Multi-station switching medical bed based on compliant traction and visual guidance

Abstract

The invention provides a multi-station switching medical bed based on compliant traction and visual guidance. The multi-station switching medical bed comprises a supporting truss; the fixed end of the mechanical arm is inversely mounted and fixed through the supporting truss, so that spatial six-dimensional movement is realized; the medical bed board is fixedly mounted at the tail end of the mechanical arm, so that a patient is switched between a diagnosis station of the diagnosis equipment and a treatment station of the treatment equipment; the flexible traction module comprises a six-dimensional force sensor and a traction handle and is used for receiving external force information and controlling the tail end track of the mechanical arm; and the visual guidance module comprises a binocular infrared camera and a plurality of infrared marking balls which are fixedly arranged on the diagnosis equipment and the treatment equipment. According to the multi-station switching medical bed, diagnosis and treatment can be integrated in the same operating room, and the treatment efficiency is greatly improved; and meanwhile, the flexible traction module can visually convert the operation intention of an operator into the tail end movement of the mechanical arm, and the operation convenience is greatly improved. And the device also has the advantages of high space utilization rate, high positioning precision, good traction safety and the like.

Description

Technical Field

[0001] This invention relates to a medical bed, and more particularly to a multi-position switching medical bed based on compliant traction and visual guidance. Background Technology

[0002] In traditional treatment processes, diagnosis and treatment usually take place in different examination rooms. Because the patient's position is different during diagnosis and treatment, doctors need to repeatedly reposition the patient when switching from diagnosis to treatment. Existing medical beds have significant shortcomings in terms of precise positioning and multi-position switching.

[0003] Furthermore, current medical bed angle adjustment and position control largely rely on manual operation and visual readings, lacking automated visual guidance systems, resulting in low positioning efficiency and poor accuracy. Especially in radiotherapy, when the patient's target area does not coincide with the center of rotation of the treatment bed, additional compensation motion is required, which introduces control deviations; traditional high-load robotic arm control is usually controlled by a controller, which has poor operational convenience. Summary of the Invention

[0004] The purpose of this invention is to solve the above problems by providing a multi-position switching medical bed based on compliant traction and visual guidance, which can improve the versatility of the medical bed in switching between multiple positions, the convenience of operation, and the positioning accuracy of the medical bed.

[0005] This application provides a multi-station switching medical bed, including:

[0006] Support trusses;

[0007] The robotic arm consists of a fixed end and an end effector. The fixed end of the robotic arm is fixed by an inverted support truss, enabling six-dimensional spatial motion.

[0008] The medical bed board is used to support the patient. It is fixedly installed at the end of the robotic arm and moves in six dimensions under the action of the robotic arm, allowing the patient to switch between the diagnostic station of the diagnostic equipment and the treatment station of the treatment equipment.

[0009] The compliant traction module, installed on the medical bed board, includes a traction handle and a six-dimensional force sensor. The six-dimensional force sensor is used to collect real-time data on the three-dimensional force and three-dimensional torque of the traction force applied to the medical bed board by the operator through the traction handle, so as to control the end trajectory and speed of the robotic arm.

[0010] The visual guidance module includes a binocular infrared camera and multiple infrared marker balls that are fixedly mounted on diagnostic and therapeutic equipment;

[0011] The central control module receives real-time three-dimensional force and torque data from the six-dimensional force sensor and controls the movement of the robotic arm. When the traction force applied by the operator exceeds a preset threshold, the central control module triggers a compliant control algorithm to control the speed and position of the robotic arm's end effector based on the magnitude of the traction force.

[0012] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein the robotic arm adopts a serial robotic arm structure.

[0013] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein the robotic arm is a 6-DOF robotic arm.

[0014] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein the fixed end of the robotic arm is invertedly fixed to the operating room ceiling via a support truss.

[0015] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein the robotic arm is driven by a servo motor.

[0016] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein the medical bed board is fixedly mounted to the end of a robotic arm via the bottom of the tail.

[0017] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein a binocular infrared camera is mounted on the end of the medical bed board near the robotic arm via a column.

[0018] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein the visual guidance module adopts a binocular visual positioning system, and a binocular infrared camera and multiple infrared marker balls complete stereo matching through a calibration method.

[0019] According to an embodiment of the present application, a multi-station switching medical bed is provided, wherein the visual guidance module has a built-in marker point recognition algorithm for real-time tracking of multiple infrared marker balls fixedly installed on diagnostic and treatment equipment, and through coordinate transformation, converting the coordinates of the target area in the camera base coordinate system to the coordinates in the robotic arm base coordinate system.

[0020] According to one embodiment of the present application, a multi-station switching medical bed is provided, wherein the operator performs coarse positioning of the medical bed board through a compliant traction module and a central control module, so that the medical bed board is moved to the treatment station range or the diagnostic station range.

