angle of the rotating side plate 851 detected by the first path to ensure that the system has no cumulative error or slippage, thereby improving the system's fault tolerance; secondly, it serves as a backup, that is, in the event of a failure in the first path detection, it can provide critical position information as a backup system.

[0062] The configured second electrically controlled servo telescopic rod 87 is a telescopic rod structure controlled by servo in the prior art. One end of it is movably connected to the rotating side plate 851 through the ring buckle 855 and the protruding post, and the other end is hinged to the bottom surface of the U-shaped assembly base 71. When it receives the command of the control system to extend or retract, it will generate a thrust or pull force. This force acts on the rotating side plate 851, driving it to perform precise rotational movement with the fitting rod 852 as the axis.

[0063] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the adjustable bed frame unit 9 is equipped with lateral extension bed boards 10 on both sides. Each lateral extension bed board 10 is assembled between the rotating side plates 851 of two opposing second adjustment units 85 on the same side. The rotating side plates 851 are rotated by the second electrically controlled servo telescopic rod 87 to adjust the position of the lateral extension bed board 10. A pressure matrix detection plate 11 is also integrated at the surface end of the lateral extension bed board 10 to detect the patient's body pressure distribution in real time. The detection data is used to control the extension and retraction state of the second electrically controlled servo telescopic rod 87 to adaptively optimize the fit and support stability of the bed board contour.

[0064] The lateral extension bed board 10 is assembled between the rotating side plates 851 of two opposing second adjustment units 85 on the same side. During the adjustment of the rotating side plates 851 of the second adjustment units 85, the lateral extension bed board 10 can be synchronously rotated on both sides of the adjustable bed rod unit 9. The lateral extension bed board 10 is not directly fixed to the hollow sleeve rod 91, but is held and supported by the rotating side plates 851 of the two opposing second adjustment units 85 on the same side. Specifically, the two ends of the lateral extension bed board 10 are connected to the two rotating side plates 851 respectively via pivots or hinges. This arrangement forms a dynamic triangular support structure, where the hollow sleeve rod 91 of the adjustable bed rod unit 9 is equivalent to the vertex of the triangle, and the rotating side plates 851 on both sides and the lateral extension bed board 10 supported by them together form the two sides of the triangle. By driving the rotating side plates 851 to rotate around their hinge point with the U-shaped assembly base 71, the opening angle and tilt posture of these two sides can be changed.

[0065] When the two rotating side panels 851 on the same side rotate inward simultaneously, the lateral extension bed board 10 will adopt a more inward-curving posture; when they rotate outward simultaneously, the lateral extension bed board 10 will adopt a more outward-spreading and flat posture. This allows the lateral extension bed board 10 to form various tilt angles in space around the core fulcrum of the adjustable bed rod unit 9, thereby dynamically shaping a waist, hip, or leg support contour to adapt to different patient body shapes. Furthermore, to achieve precise adaptive adjustment, each side of the lateral extension bed board 10 that contacts the patient's body, i.e., the area closest to the center line of the torso and most pressure-sensitive, integrates a pressure matrix detection plate 11. This detection plate consists of an array of miniature pressure sensors, capable of detecting and mapping the distribution of patient body pressure on the bed board surface in real time with high spatial resolution. The pressure matrix detection board 11 continuously collects pressure data and transmits it to the main control chip. The main control chip analyzes the pressure distribution and identifies areas of concentrated pressure or insufficient support. The system compares the real-time pressure distribution and if it finds that the pressure on a certain side is too high, it generates a control command to adjust the support posture on that side to disperse the pressure.

[0066] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the adjustable bed rod unit 9 has a hollow sleeve rod 91 with a hollow structure inside. A servo motor 92 is fixedly installed in the middle of the inner cavity. The servo motor 92 has independent and non-interfering output ends on both sides. A threaded rotating rod 93 is fixedly installed on each output end, and a disc limiting buckle 94 is engaged on each threaded rotating rod 93. The servo motor 92 drives the threaded rotating rods 93 on both sides to rotate synchronously or independently, causing the disc limiting buckle 94 to reciprocate axially in the cavities on both sides. The inner walls on both sides of the hollow sleeve rod 91 are provided with axial sliding grooves that match the disc limiting buckle 94. The sliding groove structure restricts the movement trajectory of the disc limiting buckle 94.

