Tattoo positioning simulation system and method for radiotherapy

Abstract

The invention relates to a tattoo positioning simulation system and method for radiotherapy, the system comprises a positioning driving mechanism and a tattoo mechanism, a driving module drives the tattoo mechanism to move to a tattoo positioning position, and the tattoo mechanism comprises a driving motor, a bearing shell, a cylindrical cam, a gripper, a tattoo pen assembly and a fixing frame; the driving motor is arranged on the fixing frame, the cylindrical cam is rotatably installed on a telescopic shaft of the driving motor, the gripper is fixed to the side, close to the tattoo pen assembly, of the cylindrical cam, and the bearing shell covers the outer side of the cylindrical cam and is used for adjusting the gripper to rotate by a preset angle in each telescopic period of an output shaft of the driving motor; the tattooing pen assembly comprises a plurality of tattooing pens, the tattooing pens are evenly distributed on the periphery of the cylindrical cam, the tattooing pens are parallel to the telescopic direction of the output shaft of the driving motor, and the gripper is movably connected with the tattooing pens and used for driving the tattooing pens. Compared with the prior art, the tattooing device has the advantages of high tattooing precision, convenience in operation and the like.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a system and method for simulating and positioning tattoos for radiotherapy. Background Technology

[0002] In radiotherapy simulation and localization, after determining the tumor target area, doctors accurately and reliably mark it on the patient's body surface. This is a crucial technical foundation for ensuring the geometric accuracy and repeatability of subsequent treatment positioning. Traditional line marking methods (such as markers) are prone to blurring, fading, or smudging, making it difficult to maintain clarity over treatment sessions spanning several weeks. This forces repeated line drawing, increasing errors and workload while affecting the continuity of positioning accuracy. Tattooing on the body surface as a permanent marker is the "gold standard" for ensuring consistent positioning across long-term radiotherapy fractions. However, traditional tattooing methods have significant clinical drawbacks: First, they are inefficient and heavily reliant on the individual experience and skill of the technician, making it difficult to avoid systematic errors. Second, precision control presents challenges; the size, location, and depth of dotted marks obtained through manual needle tattooing are difficult to standardize, affecting the repeatability of subsequent positioning and the accuracy of treatment dosage.

[0003] Patent application CN201410316431.9 discloses an automatic tattoo machine, mainly comprising a support, a vertical linear motor, a horizontal linear motor, a push linear motor, a first oscillating motor, a second oscillating motor, a tattoo pen, and a photoelectric sensor. The vertical, horizontal, and push linear motors transport the first and second oscillating motors to designated positions, and the oscillating motors adjust the orientation of the tattoo pen. The photoelectric sensor detects the pattern on the drawing paper applied to the person being tattooed, and the control system controls the movement of each motor to track the pattern. The automatic tattooing method completes the tattooing process through the following steps: printing the pattern onto the drawing paper; applying the drawing paper to the desired tattoo location on the person being tattooed; the photoelectric sensor detects the pattern on the drawing paper and ensures the tattoo pen always tracks the patterned lines; the tattoo pen is activated to begin tattooing.

[0004] The existing automatic tattoo machines described above require repositioning via a moving positioning drive mechanism after each tattoo session. This is suitable for large designs with low precision requirements, offering flexibility and faster tattooing speed. However, for high-precision tattooing operations used in radiotherapy simulation, this structure, which requires repositioning the tattoo pen after each stroke, is clearly unsuitable. Accumulated positioning errors make it difficult to guarantee consistency and accuracy of markings between different operators.

[0005] In summary, there is an urgent need to develop a novel radiotherapy positioning tattoo system that can automatically mark tattoos on the body surface based on the laser positioning lines at the level where the simulated target area is located during the simulation positioning stage, ensuring the standardization of tattoo size and depth, and providing a technical foundation for precise positioning between sessions. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology, such as poor tattoo accuracy, cumbersome process and long operation time, and to provide a system and method for simulating and positioning tattoos for radiotherapy.

