Bed board assist device and control method thereof

Abstract

This invention discloses a bed board assist device and its control method, relating to the field of medical device technology. The bed board assist device includes: a deformation detection component comprising multiple detection elements, each element used to detect deformation data at different selected locations on the bed board; a support component for supporting the bed board; and a control component for collecting the deformation data from the deformation detection component, obtaining body-related information of the target object, dynamically adjusting the weight values ​​of each deformation data point based on the body-related information, calculating the deformation compensation amount for bed board sagging, and controlling the movement of the support component based on the deformation compensation amount to adjust the height of the support component supporting the bed board. Through multi-point deformation detection and dynamic weighted calculation of deformation compensation based on body-related information, combined with a height-adjustable support component, adaptive dynamic compensation for bed board sagging deformation can be achieved, significantly improving the compensation accuracy of bed board deformation, and adapting to housing holes of different axial lengths and a movable beam center.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a bed board auxiliary device and its control method. Background Technology

[0002] Radiotherapy is an important clinical method that uses high-energy rays to kill tumor cells. Widely used radiotherapy equipment includes aperture / ring radiotherapy devices, such as CT positioning equipment, ring accelerators, and spherical accelerators. During use, the patient's bed board must be inserted into the aperture of the equipment housing. As the insertion length increases, the bed board undergoes varying degrees of sagging deformation under the combined effect of its own weight and the patient's weight. Because the beam area within the housing aperture has strict requirements for material X-ray permeability, it is impossible to install a metal support structure under the patient, making it difficult to fundamentally eliminate bed board sagging.

[0003] Existing technologies mainly use a fixed support structure at the outer end of the housing hole for compensation, but this has obvious limitations: when the lengths of the housing hole of the positioning device and the housing hole of the treatment device are inconsistent, the degree of sagging deformation of the bed board on the two devices is different, and the fixed support structure cannot achieve consistent compensation across devices; for devices such as spherical accelerators where the beam center can move, the fixed support structure cannot dynamically adapt to the offset of the beam center.

[0004] Therefore, how to achieve flexible compensation for the sagging deformation of the bed board is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a bed board auxiliary device and its control method, which can realize flexible and dynamic compensation for the sagging deformation of the bed board and adapt to different lengths of cover holes and movable beam centers.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The first aspect of the present invention provides a bed board auxiliary device, comprising: a deformation detection component including a plurality of detection elements, each of the detection elements being used to detect deformation data at different selected positions on the bed board; a support component for supporting the bed board; and a control component for collecting the deformation data from the deformation detection component, obtaining body association information of a target object, dynamically adjusting the weight values ​​of each deformation data based on the body association information and calculating the deformation compensation amount for the sagging of the bed board, and controlling the movement of the support component according to the deformation compensation amount to adjust the height at which the support component supports the bed board.

[0008] In one exemplary implementation, the body-related information includes treatment site information and vital sign information of the target object.

[0009] In one exemplary embodiment, the support assembly includes: a support position adjustment assembly for contacting and supporting the bed board, and the support area on the support position adjustment assembly that contacts the bed board can be adjusted along the length direction of the bed board; and a lifting compensation assembly connected to the support position adjustment assembly for adjusting the height of the support position adjustment assembly.

[0010] In one exemplary embodiment, the support position adjustment component and the lifting compensation component are each equipped with a displacement sensor, which is used to feed back the displacement changes detected by each component to the control component in real time, so as to form a closed-loop control loop with the deformation detection component.

[0011] In one exemplary embodiment, the system further includes: a detection component for acquiring the height relationship between the bed board and the support component; the control component is further configured to, before controlling the movement of the support component based on the deformation compensation amount, control the support component to move to a position with a preset initial height relationship with the bed board based on the height relationship acquired by the detection component.

[0012] In one exemplary embodiment, the deformation detection assembly includes: a first detection element for mounting at the head end of the bed board along its length; a second detection element for mounting within a housing hole of the radiotherapy device; and a third detection element for mounting at the tail end of the bed board along its length, wherein the support assembly is used to support the tail end of the bed board along its length.