[0067] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9As shown, the adjustable bed rod unit 9 also includes a first electrically controlled magnetic ring frame 95 fixedly installed on the outer ring edge of the two side disc limiting buckles 94. The outer ring edge of the first electrically controlled magnetic ring frame 95 is provided with a magnetic end, and the magnetic end is attached to the inner wall of the cavity sleeve rod 91. The outer surface of the cavity sleeve rod 91 is fitted with a second electrically controlled magnetic ring frame 96 at the position corresponding to the first electrically controlled magnetic ring frame 95 on both sides. The inner ring edge of the second electrically controlled magnetic ring frame 96 is provided with a magnetic end, and the magnetic end is attached to the outer surface of the cavity sleeve rod 91 and is attracted to the first electrically controlled magnetic ring frame 95 on the same side. A ring airbag sleeve 97 fitted on the outside of the cavity sleeve rod 91 is assembled between the two second electrically controlled magnetic ring frames 96.

[0068] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the annular airbag sleeve 97 is composed of several independent airbag units connected in series, and each adjacent airbag unit is connected to a series electrically controlled valve tube 98. The series electrically controlled valve tube 98 is equipped with an independent air passage control valve to adjust the inflation state of each airbag unit, thereby adjusting the overall length and local support strength of the annular airbag sleeve 97. An outer protective sleeve 99 is fixedly connected between the two second electrically controlled magnetically attracted annular frames 96. The outer protective sleeve 99 is a tough rubber sleeve structure that fits around the outside of the annular airbag sleeve 97. During the process of the first electrically controlled magnetically attracted annular frame 95 moving the second electrically controlled magnetically attracted annular frame 96 through magnetic attraction, the annular airbag sleeve 97 can be moved axially along the hollow sleeve rod 91 simultaneously, so that the precise adjustment of the treatment position can be completed without the patient's active movement.

[0069] The adjustable bed post unit 9 serves as the core axial fine-tuning mechanism for patient positioning. Its working principle begins with the built-in servo motor 92, which employs a dual-output shaft design to drive the threaded rotating rods 93 on both sides to achieve synchronous or differentiated forward and reverse rotation. When the threaded rotating rod 93 rotates, the disc-shaped limiting buckle 94, under threaded transmission, generates precise linear displacement along the axial groove pre-set on the inner wall of the hollow sleeve rod 91. This groove structure ensures that the disc-shaped limiting buckle 94 can only move axially and will not rotate circumferentially, thus reliably converting the motor's rotational motion into linear motion. The first electrically controlled magnetic suction ring frame 95, fixed to the disc-shaped limiting buckle 94, moves synchronously. The strong magnetic field it generates penetrates the tube wall of the hollow sleeve rod 91 and magnetically couples with the second electrically controlled magnetic suction ring frame 96, which is positioned on the corresponding outer side of the tube wall. This causes the second electrically controlled magnetic suction ring frame 96 to be firmly attracted and slide axially along the hollow sleeve rod 91 along with the first electrically controlled magnetic suction ring frame 95. The circular airbag sleeve 97, which is connected between the two second electrically controlled magnetic ring frames 96, is thus dragged as a whole, realizing axial position adjustment under the patient's body, such as precisely moving the support point from the patient's waist to the buttocks. The whole process is controlled by the program, avoiding the risk of treatment target area displacement caused by the patient's own movement.

[0070] Meanwhile, the circular airbag sleeve 97 itself has active shape adjustment capabilities. It consists of multiple independent airbag units connected by a series electrically controlled valve tube 98, and the air path of each airbag unit is precisely controlled by an independent electrically controlled valve. Based on the body pressure distribution data fed back by the pressure matrix detection board 11, or a preset treatment plan, the system can selectively inflate or deflate airbag units in specific areas via the series electrically controlled valve tube 98. When excessive pressure is detected below the patient's waist, the corresponding local airbag unit can be inflated to increase the support area and disperse pressure; conversely, if decompression is needed in a certain area, the corresponding airbag can be deflated. Through dynamic adjustment of local support strength, combined with the overall axial displacement function of the circular airbag sleeve 97, precise and adaptive support for the patient's position can be achieved, effectively improving bed rest comfort and preventing pressure ulcers.

[0071] The outermost protective sleeve 99 serves as a tough protective layer, protecting the delicate internal airbag structure from abrasion and puncture while providing a soft and flat contact surface for the patient.