[0007] The objective of this invention can be achieved through the following technical solutions: On one hand, this solution provides a positioning tattoo system for radiotherapy simulation, including a positioning drive mechanism and a tattoo mechanism. The drive module drives the tattoo mechanism to move to the positioning tattoo position. The tattoo mechanism includes a drive motor, a bearing housing, a cylindrical cam, a gripper, a tattoo pen assembly, and a fixing frame. The drive motor is mounted on the fixing frame. The cylindrical cam is rotatably mounted on the telescopic shaft of the drive motor. The gripper is fixed to the side of the cylindrical cam near the tattoo pen assembly. The bearing housing covers the outside of the cylindrical cam and is used to adjust the rotation angle of the gripper by a preset angle during each telescopic cycle of the drive motor output shaft. The tattoo pen assembly includes multiple tattoo pens, which are evenly distributed around the cylindrical cam, and the telescopic direction of the tattoo pens is parallel to that of the drive motor output shaft. The gripper is movably connected to the tattoo pens and is used to drive the tattoo pens.

[0008] Preferably, the cylindrical cam is mounted on the output end of the drive motor via a bearing, and the side of the cylindrical cam is provided with a guide end. The inner wall of the bearing housing is provided with a circumferential guide rail. The circumferential guide rail includes an upper limit step and a lower limit step. The upper surface of the lower limit step is inclined to one side. Each lower limit step is evenly distributed along the circumference. An inlet and outlet that cooperates with the guide end is provided between adjacent lower limit steps. The upper limit step includes a vertical surface and an inclined surface. The upper limit steps are connected end to end. The vertical surface is located directly above the middle section of the upper surface of the lower limit step. One end of the inclined surface is connected to the upper end of the vertical surface, and the other end is connected to the lower end of the vertical surface of another upper limit step. The inclination direction of the inclined surface is opposite to the inclination direction of the upper surface of the lower limit step.

[0009] Preferably, the tattoo pen assembly further includes a top plate and a bottom plate for fixing the tattoo pen. The bearing housing is fixed on the top plate. The top plate has notches corresponding to the inlet and outlet, and each notch corresponds to a tattoo pen. The tattoo pen includes a tattoo sleeve for controlling the extension and retraction of the tattoo pen head. The end of the tattoo sleeve near the notch has a groove that cooperates with the guide end.

[0010] Preferably, the fixing frame includes two parallel mounting plates with multiple guide rods between them. The tattoo pen assembly also includes a housing that surrounds the outside of the tattoo pen assembly. The mounting plate below the fixing frame has through holes that match the shape of the housing. The housing is slidably mounted on the guide rods. An electromagnetic brake is provided between the housing and the guide rods.

[0011] Preferably, the gripper includes a fixed base and a clamping arm. A drive crossbar is provided on one side of the tattoo pen. The fixed base is fixed below the cylindrical cam. One end of the clamping arm is rotatably mounted on the fixed base, and the other end is provided with a clamping groove that cooperates with the drive crossbar. The two clamping arms are arranged opposite to each other, and a return spring is provided between the two clamping arms. Each tattoo pen is provided with a corresponding limiting structure. The limiting structure is fixed on the base plate and is used to adjust the clamping drive crossbar of the two clamping arms.

[0012] Preferably, the limiting structure includes two limiting slots arranged at relative intervals, each limiting slot having a guide groove that cooperates with the clamping arm, and a Y-shaped opening formed between the two limiting slots. The clamping arm has a limiting rod at one end near the clamping slot, the limiting rod being parallel to the drive crossbar, and the length of the limiting rod being greater than the width of the guide groove.

[0013] Preferably, the tattoo pen includes a tattoo sleeve and a tattoo pen body. The tattoo pen body is movably installed inside the tattoo sleeve, and a magnet is provided on the top of the tattoo pen body, which is attracted to the tattoo sleeve.

[0014] Preferably, the end of the tattoo sleeve furthest from the drive motor is provided with a skin sensing module, a pressure sensor, and a spring; The skin sensing module is installed at the head of the tattoo pen body to sense the skin. The head of the tattoo pen body is provided with an annular support platform. The pressure sensor is installed on the tattoo sleeve. One end of the spring abuts against the annular support platform, and the other end abuts against the pressure sensor.

[0015] Preferably, the tattoo pen assembly further includes a distance sensor for measuring the distance between the tattoo pen and the skin.