[0021] The multi-position switching medical bed provided by this invention can concentrate diagnosis and treatment in the same operating room, greatly improving treatment efficiency. In addition, it also has advantages such as high space utilization, convenient operation, high positioning accuracy, and good traction safety. Attached Figure Description

[0022] The following description, in conjunction with the accompanying drawings, will further illustrate the above-mentioned features, technical characteristics, advantages, and implementation methods of this application in a clear and understandable manner. The accompanying drawings are for illustrative and explanatory purposes only and do not limit the scope of this application. Wherein:

[0023] Figure 1 This is a schematic diagram of the overall structure of a medical bed according to one embodiment of this application. Detailed Implementation

[0024] To better understand the above technical solutions, the technical solutions of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0025] This invention proposes a multi-position switching medical bed based on compliant traction and visual guidance, which can switch between diagnostic equipment (diagnostic position) and treatment equipment (treatment position), realizing the integration of diagnosis and treatment, thereby improving the versatility, ease of operation and positioning accuracy of the medical bed.

[0026] The robotic arm features a large load capacity and a wide range of motion. The medical bed of this invention is mounted on the ceiling via the robotic arm, with the bed board fixed to the end of the robotic arm via an adapter flange. This design allows for ample floor space in the operating room, facilitating movement for both doctors and patients. A six-dimensional force sensor is installed at the rear of the bed board (near the end of the robotic arm) to sense the operator's intentions and collect real-time data on the three-dimensional force and torque of the traction force to control the end-effector trajectory. A vision camera is also installed at the rear of the bed board to sense the target position in real time, enabling precise positioning of the medical bed under the traction of the robotic arm.

[0027] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0028] like Figure 1 As shown, the present invention provides a multi-position switching medical bed based on compliant traction and visual guidance, comprising:

[0029] Support truss 1 is a high-strength steel structure support;

[0030] Robotic arm 2 is a 6-DOF robotic arm, including a fixed end and an end effector. The fixed end of the robotic arm is inverted and fixed to the operating room ceiling via a support truss 1. Robotic arm 2 adopts a tandem robotic arm structure, with a load-bearing capacity of 300kg and a repeatability of ±0.05mm. It achieves six-dimensional spatial motion through servo motor drive. The robotic arm can achieve any position and angle within the reachable space, meeting the operational needs of different treatment positions and treatment workstations.

[0031] The medical bed board 6 is used to support the patient. The bottom of the rear end of the medical bed board 6 is fixedly installed to the end of the robotic arm. It can perform six-dimensional spatial movement under the action of the robotic arm, so that the patient can switch between the diagnostic station of the diagnostic device 3 and the treatment station of the treatment device 7, and accurately locate the lesion.

[0032] The compliant traction module, used to receive external force information and control the end effector trajectory of the robotic arm, is installed at the tail of the medical bed board 6. It includes a traction handle and a six-dimensional force sensor 5. The six-dimensional force sensor 5 collects real-time data on the three-dimensional force and three-dimensional torque of the traction force applied by the operator to the medical bed board 6 through the traction handle, in order to control the end effector trajectory and speed of the robotic arm. The compliant traction module can intuitively translate the operator's intentions into the end effector movement of the robotic arm, significantly improving operational convenience.

[0033] The visual guidance module employs a binocular vision positioning system, comprising a binocular infrared camera 4 and four infrared marker balls. The binocular infrared camera 4 is mounted on the rear of the medical bed board 6 via a column. Two infrared marker balls are fixedly mounted on the diagnostic device 3 and the treatment device 7, respectively. The binocular infrared camera 4 and the four infrared marker balls achieve stereo matching through calibration, achieving a positioning accuracy of 0.1mm. The visual guidance module incorporates a marker point recognition algorithm, which can track the four infrared marker balls fixedly mounted on the diagnostic and treatment devices in real time. Through coordinate transformation, the coordinates of the target area (i.e., the patient's affected area) in the camera's base coordinate system are converted to the coordinates in the robotic arm's base coordinate system, thereby achieving precise localization of the lesion when switching from the diagnostic to the treatment process.

[0034] The central control module receives real-time three-dimensional force and torque data from the six-dimensional force sensor 5 and controls the movement of the robotic arm. When the traction force applied by the operator exceeds a preset threshold, the central control module triggers a compliant control algorithm to control the position of the robotic arm's end effector based on the magnitude of the traction force, achieving force feedback control. Through the compliant traction module and the central control module, the operator can perform coarse positioning of the medical bed board 6, facilitating its movement within the treatment or diagnostic work area.

[0035] The central control module can build a two-layer control architecture based on a PLC and an industrial PC. The PLC is responsible for real-time motion control with a motion cycle of 1ms, while the industrial PC handles the trajectory planning algorithm and the underlying algorithm of the robotic arm. An EtherCAT protocol interface is also reserved for data exchange with a hospital radiotherapy planning system (TPS).