[0072] The usage method provided by this invention is as follows:

[0073] In use, this invention first initiates the initialization process of the six-axis treatment bed based on the pose data generated by the treatment planning system. The X-axis (1) of the ground rail serves as the basic moving axis, with one end located in the treatment preparation room and the other end in the treatment room. A servo motor and harmonic reducer integrated into the output end drive the slide block to move linearly along the X-axis, smoothly transporting the entire chassis unit from the treatment preparation room to the treatment room. During this process, the multi-slide parallel base formed by the Y-axis (2) and X-axis (3) of the chassis begins to work collaboratively. The Y-axis (2) is responsible for coarse positioning in the Y direction, and the X-axis (3) is responsible for fine adjustment in the X direction. A position signal is fed back in real time through an absolute encoder to ensure the initial positioning accuracy of the Z-axis (4) in the XY plane. The patient first completes simulated positioning in the treatment preparation room, at which point the bed position is recorded as a reference point. The movement of the X-axis (1) of the ground rail replicates this coordinate, and the closed-loop control of the STM32H7 main control chip achieves repeatable positioning accuracy.

[0074] Then, after reaching the target position in the treatment room, the Z-axis 4 initiates fine adjustment. It employs a lead screw lifting mechanism, driven by a servo motor to rotate the lead screw, which in turn moves the nut sleeve up and down along the Z-axis, achieving precise control of the bed height. The lead screw integrates an anti-backlash design to ensure zero hysteresis under load. The X-axis 5 and Y-axis 6 of the bed board at the top of the Z-axis 4 further perform fine-tuning of posture. The X-axis 5 allows for pitching motion around the X-axis, while the Y-axis 6 allows for rolling motion around the Y-axis, both working together to cover three rotational degrees of freedom. When the patient lies down, the U-shaped rotating frame 841 moves under the drive of the first electrically controlled servo telescopic rod 86. When the telescopic rod retracts synchronously, it pulls the outer edge of the U-shaped rotating frame 841 towards the center, using leverage to move its open ends away from each other, thereby lifting the hollow sleeve rod 91 upwards, forming a localized raised support point to assist the patient in passive turning. When the telescopic rod extends, it pushes the outer edge of the U-shaped rotating frame 841 away from each other, causing the hollow sleeve rod 91 to concave and disperse body pressure.

[0075] Next, the system enters the real-time adaptive adjustment phase, optimizing the posture based on sensor feedback. The pressure matrix detection board 11 is integrated on the surface of the lateral extension bed board 10, using an array of pressure sensors to map the patient's body pressure distribution in real time. When local pressure exceeds the limit, the data is fed back to the main control chip, triggering the second electrically controlled servo telescopic rod 87 to adjust the angle of the rotating side plate 851. The rotating side plate 851 is linked to the U-shaped rotating frame 841 through the sleeve rod 852. At the same time, the servo motor 92 of the adjustable bed rod unit 9 drives the threaded rotating rod 93 to rotate, causing the disc limit buckle 94 to move along the axial sliding groove of the cavity sleeve rod 91. Then, through the magnetic coupling of the first electrically controlled magnetic ring frame 95 and the second electrically controlled magnetic ring frame 96, the axial position of the ring airbag sleeve 97 is adjusted to ensure the accuracy of radiotherapy target area positioning.

[0076] Finally, after treatment, the system executes a reset and maintenance procedure. The main control chip, according to preset instructions, coordinates the return of each axis to its initial position. The X-axis of the floor rail moves the bed back to the treatment preparation room, while the Z-axis of the lifting mechanism and the bed board axis gradually return to zero. All motion parameters during this process are recorded for rapid calibration during the next treatment.

[0077] Furthermore, if a component requires maintenance, such as the slide rail of the chassis Y-axis 2, the independent module can be directly replaced via a quick-release flange without disassembling related structures, thus shortening maintenance response time. The outer protective sleeve 99 protects the annular airbag sleeve 97 from wear, extending its service life.