[0016] On the other hand, this solution also provides a method for simulating and positioning tattoos for radiotherapy. Based on the aforementioned system for simulating and positioning tattoos for radiotherapy, the method includes the following steps: S1: The positioning drive mechanism drives the tattoo mechanism to move to the positioning tattoo position; S2: Further move the tattoo mechanism toward the designated tattoo position, so that the tip of the tattoo pen is 1.8-2.2cm away from the skin; S3: The drive motor piston extends, and the gripper grasps the tattoo pen and moves it downward to perform the tattooing action. After the tattooing action is completed, the drive motor retracts and extends again. The cylindrical cam drives the gripper to rotate at a preset angle in the bearing housing. The gripper drives the next tattoo pen to move, until all tattoo pens have completed their actions. S4: The positioning drive mechanism drives the tattoo mechanism to reset.

[0017] Compared with the prior art, the present invention has the following advantages: (1) This solution uses an array of tattoo pens, with the gripper for driving the tattoo pens mounted on a rotatable cylindrical cam. The bearing housing on the cylindrical cam rotates as it moves up and down, switching the tattoo pen's action. This allows tattooing to be completed in a single positioning. Compared to existing tattooing mechanisms that use multiple motors, this solution's single-motor drive and adjustment structure effectively reduces device costs. Furthermore, a single positioning combined with multiple motor drives is sufficient to complete the target tattoo, simplifying the work logic and increasing tattooing stability and work accuracy.

[0018] (2) In this design, the upper surface of the lower limit step is inclined to the lower left, and the inclined surface of the upper limit step is inclined to the lower right, so that when the piston of the drive motor extends and retracts, it can cooperate with the guide end to rotate the cylindrical cam in one direction. This completes the switching of the gripper's working position, thereby driving different tattoo pen actions. The structure is simple and the adjustment accuracy is limited by the machining accuracy of the inlet and outlet. No additional positioning detection is required, and the operating logic is simple and highly accurate.

[0019] (3) The tattoo pen in this solution is installed in the tattoo pen case and uses a distance sensor and a skin pressure sensor to work together. The distance sensor detects the distance between the tattoo pen and the skin, and the pressure sensor detects the pressure between the tattoo pen and the skin. This ensures that the tattoo points are clear and optimizes the difference in the depth of the tattoo on the curved surface of different patients to ensure patient safety. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the tattoo mechanism provided by the present invention; Figure 2 A schematic diagram of the structure of the tattoo removal mechanism for removing the outer shell provided by the present invention; Figure 3 A schematic diagram of the tattoo removal mechanism for bearing housing provided by the present invention; Figure 4 A schematic diagram of the gripper provided by the present invention; Figure 5 This is a schematic diagram of the structure of the bearing housing provided by the present invention; Figure 6 This is a schematic diagram of the structure of the tattoo pen provided by the present invention; Figure 7 This is a schematic diagram of the cylindrical cam provided by the present invention; In the diagram: 1. Drive motor, 2. Bearing housing, 3. Cylindrical cam, 4. Handle, 5. Tattoo pen assembly, 6. Fixture, 7. Tattoo pen, 8. Electromagnetic brake, 21. Upper limit step, 22. Lower limit step, 23. Inlet / outlet, 31. Guide end, 51. Top plate, 52. Bottom plate, 53. Housing, 54. Distance sensor. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0026] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] Example 1 like Figures 1 to 3 As shown, this embodiment provides a positioning tattoo system for radiotherapy simulation, including a positioning drive mechanism and a tattoo mechanism. The drive module drives the tattoo mechanism to move to the positioning tattoo position. The tattoo mechanism includes a drive motor 1, a bearing housing 2, a cylindrical cam 3, a gripper 4, a tattoo pen assembly 5, and a mounting frame 6. The drive motor 1 is mounted on the mounting frame 6. The cylindrical cam 3 is rotatably mounted on the telescopic shaft of the drive motor 1. The gripper 4 is fixed to the side of the cylindrical cam 3 near the tattoo pen assembly 5. The bearing housing 2 covers the outside of the cylindrical cam 3 and is used to adjust the gripper 4 to rotate a preset angle during each telescopic cycle of the drive motor output shaft. The tattoo pen assembly 5 includes multiple tattoo pens 7, each tattoo pen being evenly distributed around the cylindrical cam 3, and the telescopic direction of the tattoo pens is parallel to the telescopic direction of the drive motor 1 output shaft. The gripper 4 is movably connected to the tattoo pen 7 and is used to drive the tattoo pen 7.