[0013] A second aspect of the present invention provides a control method for a bed board auxiliary device, applied to the aforementioned bed board auxiliary device; the control method includes: collecting deformation data from the deformation detection component to obtain body association information of the target object; dynamically adjusting the weight values ​​of each deformation data based on the body association information and calculating the deformation compensation amount for the sagging of the bed board; and controlling the movement of the support component according to the deformation compensation amount to adjust the height at which the support component supports the bed board.

[0014] In one exemplary embodiment, the method further includes: in the empty bed state, driving the bed board to complete the full path movement along the axis of the radiotherapy device, and collecting the bed board height data at each position of the deformation detection component in the full path as empty load data; in the loaded bed state, when performing the dynamic adjustment of the weight values ​​of each deformation data based on the body association information and calculating the deformation compensation amount of the bed board sagging, the method includes: obtaining the corresponding empty load data to participate in the calculation of the deformation compensation amount.

[0015] In one exemplary embodiment, before controlling the movement of the support component based on the deformation compensation amount to adjust the height of the support component supporting the bed board, the method further includes: controlling the support component and the bed board to be in a preset initial height relationship.

[0016] In one exemplary embodiment, the method further includes: adjusting the position of the support area of ​​the support component that contacts and supports the bed board according to the position of the irradiation zone of the radiotherapy device; wherein the support area avoids the irradiation zone of the radiotherapy device.

[0017] The bed board auxiliary device provided by the present invention includes: a deformation detection component, comprising multiple detection elements, each detection element being used to detect deformation data at different selected positions on the bed board; a support component for supporting the bed board; and a control component for collecting the deformation data from the deformation detection component, obtaining body association information of the target object, dynamically adjusting the weight values ​​of each deformation data based on the body association information and calculating the deformation compensation amount for bed board sagging, and controlling the movement of the support component according to the deformation compensation amount to adjust the height of the support component supporting the bed board.

[0018] The aforementioned bed board auxiliary device, through multi-point deformation detection and dynamic weighted calculation of deformation compensation based on body-related information, combined with liftable support components, can achieve adaptive dynamic compensation for the sagging deformation of the bed board, significantly improving the compensation accuracy of the bed board deformation, adapting to cover holes of different axial lengths and movable beam centers, and solving the problems of poor adaptability and inconsistent compensation effects of fixed support structures. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the bed board auxiliary device according to an embodiment of the present invention. The dashed line indicates another position that the support position adjustment component can move to.

[0021] Figure 2 This is a schematic diagram of the bed board drooping according to an embodiment of the present invention;

[0022] Figure 3 This is a top view of the support frame according to an embodiment of the present invention;

[0023] Figure 4 This is a front view of a bed board supported by a support position adjustment component in an embodiment of the present invention;

[0024] Figure 5 This is a front view of the support position adjustment component supporting another type of bed board in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the support area of ​​the support position adjustment component in an embodiment of the present invention switching between two positions: the dashed line and the solid line. The arrows in the support area indicate the two switchable positions of the front end of the support area.

[0026] Figure 7 This is a schematic diagram of a radiotherapy device applied to a housing hole with an axial length of L1 in an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of a radiotherapy device applied to a housing hole with an axial length of L3 in an embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of the beam center being in position N in an embodiment of the present invention. The arrows in the support area indicate two switchable positions of the front end of the support area.

[0029] Figure 10 This is a schematic diagram of the beam center being in position M in an embodiment of the present invention. The arrows in the support area indicate two switchable positions of the front end of the support area.

[0030] Explanation of reference numerals in the attached figures:

[0031] Radiotherapy equipment 1, beam center 11, irradiation area 12, front end of housing 13, rear end of housing 14;

[0032] Support position adjustment component 2, support frame 21, support area 22;

[0033] Patient bed 3, bed board 31, fixed support component 32;

[0034] Detection component 4;

[0035] Deformation detection assembly 5, first detection element 51, second detection element 52, third detection element 53;

[0036] Lifting compensation component 6;

[0037] Support component 7. Detailed Implementation

[0038] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] The core of this invention is to provide a bed board auxiliary device and its control method, which can realize flexible and dynamic compensation for the sagging deformation of the bed board 31 and adapt to different lengths of cover holes and movable beam center 11.