[0078] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0079] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A six-axis treatment bed, comprising a ground track X-axis (1), characterized in that: One end of the ground rail X-axis (1) is located in the treatment preparation room, and the other end is located in the treatment room. The chassis Y-axis (2) and chassis X-axis (3) are integrated on the X-axis output end of the ground rail X-axis (1). The lifting Z-axis (4) is assembled on the output ends of the chassis Y-axis (2) and chassis X-axis (3). The lifting Z-axis (4) moves in the X-axis and Y-axis directions on the ground rail X-axis (1) through the chassis Y-axis (2) and chassis X-axis (3). The output end of the lifting Z-axis (4) is integrated with the bed board X-axis (5) and bed board Y-axis (6). The output ends of the bed board X-axis (5) and bed board Y-axis (6) are assembled with a modular bed board assembly (7). The bed board X-axis (5) and bed board Y-axis (6) have the same structure as the chassis X-axis (3) and chassis Y-axis (2), and are used to adjust the modular bed board assembly (7) to move in the X-axis and Y-axis directions on the lifting Z-axis (4). Among them, the multi-rail parallel base is formed by the ground rail X-axis (1), chassis Y-axis (2), and chassis X-axis (3), and the bed board X-axis (5) and bed board Y-axis (6) on the surface of the lifting Z-axis (4) realize the independent adjustment of the modular bed board assembly (7) in six degrees of freedom, so that the adjustment error is dispersed along multiple axes rather than accumulated to ensure the stability of the six-axis adjustment of the treatment bed; The modular bed board assembly (7) is assembled from several U-shaped assembly bases (71), and each U-shaped assembly base (71) is equipped with a multi-angle servo adjustment mechanism (8) and an adjustable bed rod unit (9). The arrangement of the adjustable bed rod unit (9) is adjusted by the multi-angle servo adjustment mechanism (8) to form different bed boards according to different patients. The adjustable bed rod unit (9) includes a hollow sleeve rod (91). The multi-angle servo adjustment mechanism (8) includes a partition plate (81) fixedly connected to both ends of the hollow sleeve rod (91). An outwardly extending extension shaft rod (82) is fixedly connected to the center of each partition plate (81). A first adjustment unit (84) is provided on each extension shaft rod (82). The first adjustment unit (84) is composed of two independent U-shaped rotating frames (841) that are symmetrically forked on the left and right. Each U-shaped rotating frame (841) is movably hinged to the extension shaft rod (82). The U-shaped opening end of the U-shaped rotating frame (841) is radially outward relative to the extended shaft (82) and directly opposite the axis of the cavity sleeve (91). Each side of the U-shaped rotating frame (841) opening end is provided with a sliding groove, and a limiting plate sleeve (843) is slidably installed through the sliding groove and locked to the opening end of the U-shaped rotating frame (841). Each limiting plate sleeve (843) is fixedly installed with a reset spring sleeve (842) connected to the middle position inside the opening end of the U-shaped rotating frame (841). Each side of the U-shaped rotating frame (841) is hinged with a first electrically controlled servo telescopic rod (86) at the middle position of the outer edge. By synchronously extending and retracting the first electrically controlled servo telescopic rod (86) on both sides of the U-shaped rotating frame (841) on the extended shaft (82), the two sides of the U-shaped rotating frame (841) are pulled closer to each other and further away from each other to realize the upward protrusion and downward concavity adjustment of the cavity sleeve (91).

2. The six-axis treatment bed according to claim 1, characterized in that, A second Hall magnetic detection module (83) is fixedly installed on the outer surface of the partition plate (81) around the outer side of the extended shaft (82). The second Hall magnetic detection module (83) is circular in shape. A second adjustment unit (85) corresponding to the U-shaped rotating frame (841) is arranged on both sides of the partition plate (81). The second adjustment unit (85) includes a rotating side plate (851). A limiting turntable (854) is movably installed on the side of the rotating side plate (851) facing the partition plate (81). A fitting rod (852) is fixedly installed on the side of each rotating side plate (851) near the limiting turntable (854). The fitting rod (852) is movably connected to the limiting plate sleeve (843) on the same side of the U-shaped rotating frame (841). The outer edge of the limiting turntable (854) is pulled tightly against the outer edge of the partition plate (81) by the reset spring sleeve rod (842) on one side of the limiting plate sleeve (843).

3. A six-axis treatment bed according to claim 2, characterized in that, The second adjustment unit (85) also includes a fourth Hall magnetic detection module (856) fixedly installed on the surface of each rotating side plate (851). The surface of the fourth Hall magnetic detection module (856) is configured with several permanent magnet detection points. Detection windows (72) are fixedly installed on both sides of the U-shaped assembly base (71) at positions directly opposite the rotating side plate (851). A first Hall magnetic detection module (73) is assembled on the outside of each detection window (72). The position signal of the permanent magnet detection point on the surface of the fourth Hall magnetic detection module (856) is detected in real time by the first Hall magnetic detection module (73) to obtain the real-time arrangement angle and movement state of the rotating side plate (851). Thus, the operating parameters of the multi-angle servo adjustment mechanism (8) are adaptively adjusted according to the patient's body shape and treatment needs to ensure the position adjustment of the modular bed board assembly (7).