[0028] Working principle: The positioning drive mechanism locates the area to be tattooed and moves the tattooing mechanism to the target position. The drive motor 1 presses down, the gripper 4 connects to the tattoo pen 7 and drives the tattoo pen 7 to perform the tattooing action. The drive motor 1 retracts and extends, the cylindrical cam 3 drives the gripper to rotate to the next tattoo pen and drives the tattoo pen to perform the tattooing action during the pressing process. As the drive motor 1 periodically extends and retracts, each tattoo pen cooperates to complete the tattooing at the target position.

[0029] By setting up an array of tattoo pens, a gripper 4 for driving the tattoo pens is mounted on a rotatable cylindrical cam. The bearing housing on the cylindrical cam can drive the cam to rotate as it moves up and down, switching the tattoo pen's action. This allows tattooing to be completed in a single positioning operation. Compared to existing tattooing mechanisms that use multiple motors, this solution's single-motor drive and adjustment structure effectively reduces device costs. Furthermore, a single positioning operation combined with multiple motor drives can complete the target tattoo, simplifying the work logic and increasing tattooing stability and accuracy. The form of the positioning drive mechanism is not limited; existing positioning drive mechanisms can be used, so further details are omitted.

[0030] Preferred implementation methods, such as Figures 4 to 7 As shown, the cylindrical cam 3 is mounted on the output end of the drive motor via a bearing, and the cylindrical cam 3 has a guide end 31 on its side. The inner wall of the bearing housing 2 is provided with a circumferential guide rail. The circumferential guide rail includes an upper limit step 21 and a lower limit step 22. The upper surface of the lower limit step 22 is inclined to one side. Each lower limit step 22 is evenly distributed along the circumference. An inlet and outlet 23 that cooperates with the guide end 31 is provided between adjacent lower limit steps 22. The upper limit step 21 includes a vertical surface and an inclined surface. Each upper limit step 21 is connected end to end. The vertical surface is located directly above the middle section of the upper surface of the lower limit step 22. One end of the inclined surface is connected to the upper end of the vertical surface, and the other end is connected to the lower end of the vertical surface of another upper limit step 21. The inclination direction of the inclined surface is opposite to the inclination direction of the upper surface of the lower limit step 22.

[0031] After the current tattooing action is completed, the piston of the drive motor retracts, causing the cylindrical cam 3 to move upward. The guide end 31 passes through the current inlet and outlet and continues to move upward. The guide end 31 abuts against the middle section of the inclined surface, moves upward and rotates along the inclined surface until it abuts against the vertical surface, and the piston returns to its original position. Then the piston extends, and the guide end 31 moves downward, abutting against the upper surface of the lower limit step. As it moves downward, the cylindrical cam rotates and slides out from another inlet and outlet, thereby driving the gripper to drive the tattoo pen action.

[0032] like Figure 5 As shown, the upper surface of the lower limit step 22 is inclined to the lower left, and the inclined surface of the upper limit step 21 is inclined to the lower right. This allows the cylindrical cam to rotate in one direction in conjunction with the guide end when the piston of the drive motor extends or retracts. This completes the switching of the gripper's working position, thereby driving different tattoo pen actions. The structure is simple, and the adjustment accuracy is limited by the machining accuracy of the inlet and outlet. No additional positioning detection is required, and the operating logic is simple and highly accurate.

[0033] In this embodiment, as Figure 6 As shown, the tattoo pen assembly 5 also includes a top plate 51 and a bottom plate 52 for fixing the tattoo pen. The bearing housing 2 is fixed on the top plate 51. The top plate 51 has notches corresponding to the inlet and outlet 31. Each notch corresponds to a tattoo pen 7. The tattoo pen includes a tattoo sleeve for controlling the extension and retraction of the tattoo pen head. The end of the tattoo sleeve near the notch has a groove that cooperates with the guide end.