[0040] A specific embodiment of the bed board auxiliary device provided by this invention is mainly used for dynamic compensation of sagging deformation of the bed board 31 in radiotherapy equipment. For example... Figures 1 to 10 As shown, the device includes a deformation detection component, a support component 7, and a control component.

[0041] The deformation detection assembly includes multiple detection elements (e.g., multiple detection elements arranged sequentially along the length of the bed plate 31, which can be connected to the bed plate 31 or other nearby devices). Each detection element is used to detect deformation data at different selected locations on the bed plate 31. The radiotherapy device 1 is specifically a borehole radiotherapy device, with the bed plate 31 extending into the housing bore of the radiotherapy device 1, and the length of the bed plate 31 corresponding to the axial direction of the housing bore.

[0042] The support assembly 7 is used to support the bed board 31. Specifically, the patient bed 3 includes a bed board 31 and a fixed support member 32 supported below the head end of the bed board 31. The support assembly 7 is used to support the tail end of the bed board 31, and the head end and tail end of the bed board 31 are the two ends of the bed board 31 in the length direction.

[0043] The control component communicates with the deformation detection component and the support component 7, which can be wired or wireless. The control component is used to collect deformation data from the deformation detection component, obtain the patient's body association information, dynamically adjust the weight values ​​of each deformation data based on the obtained body association information, calculate the deformation compensation amount of the bed board 31 sagging, and control the movement of the support component 7 according to the deformation compensation amount to adjust the height of the support component 7 supporting the bed board 31.

[0044] For example, the control component is an MCU embedded system, mainly including an MCU chip and its peripheral circuits. The control component also integrates a wireless communication module (such as Bluetooth). The control component supports the drive control of component 7, as well as the sampling processing and data interaction of the sensor component and deformation detection component 5. Furthermore, the control component can communicate with the radiotherapy equipment 1 to acquire data on the treatment site, patient bed, and patient vital signs, typically through TCP / IP communication, CAN communication, or serial communication.

[0045] The weight values ​​of each deformation data point are dynamically adjusted. That is, the weight values ​​are not preset fixed constants. The control component independently calculates and assigns different weights to the deformation data of the detection elements at different locations on the bed board 31 based on real-time acquired patient-related information (injury / disease location, body type, weight, and vital signs). The deformation compensation amount is then calculated by multiplying the weight by the deformation data and summing the results. The weight values ​​at each point change depending on the patient and the location of the lesion. The correspondence between the weight values ​​and the body-related information can be pre-stored in the control component.

[0046] The aforementioned bed board auxiliary device, through multi-point deformation detection and dynamic weighted calculation of deformation compensation based on body-related information, combined with the liftable support component 7, can achieve dynamic compensation for the downward deformation of the bed board 31, significantly improving the compensation accuracy of the bed board 31 deformation, adapting to cover holes of different axial lengths and movable beam center 11, and solving the problems of poor adaptability and inconsistent compensation effect of fixed support structure.

[0047] In some embodiments, the body-related information includes treatment site information and patient vital signs information. Treatment site information refers to the body part of the patient that needs to receive radiotherapy, such as the head and neck, chest, abdomen, pelvis, etc. Patient vital signs information includes the patient's height, weight, and other body parameters. The control component obtains the above information by communicating with the radiotherapy equipment 1 system (such as TCP / IP communication, CAN communication, serial communication, etc.).

[0048] Since the center of gravity of the load on the bed board 31 is different for different treatment sites, and the deformation of the bed board 31 caused by patients of different heights and weights is also different, the weight values ​​of each detection element can be dynamically adjusted according to this information to obtain a more accurate amount of deformation compensation, so as to meet the deformation compensation accuracy of the bed board 31 in the irradiation area 12.

[0049] In some embodiments, such as Figure 1 As shown, the support component 7 includes a support position adjustment component 2 and a lifting compensation component 6.

[0050] The support position adjustment assembly 2 is used to contact and support the bed board 31, such as Figure 6 As shown, the support position adjustment component 2 can be adjusted along the length of the bed board 31 to the support area 22 that contacts the bed board 31. The support area 22 is the area where the support position adjustment component 2 contacts the bed board 31.