4. A six-axis treatment bed according to claim 3, characterized in that, The second adjustment unit (85) further includes a third Hall magnetic detection module (853) fixedly installed on the side of the fourth Hall magnetic detection module (856) near the limiting turntable (854). The magnetic detection end of the third Hall magnetic detection module (853) is attached to the upper surface of the second Hall magnetic detection module (83). The surface of the second Hall magnetic detection module (83) is arranged with several permanent magnet detection points in a ring shape. The side of the fourth Hall magnetic detection module (856) away from the third Hall magnetic detection module (853) is fixedly connected with protruding posts, and the connection is made through... The protruding pile is movably installed with a circular ring buckle (855). The outer side of the circular ring buckle (855) is fixedly connected to a second electrically controlled servo telescopic rod (87) hinged to the bottom surface of the U-shaped assembly base (71). Through the telescopic movement of the second electrically controlled servo telescopic rod (87), the rotating side plate (851) is driven to rotate around the fitting rod (852) as the axis, so that the third Hall magnetic detection module (853) moves relative to the circular surface of the second Hall magnetic detection module (83). The rotation angle of the rotating side plate (851) is obtained in real time by detecting the position signal of the permanent magnet detection point.

5. A six-axis treatment bed according to claim 4, characterized in that, The adjustable bed frame unit (9) is equipped with lateral extension bed boards (10) on both sides. Each lateral extension bed board (10) is assembled between the rotating side plates (851) of two opposing second adjustment units (85) on the same side. The rotating side plates (851) are rotated by the second electronically controlled servo telescopic rod (87) to drive the lateral extension bed board (10) to adjust its position. A pressure matrix detection plate (11) is also integrated at the side end of the surface of the lateral extension bed board (10) to detect the patient's body pressure distribution in real time. The telescopic state of the second electronically controlled servo telescopic rod (87) is controlled by the detection data feedback to adaptively optimize the fit and support stability of the bed board contour.

6. A six-axis treatment bed according to claim 5, characterized in that, The adjustable bed rod unit (9) has a hollow sleeve rod (91) with a hollow structure inside. A servo motor (92) is fixedly installed in the middle of the inner cavity. The servo motor (92) has independent and non-interfering output ends on both sides. A threaded rotating rod (93) is fixedly installed on each output end. A disc limiting buckle (94) is engaged on each threaded rotating rod (93). The servo motor (92) drives the threaded rotating rods (93) on both sides to rotate synchronously or independently, causing the disc limiting buckle (94) to reciprocate along the axial direction in the cavities on both sides. The inner walls on both sides of the hollow sleeve rod (91) are provided with axial sliding grooves that match the disc limiting buckle (94). The sliding groove structure restricts the movement trajectory of the disc limiting buckle (94).

7. A six-axis treatment bed according to claim 6, characterized in that, The adjustable bed rod unit (9) also includes a first electrically controlled magnetic ring frame (95) fixedly installed on the outer ring edge of the two side disc limiting buckles (94). The outer ring edge of the first electrically controlled magnetic ring frame (95) is provided with a magnetic end, and the magnetic end is attached to the inner wall of the cavity sleeve rod (91). The outer surface of the cavity sleeve rod (91) is fitted with a second electrically controlled magnetic ring frame (96) at the position corresponding to the two sides of the first electrically controlled magnetic ring frame (95). The inner ring edge of the second electrically controlled magnetic ring frame (96) is provided with a magnetic end, and the magnetic end is attached to the outer surface of the cavity sleeve rod (91) and is attracted to the first electrically controlled magnetic ring frame (95) on the same side. A ring airbag sleeve (97) fitted on the outside of the cavity sleeve rod (91) is assembled between the two second electrically controlled magnetic ring frames (96).

8. A six-axis treatment bed according to claim 7, characterized in that, The circular airbag sleeve (97) is composed of several independent airbag units connected in series, and each adjacent airbag unit is connected to a series electrically controlled valve tube (98). The series electrically controlled valve tube (98) is equipped with an independent air circuit control valve to adjust the inflation state of each airbag unit, so as to adjust the overall length and local support strength of the circular airbag sleeve (97). An outer protective sleeve (99) is fixedly connected between the two second electrically controlled magnetic ring frames (96). The outer protective sleeve (99) is a tough rubber sleeve structure that fits on the outside of the circular airbag sleeve (97). When the first electrically controlled magnetic ring frame (95) moves the second electrically controlled magnetic ring frame (96) by magnetic attraction, it can simultaneously move the circular airbag sleeve (97) along the axial direction of the hollow sleeve rod (91), so that the precise adjustment of the treatment position can be completed without the patient's active movement.

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