[0034] Both the top plate 51 and the bottom plate 52 are made of stainless steel and are arranged parallel to each other, connected by four columns to form the mounting base for the tattoo pen assembly. The bearing housing 2 is fixed to the center area of ​​the upper surface of the top plate 51 by bolts. The top plate 51 has three U-shaped notches corresponding to the inlet and outlet 31 of the bearing housing 2, with the notch openings facing outwards. The inner wall of the notch is provided with anti-slip rubber pads to fit the outer wall of the tattoo sleeve. The outer wall of the tattoo sleeve near the notch has an integrally formed annular groove that cooperates with the guide end at the inlet and outlet 31 to achieve precise positioning of the tattoo sleeve at the notch and prevent circumferential rotation during operation.

[0035] In this embodiment, the fixing frame 6 includes two parallel mounting plates, and a plurality of guide rods are provided between the two mounting plates. The tattoo pen assembly 5 also includes a housing 53, which surrounds the outside of the tattoo pen assembly. The mounting plate below the fixing frame 6 is provided with a through hole that matches the shape of the housing 53. The housing can be slidably mounted on the guide rods, and an electromagnetic brake 8 is provided between the housing and the guide rods.

[0036] Furthermore, the gripper 4 includes a fixed base and a clamping arm. A drive crossbar is provided on one side of the tattoo pen 7. The fixed base is fixed below the cylindrical cam 3. One end of the clamping arm is rotatably mounted on the fixed base, and the other end has a clamping groove that cooperates with the drive crossbar. The two clamping arms are arranged opposite each other, and a return spring is provided between the two clamping arms. Each tattoo pen has a corresponding limiting structure, which is fixed on the base plate 3 and used to adjust the clamping drive crossbar of the two clamping arms. The limiting structure includes two relatively spaced limiting slots, each with a guide groove that cooperates with the clamping arm. A Y-shaped opening is formed between the two limiting slots. A limiting rod is provided at the end of the clamping arm near the clamping slot. The limiting rod is parallel to the drive crossbar, and the length of the limiting rod is greater than the width of the guide groove.

[0037] In the assembled state, the tattoo pen 7 is positioned with the guide end through the notch in the top plate 51 and the slot of the tattoo sleeve, and the top plate 51 and the bottom plate 52 form a stable support; the outer shell 53 slides along the guide rod of the fixing frame 6. The electromagnetic brake 8 is normally de-energized and clamps the guide rod to keep the outer shell locked. When the position needs to be adjusted, it is energized and released to realize the overall position adjustment of the tattoo pen assembly. In the driving stage, the cylindrical cam 3 rotates and drives the gripper 4 to move synchronously. The two clamping arms clamp the driving crossbar of the tattoo pen under the pull of the return spring. The Y-shaped opening guides the driving crossbar to accurately enter the clamping groove. The limit rod slides in the guide groove to limit the clamping range of the clamping arms and avoid over-clamping and damage to the driving crossbar; when it is necessary to release the driving crossbar, the external driving force pushes the clamping arms to overcome the pull of the return spring and open, realizing the replacement or adjustment of the tattoo pen. During tattooing, the electromagnetic brake 8 remains energized, and the outer shell can be finely adjusted along the guide rod as the tattoo pen extends and retracts. At the same time, the electromagnetic brake locks the position in real time. The limiting structure, through the cooperation of the guide groove and the limiting rod, ensures that the clamping arm always moves along the preset trajectory, and the driving crossbar is evenly stressed, thus achieving precise driving of the tattoo pen.

[0038] In this embodiment, the tattoo sleeve is made of stainless steel and is in the shape of a hollow cylinder. The inner wall of the end away from the drive motor is provided with a ring-shaped step for installing a pressure sensor. Three guide grooves are opened along the axial direction on the inner wall of the tattoo sleeve to cooperate with the guide protrusion of the tattoo pen body to achieve movable assembly.

[0039] The tattoo pen body is made of aviation aluminum alloy. A magnet is embedded in the center of the top of the body, and the outer surface of the magnet is flush with the top of the body. The outer wall of the tattoo pen body is equipped with three axial guide protrusions that match the guide groove of the tattoo sleeve. This ensures that the body moves smoothly along the axis inside the sleeve. Furthermore, the magnetic attraction between the magnet and the metal surface of the top of the tattoo sleeve allows the body to be reset and fixed when not in use.