[0051] For example, the support position adjustment assembly 2 includes a support frame 21, a horizontal drive motor, and a corresponding transmission mechanism. The support frame 21 is connected to a first slide rail slider assembly, which moves along the length of the bed board 31 as the first slider of the first slide rail slider assembly moves under the drive of the horizontal drive motor. Figure 3As shown, the support frame 21 adopts a concave opening structure to ensure rigidity while avoiding obstruction of the measurement of the detection element set at the tail end of the bed board 31. The horizontal drive motor is a stepper motor, which drives the first slider to slide along the first slide rail of the first slide rail slider assembly through a synchronous belt, thereby realizing the telescopic movement of the support frame 21 along the length direction of the bed board 31 (usually the horizontal direction, and the axial direction of the cover hole of the radiotherapy device 1).

[0052] The lifting compensation component 6 is connected to the support position adjustment component 2 and is used to adjust the height of the support position adjustment component 2.

[0053] For example, the lifting compensation component 6 includes a fixed plate and a lifting drive motor. One end of the fixed plate is connected to the support position adjustment component 2, used to drive the support position adjustment component 2 to move up and down; the other end is connected to the lifting screw through a second slider. Driven by the lifting drive motor, the fixed plate together with the support position adjustment component 2 moves up and down along the screw. The lifting drive motor is a servo motor, which drives the screw through a gearbox.

[0054] The control component is also used to control the movement of the support position adjustment component 2 to adjust the support area 22 according to the position of the irradiation zone 12 of the radiotherapy device 1. Specifically, the control component can obtain the position of the beam center 11 of the radiotherapy device 1 and its conical beam angle, and determine the position of the irradiation zone 12 based on this, wherein the irradiation zone 12 is the area where the conical beam is located. Figure 4 and Figure 5 As shown, the support area 22 can be matched with different positional relationships between the bed board 31 and the radiotherapy equipment 1, and can be adaptively extended and retracted to adjust the length of its support bed board 31.

[0055] For example, when the control component detects a change in the beam center 11 of the radiotherapy device 1 (radiotherapy equipment) (such as a movement of the spherical accelerator head, which moves the beam center 11 along with it), the original extension length of the support position adjustment component 2 may not be suitable for the current application scenario. The control component will then drive the support position adjustment component 2 to adjust the horizontal position of the corresponding support area 22. Figure 9 and Figure 10 As shown in the diagram, Figure 10 Compared to Figure 9 The beam center 11 shifts to the left, the support area 22 becomes longer, and the distance between the support area 22 and the fixed support 32 is shortened from L4 to L5.

[0056] In some embodiments, the bed board auxiliary device further includes a fixing component that serves as a support base for the entire device and is fixedly installed on the ground. Specifically, the fixing component is used to fix the lifting slide rail of the lifting compensation component 6 to ensure the straightness and stability of the lifting movement; the fixing component can also provide installation space for the control component and related power supply equipment, so that the electrical and mechanical parts of the entire device are integrated into one unit.

[0057] In some embodiments, the support position adjustment component 2 and the lifting compensation component 6 are also provided with displacement sensors, which are used to feed back the displacement changes detected by each component to the control component in real time, forming a closed-loop control loop with the deformation detection component.

[0058] For example, the displacement sensor of the support position adjustment assembly 2 can be a draw-wire encoder or potentiometer mounted on its load end, or a linear encoder or magnetic encoder, or a rotary encoder or potentiometer mounted on its motor shaft end. Similarly, the displacement sensor of the lifting compensation assembly 6 can be a draw-wire encoder or potentiometer mounted on its load end, or a linear encoder / magnetic encoder, or a rotary encoder / potentiometer mounted on its motor shaft end, etc.

[0059] Taking the displacement sensor of the support position adjustment component 2 as a pull rope encoder as an example, the pull rope encoder records the displacement change of the support frame 21 in real time and feeds the displacement change back to the MCU of the control component in real time to realize the closed-loop control of the support position adjustment component 2.