[0036] During the treatment preparation phase, the patient lies supine on the medical bed board 6. The doctor selects a treatment plan via a touchscreen, and the system automatically calls up preset parameters to perform patient scanning and workstation switching. The robotic arm moves to its initial position, and the operator uses the traction handle to move the medical bed board 6 to the diagnostic workstation of the diagnostic device 3 or the treatment workstation of the treatment device 7. The vision guidance module captures the infrared marker balls on the diagnostic device 3 and the treatment device 7, registers them with the target area coordinates planned by the hospital's radiotherapy planning system (TPS), calculates the initial positioning deviation, and drives the robotic arm to complete automatic correction (time < 30s).

[0037] During the treatment phase, when the patient's position is adjusted, the six-dimensional force sensor 5 monitors the traction force in real time. The central control module adjusts the robotic arm's movement speed according to the preset traction curve to achieve compliant traction. The visual guidance module updates the patient's position at a frequency of 10Hz. Throughout the treatment process, the central control system records the force-displacement curve and generates a treatment report.

[0038] Compared to existing technologies, the multi-position switching medical bed provided by this invention can shorten the time required for traditional manual operations, thereby enabling diagnosis and treatment to be performed in the same operating room. The inverted robotic arm design frees up 80% of the floor space, significantly reducing the footprint compared to traditional floor-standing robotic arms, facilitating the placement of surgical instruments and operation by medical staff. The compliant traction function provides excellent human-machine interaction, allowing operators to operate the robotic arm without specialized training. The integration of six-dimensional force feedback and binocular vision guidance ensures that the bed's positioning error is controlled within ±0.1mm, meeting the high-precision treatment requirements of proton and heavy ion radiotherapy. The compliant control algorithm can control traction force fluctuations within ±5N; when an abnormal force mutation is detected, the system enters a safe mode within 50ms.

[0039] The above description is merely an illustrative embodiment of this application and is not intended to limit the scope of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of this application shall fall within the scope of protection of this application.

Claims

1. A multi-position switching medical bed, comprising: Support trusses; The robotic arm consists of a fixed end and an end effector. The fixed end of the robotic arm is fixed by an inverted support truss, enabling six-dimensional spatial motion. The medical bed board is used to support the patient. It is fixedly installed at the end of the robotic arm and moves in six dimensions under the action of the robotic arm, allowing the patient to switch between the diagnostic station of the diagnostic equipment and the treatment station of the treatment equipment. The compliant traction module, installed on the medical bed board, includes a traction handle and a six-dimensional force sensor. The six-dimensional force sensor is used to collect real-time data on the three-dimensional force and three-dimensional torque of the traction force applied to the medical bed board by the operator through the traction handle, so as to control the end trajectory and speed of the robotic arm. The visual guidance module includes a binocular infrared camera and multiple infrared marker balls that are fixedly mounted on diagnostic and therapeutic equipment; The central control module receives real-time three-dimensional force and torque data from the six-dimensional force sensor and controls the movement of the robotic arm. When the traction force applied by the operator exceeds a preset threshold, the central control module triggers a compliant control algorithm to control the speed and position of the robotic arm's end effector based on the magnitude of the traction force.

2. The multi-station switching medical bed according to claim 1, wherein, The robotic arm adopts a serial robotic arm structure.

3. The multi-station switching medical bed according to claim 1, wherein, The robotic arm is a 6-DOF robotic arm.

4. The multi-station switching medical bed according to claim 1, wherein, The fixed end of the robotic arm is inverted and fixed to the operating room ceiling via a support truss.

5. The multi-station switching medical bed according to claim 1, wherein, The robotic arm is driven by a servo motor.

6. The multi-station switching medical bed according to claim 1, wherein, The medical bed board is fixedly mounted to the end of the robotic arm via the bottom of the tail section.

7. The multi-station switching medical bed according to claim 1, wherein, The binocular infrared camera is mounted on a column at one end of the medical bed board near the robotic arm.

8. The multi-station switching medical bed according to claim 1, wherein, The visual guidance module uses a binocular visual positioning system, with a binocular infrared camera and multiple infrared marker balls completing stereo matching through calibration.

9. The multi-station switching medical bed according to claim 1, wherein, The vision guidance module has a built-in marker recognition algorithm for real-time tracking of multiple infrared marker balls fixedly installed on diagnostic and treatment equipment. Through coordinate transformation, the coordinates of the target area in the camera base coordinate system are converted to the coordinates in the robotic arm base coordinate system.

10. The multi-station switching medical bed according to claim 1, wherein, The operator uses the compliant traction module and the central control module to perform coarse positioning of the medical bed board, moving it within the treatment or diagnostic work area.

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