[0040] The skin sensing module uses a capacitive proximity sensor, model TP200. The sensor probe is ring-shaped and is fixedly installed at the center of the head end face of the tattoo pen body by a clip. The outer surface of the probe protrudes slightly from the head end face of the body to sense the contact status with the skin in real time.

[0041] Near the front end of the tattoo pen body, there is an integrally formed annular support platform for abutting the spring; the pressure sensor is a miniature piezoresistive pressure sensor, model FSH0601, which is fixedly installed on the annular step at the front end of the tattoo sleeve, with the sensor detection surface facing the tattoo pen body.

[0042] The spring is made of stainless steel. One end of the spring is fitted onto the annular support platform of the tattoo pen body and is in close contact with the end face of the support platform. The other end is in close contact with the detection surface of the pressure sensor. When the tattoo pen body moves to the front, the spring is compressed, and the pressure sensor detects the compression pressure of the spring in real time.

[0043] The distance sensor 54 is an infrared ranging sensor, model GP2Y0A21YK. The sensor is fixedly installed on the outer wall of the front end of the tattoo sleeve by an L-shaped metal bracket. The bracket is fixed to the outer wall of the sleeve by bolts. The detection direction of the sensor is consistent with the axis of the tattoo pen body and faces the skin. The sensor probe and the probe of the skin sensing module at the head of the tattoo pen body are in the same vertical plane to ensure that the actual distance between the tattoo pen head and the skin is measured.

[0044] When not in use, the tattoo pen body remains in a reset state due to the attraction between the top magnet and the tattoo sleeve, the spring is in a naturally extended state, the pressure sensor detects that the pressure is 0, and the distance sensor monitors the initial distance to the skin in real time.

[0045] During operation, the drive motor moves the tattoo pen body forward. The skin sensing module first detects the proximity to the skin and sends a signal. As the body continues to move, the distance sensor provides real-time feedback on the distance between the tattoo pen head and the skin until the skin sensing module detects contact with the skin. When the body applies pressure further forward, the spring is compressed by the ring support platform. The pressure sensor detects the compression pressure and feeds back the data, achieving dual control over tattoo depth and pressure.

[0046] Example 2 This embodiment provides a method for simulating and positioning tattoos for radiotherapy, based on a system for simulating and positioning tattoos for radiotherapy as described in Embodiment 1. The method includes the following steps: S1: The positioning drive mechanism drives the tattoo mechanism to move to the positioning tattoo position; S2: Further move the tattoo mechanism toward the designated tattoo position, so that the tip of the tattoo pen 7 is 1.8-2.2cm away from the skin; S3: The drive motor piston extends and grasps the tattoo pen 7 through the gripper 4 to move downwards to perform tattooing. After the tattooing action is completed, the drive motor retracts and extends. The cylindrical cam drives the gripper to rotate at a preset angle in the bearing housing. The gripper drives the next tattoo pen to move until all tattoo pens have completed their actions. S4: The positioning drive mechanism drives the tattoo mechanism to reset.

[0047] In conjunction with the preferred embodiment in Example 1, this embodiment provides more specific tattooing steps: The positioning drive mechanism moves the tattooing mechanism to the positioning tattooing position. The tattooing device 4 is precisely aligned with the projection position of the target area on the patient's body surface. At this time, the cylindrical protrusion on the bearing housing is stuck on the bottom end of the cylindrical cam without an opening.

[0048] The linear motor pushes the tattoo device toward the skin, moving the entire device in that direction. When the distance sensor detects that the tattoo device is 2cm away from the patient's skin, the linear motor stops moving toward the skin, the electromagnetic brake engages, and the outer casing of the tattoo device remains stationary, stopping the entire device 2cm from the skin.

[0049] Next, the tattoo dots are drawn.

[0050] The linear motor moves away from the skin. After the cylindrical protrusion on the bearing housing slides to its highest point on the cylindrical cam, the linear motor moves towards the skin. The cylindrical protrusion on the bearing housing slides to the first opening on the cylindrical cam and continues to move towards the skin. The pen cap gripper rotates with the bearing housing to the direction of the first gripper slide rail and moves towards the skin.