[0060] At this time, during the process of driving the support position adjustment component 2 and the lifting compensation component 6 to move, the control component can collect the position feedback information of the support position adjustment component 2 and the lifting compensation component 6 and the data information of the deformation detection component 5 in real time, judge whether the deformation compensation in the corresponding height direction has been completed, form a closed-loop control, and improve the compensation accuracy of the deformation of the bed board 31.

[0061] In some embodiments, the bed board auxiliary device further includes a detection component 4 for acquiring the height relationship between the bed board 31 and the support component 7. The control component is also used to control the support component 7 to move to a position with the bed board 31 at a preset initial height relationship before controlling the movement of the support component 7 based on the height relationship acquired by the detection component 4, according to the deformation compensation amount.

[0062] By introducing a calibration step with a preset initial height relationship before the dynamic compensation action of the support component 7, the uncertainty of the absolute position of the support component 7 caused by mechanical backlash and unexpected disturbances during long-term use can be solved. This ensures that each deformation compensation action starts from a unified reference zero point, avoids overcompensation or undercompensation caused by initial position deviation, and improves the compensation accuracy during long-term operation.

[0063] For example, the detection component 4 can be an infrared ranging sensor mounted on the fixed plate of the lifting compensation component 6. The infrared ranging sensor emits infrared light, which is then reflected by a corresponding reflector mounted at the tail end of the bed board 31 of the patient bed 3 to measure the distance in the horizontal direction and obtain the distance between the bed board 31 and the detection component 4. At the same time, it can also locate the actual height of the bed board 31 within a certain height range (such as the range near the center height of the equipment). For example, when the lifting compensation component 6 moves up and down, when the infrared ranging sensor receives the light reflected by the reflector, the height detected by the lifting compensation component 6 can be taken as the actual height of the bed board 31. Due to the existence of sag deformation, this height will be different from the bed height data fed back by the fixed support 32 at the head end of the patient bed 3.

[0064] For example, the control component first drives the lifting compensation component 6 to perform lifting movements within a preset range s based on the height information H of the bed board 31 fed back by the fixed support 32 at the head end of the patient bed 3. That is, lifting within the range of H±s. At the same time, the infrared ranging detection component 4 installed on the lifting compensation component 6 emits infrared light, which is reflected by the reflector on the vertical surface of the tail end of the bed board 31 to locate the position of the bed board 31 in the lifting direction (considering the sag deformation, this position is different from the height information H of the bed board 31). After the bed board 31 is positioned in the lifting direction, for example, by keeping it in the position where the infrared ranging detection component 4 is aligned with the reflector, the subsequent deformation compensation operation is then performed.

[0065] For example, the detection component 4 can also be a depth vision sensor installed on the ceiling above the patient bed 3, which can acquire the height change of the bed board 31 and the axial displacement change of the radiotherapy device 1 on the bed board 31 in real time. When using a depth vision sensor, the obstruction of the field of view by the housing of the radiotherapy device 1 needs to be considered, and multiple depth vision sensors can be used in combination.

[0066] Furthermore, such as Figure 1 As shown, the deformation detection assembly detects the sagging deformation of the bed board 31 at multiple points along the length of the bed board 31, including a first detection element 51 installed at the head end along the length of the bed board 31, a second detection element 52 installed in the hole of the cover of the radiotherapy device 1, and a third detection element 53 installed at the tail end along the length of the bed board 31.

[0067] The first detection element 51 is a voltage transformer sensor installed at the head end of the bed board 31.

[0068] The second detection element 52 is installed inside the housing aperture of the radiotherapy device 1, and is offset from directly below the beam center 11 of the radiotherapy device 1, specifically, it can be offset from the entire irradiation area 12. Specifically, the second detection element 52 is a ranging sensor, such as a laser ranging sensor or an ultrasonic ranging sensor, installed inside the housing aperture of the radiotherapy device 1 below the treatment center. This second detection element 52 has a certain offset or angle relative to the beam center 11, which can prevent damage to the sensor performance from the MV (megavolt) beam.