[0051] The two grippers enter the gripper slide rail, change from the open state to the closed state, and grasp the tattoo pen component and move it towards the skin. After the skin sensing module touches the skin, it continues to move downward. At this time, the skin sensing module presses on the pressure sensor and the tattoo pen pierces the skin and leaves a tattoo point.

[0052] The linear motor moves away from the skin. After the cylindrical protrusion on the bearing housing slides on the cylindrical cam to the second highest point, the linear motor moves towards the skin. The cylindrical protrusion on the bearing housing slides on the cylindrical cam to the second opening and continues to move towards the skin. The pen cap gripper rotates with the bearing housing to the direction of the second gripper slide rail and moves towards the skin. In the same way as the first point, the second point tattoo on the skin is completed.

[0053] The linear motor moves away from the skin. The cylindrical protrusion on the bearing housing slides on the cylindrical cam to the third highest point. Then, the linear motor moves towards the skin. The cylindrical protrusion on the bearing housing slides on the cylindrical cam to the third opening and continues to move towards the skin. The pen cap gripper rotates with the bearing housing to the third gripper slide rail direction and moves towards the skin, completing the tattoo at the third point.

[0054] Finally, the system resets, the linear motor moves away from the skin, and the cylindrical protrusion on the bearing housing slides on the cylindrical cam to the fourth highest position. Then, the electromagnetic brake is released, the linear motor drives the tattoo device back to the initial position in the tattoo support plate, and the drive mechanisms of each axis motor return to their initial positions.

[0055] This invention addresses the critical issue of blurred physical markings caused by patient washing or sweating, which affects the accuracy of radiotherapy. Its unique design features two key aspects: First, the tattooing component employs a single motor and mechanical structure, reducing costs, simplifying the workflow, increasing stability, and improving precision. Second, the tattoo pen is housed in a pen case and utilizes a distance sensor and a skin pressure sensor to work collaboratively, ensuring clear tattoo dots while optimizing for different patient surface depths to guarantee patient safety.

[0056] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A system for simulating and positioning tattoos in radiotherapy, comprising a positioning drive mechanism and a tattooing mechanism, wherein the drive module drives the tattooing mechanism to move to the positioning tattoo position, characterized in that, The tattooing mechanism includes a drive motor (1), a bearing housing (2), a cylindrical cam (3), a gripper (4), a tattoo pen assembly (5), and a mounting frame (6). The drive motor (1) is mounted on the mounting frame (6). The cylindrical cam (3) is rotatably mounted on the telescopic shaft of the drive motor (1). The gripper (4) is fixed on the side of the cylindrical cam (3) near the tattoo pen assembly (5). The bearing housing (2) covers the outside of the cylindrical cam (3) and is used to adjust the gripper (4) to rotate a preset angle in each telescopic cycle of the output shaft of the drive motor. The tattoo pen assembly (5) includes multiple tattoo pens (7). Each tattoo pen is evenly distributed around the cylindrical cam (3), and the telescopic direction of the tattoo pen is parallel to that of the output shaft of the drive motor (1). The gripper (4) is movably connected to the tattoo pen (7) and is used to drive the tattoo pen (7).

2. The system for simulating and positioning tattoos for radiotherapy according to claim 1, characterized in that, The cylindrical cam (3) is mounted on the output end of the drive motor via a bearing, and the side of the cylindrical cam (3) is provided with a guide end (31). The inner wall of the bearing housing (2) is provided with a circumferential guide rail. The circumferential guide rail includes an upper limit step (21) and a lower limit step (22). The upper surface of the lower limit step (22) is inclined to one side. Each lower limit step (22) is evenly distributed along the circumference. An inlet and outlet (23) that cooperates with the guide end (31) is provided between adjacent lower limit steps (22). The upper limit step (21) includes a vertical surface and an inclined surface. Each upper limit step (21) is connected end to end. The vertical surface is located directly above the middle section of the upper surface of the lower limit step (22). One end of the inclined surface is connected to the upper end of the vertical surface, and the other end is connected to the lower end of the vertical surface of another upper limit step (21). The inclination direction of the inclined surface is opposite to the inclination direction of the upper surface of the lower limit step (22).

3. The system for simulating and positioning tattoos for radiotherapy according to claim 2, characterized in that, The tattoo pen assembly (5) also includes a top plate (51) and a bottom plate (52) for fixing the tattoo pen. The bearing housing (2) is fixed on the top plate (51). The top plate (51) has notches corresponding to the inlet and outlet (23). Each notch corresponds to a tattoo pen (7). The tattoo pen includes a tattoo sleeve for controlling the extension and retraction of the tattoo pen head. The end of the tattoo sleeve near the notch has a groove that cooperates with the guide end.

4. The system for simulating and positioning tattoos for radiotherapy according to claim 3, characterized in that, The fixing frame (6) includes two parallel mounting plates, with multiple guide rods between the two mounting plates. The tattoo pen assembly (5) also includes a housing (53), which surrounds the outside of the tattoo pen assembly. The mounting plate below the fixing frame (6) has through holes that match the shape of the housing (53). The housing (53) is slidably mounted on the guide rods. An electromagnetic brake (8) is provided between the housing and the guide rods.

5. A system for simulating and positioning tattoos for radiotherapy according to claim 3, characterized in that, The gripper (4) includes a fixed base and a clamping arm. A drive crossbar is provided on one side of the tattoo pen (7). The fixed base is fixed below the cylindrical cam (3). One end of the clamping arm is rotatably mounted on the fixed base, and the other end is provided with a clamping groove that cooperates with the drive crossbar. The two clamping arms are arranged opposite to each other, and a return spring is provided between the two clamping arms. Each tattoo pen is provided with a corresponding limiting structure. The limiting structure is fixed on the base plate (3) and is used to adjust the clamping drive crossbar of the two clamping arms.

6. A system for simulating and positioning tattoos for radiotherapy according to claim 5, characterized in that, The limiting structure includes two limiting slots spaced apart from each other. The limiting slots are provided with guide grooves that cooperate with the clamping arm. A Y-shaped opening is formed between the two limiting slots. The clamping arm is provided with a limiting rod at one end near the clamping slot. The limiting rod is parallel to the drive crossbar and the length of the limiting rod is greater than the width of the guide groove.

7. A system for simulating and positioning tattoos for radiotherapy according to claim 1, characterized in that, The tattoo pen (7) includes a tattoo sleeve and a tattoo pen body. The tattoo pen body is movably installed inside the tattoo sleeve. A magnet is provided on the top of the tattoo pen body, and the magnet is attracted to the tattoo sleeve.

8. A system for simulating and positioning tattoos for radiotherapy according to claim 7, characterized in that, The tattoo sleeve is equipped with a skin sensing module, a pressure sensor, and a spring at the end furthest from the drive motor; The skin sensing module is installed at the head of the tattoo pen body to sense the skin. The head of the tattoo pen body is provided with an annular support platform. The pressure sensor is installed on the tattoo sleeve. One end of the spring abuts against the annular support platform, and the other end abuts against the pressure sensor.

9. A system for simulating and positioning tattoos for radiotherapy according to claim 1, characterized in that, The tattoo pen assembly (5) also includes a distance sensor (54) for measuring the distance between the tattoo pen and the skin.

10. A method for simulating and positioning tattooing in radiotherapy, based on a system for simulating and positioning tattooing in radiotherapy as described in any one of claims 1-9, characterized in that, The method includes the following steps: S1: The positioning drive mechanism drives the tattoo mechanism to move to the positioning tattoo position; S2: Further move the tattoo mechanism toward the designated tattoo position so that the tip of the tattoo pen (7) is 1.8-2.2cm away from the skin; S3: The drive motor piston extends and grabs the tattoo pen (7) through the gripper (4) to move downward to perform tattooing. After the tattooing action is completed, the drive motor retracts and extends. The cylindrical cam drives the gripper to rotate at a preset angle in the bearing housing. The gripper drives the next tattoo pen to move until all tattoo pens have completed their actions. S4: The positioning drive mechanism drives the tattoo mechanism to reset.

Images