[0069] The third detection element 53 is installed at the tail end of the bed board 31, and the support assembly 7 supports the tail end of the bed board 31. Specifically, the third detection element 53 is a wireless ranging sensor installed on the vertical surface of the tail end of the bed board 31, which can measure the height relative to the ceiling or the ground. For example, the third detection element 53 is a wireless infrared ranging sensor, which transmits the collected deformation data to the control assembly in real time via Bluetooth wireless communication protocol.

[0070] By arranging the first detection element 51, the second detection element 52, and the third detection element 53 of the deformation detection assembly at the head end of the bed board 31, the hole in the cover of the radiotherapy device 1, and the tail end of the bed board 31 respectively, the entire stroke can be covered along the length of the bed board 31, thereby achieving accurate acquisition of the sag curve of the bed board 31 and improving the reliability of deformation data.

[0071] The working principle of the bed board auxiliary device in this embodiment includes: when a patient is undergoing positioning scanning / treatment on a radiotherapy positioning / treatment device, the on-site physician usually has the patient lie on the patient bed 3. At this time, the bed board 31 will sag and deform, for example... Figure 2As shown in the diagram, the bed board 31 undergoes sagging deformations d1, d2, and d3 at different positions, or the bed board 31 may also undergo U-shaped deformation, with the largest sagging in the middle. Then, the patient bed 3 is raised to a certain height (the laser line in the machine room is aligned with the patient's mid-axillary line). Then, depending on the patient's treatment area, the patient bed 3 is moved horizontally, causing the bed board 31 to move the center of the target area of ​​different parts of the patient's body to the treatment center of the equipment. The control component first drives the lifting component to perform lifting and lowering movements within a preset range s based on the bed board height information H fed back by the patient bed 3. Simultaneously, the infrared ranging detection component 4 installed in the lifting compensation component 6 emits infrared light to locate the lifting and lowering direction of the bed board 31. After the lifting and lowering direction of the bed board 31 is located, it will provide real-time feedback of horizontal ranging data. At the same time, it will collect real-time data from three sensors: the support point of the patient bed 3 (head end), the area near the treatment center of the equipment, and the farthest point of the bed board 31 (tail end). The system collects information from the deformation detection component 5, and then, based on the patient's treatment site information, the patient bed 3 position information, whether the axial length of the housing hole of the radiotherapy equipment 1 (the axial length between the front end 13 and the rear end 14 of the housing) has changed (the change between the positioning device and the treatment device), whether the beam center 11 has changed (the beam center 11 of the spherical radiotherapy equipment 1 can change with the movement of the machine head), and the above data information, it determines whether it is necessary to perform sagging deformation compensation of the bed board 31. If compensation is required, the control component will provide the displacement value that the support position adjustment component 2 needs to move and the displacement value that the lifting compensation component 6 needs to support in the opposite direction. The control component will control the corresponding moving components (support position adjustment component 2 and lifting compensation component 6) to perform the corresponding movements. During the process, it will collect the position feedback information of each moving component end and the data information of the three sensors of the deformation detection component 5, and judge whether the corresponding compensation has been completed, forming a closed-loop control.

[0072] In addition to the aforementioned bed board auxiliary device, the present invention also provides a control method for the bed board auxiliary device, which is applied to the bed board auxiliary device provided in any of the above embodiments.

[0073] In some embodiments, the control method includes:

[0074] S1: Collect deformation data from the deformation detection component to obtain patient-related information.

[0075] Specifically, the control component collects data from the first detection element 51, the second detection element 52, and the third detection element 53 in real time, and at the same time obtains information such as the treatment site and the patient's vital signs (height, weight, etc.) by communicating with the radiotherapy equipment 1.

[0076] S2: Based on the body-related information, dynamically adjust the weight values ​​of each deformation data and calculate the deformation compensation amount of the sagging of the bed board 31.

[0077] The weight values ​​of each deformation data point are dynamically adjusted based on body-related information, and the deformation compensation amount for the sagging of the bed board 31 is calculated. Specifically, the deformation compensation amount is the sum of the deformation data of all detection elements 51 multiplied by their weights. Figure 1 The device has three detection elements. The sagging deformation compensation value of the bed board 31 in the lifting direction can be calculated according to the following formula:

[0078] Deformation compensation amount = Deformation data of the first detection element 51 × weight A + Deformation data of the second detection element 52 × weight B + Deformation data of the third detection element 53 × weight C

[0079] Among them, weights A, B, and C are not fixed and will vary depending on the treatment site of the patient, the center of gravity of the load on the bed board 31, and the patient's physical characteristics such as height and weight.

[0080] For example, if the patient's treatment site is the head and neck, the control component determines that the rigidity of the support part of the patient bed 3 in the head and neck target area is sufficient, and there is no need to perform drooping deformation compensation; if the patient's treatment site is the pelvis, the control component determines that drooping deformation compensation needs to be performed in this area, and then obtains deformation compensation based on the data of the three detection elements and the weights of the system threshold for this treatment site, such as weight A being 0.1, weight B being 0.6, and weight C being 0.3.

[0081] Furthermore, the weights of each control component are obtained based on prior simulated load tests. These simulated load tests measure the sagging deformation at the installation position of deformation detection component 5 under different weights, treatment sites, and heights. Based on this massive amount of test data, the weight parameters of each detection element are obtained and stored in the control component as a priori data model. The control component is also connected to an EEPROM component for storing the priori data model.

[0082] S3: Control the movement of the support component based on the deformation compensation amount, and adjust the height of the support component supporting the bed board 31.

[0083] Specifically, based on the calculated deformation compensation amount, the control component provides the displacement value of the lifting compensation component 6 that requires reverse support, and the control component controls the lifting compensation component 6 to perform the corresponding lifting motion.

[0084] The control method of the above-mentioned bed board auxiliary device, through multi-point deformation detection and dynamic weighted calculation of deformation compensation based on body-related information, combined with the liftable support component 7, can realize dynamic compensation for the downward deformation of the bed board 31, significantly improve the compensation accuracy of the deformation of the bed board 31, adapt to the cover holes of different axial lengths and the movable beam center 11, and solve the problems of poor adaptability and inconsistent compensation effect of the fixed support structure.

[0085] In some embodiments, the control method further includes an idle data acquisition step:

[0086] When the bed board 31 is empty, the bed board 31 is driven to move along the axis of the radiotherapy device 1 to complete the full path movement, and the deformation detection component collects the height change data of the bed board 31 at each position of the full path, and uses it as the empty load data;

[0087] When performing S2—dynamically adjusting the weight values ​​of each deformation data based on body-related information and calculating the deformation compensation amount of bed board 31 sag under the load state of bed board 31 (i.e., the state of supporting the patient)—it includes:

[0088] S21: Obtain the corresponding no-load data to participate in the calculation of deformation compensation, so as to deduct the inherent deformation caused by the bed board 31 itself.

[0089] For example, taking the third detection element 53 as an example, before using the third detection element 53 to detect the sagging deformation of the tail end of the patient bed 3 under load, the control component first performs a height change detection of the tail end of the bed 31 along the entire displacement path of the bed 31 (which is also the axis of the radiotherapy device 1) without the bed. This detection data is stored in the control component as unloaded data. When detecting the sagging deformation of the tail end of the bed 3 under load, the corresponding unloaded data is retrieved to participate in the deformation calculation. That is, the deformation data under load is subtracted from the unloaded deformation data at the corresponding position, and the difference is the actual deformation. Similarly, other detection elements of the deformation detection component 5 have similar operations.

[0090] In some embodiments, S3 controls the movement of the support assembly based on the deformation compensation amount to adjust the height of the support assembly supporting the bed board 31. Before this, an initial position control step is also included:

[0091] S30: Control the support assembly 7 and the bed board 31 to be in a preset initial height relationship.

[0092] Specifically, the control component first drives the lifting compensation component 6 to perform lifting movements within a preset range s based on the bed height information H fed back by the patient bed 3 (e.g., feedback from the fixed support 32). The detection component 4 positions the bed board 31 at a lifting height K, which, considering sagging deformation, differs from the bed height information H fed back by the bed. After the bed board 31 is positioned correctly in the lifting direction, subsequent deformation compensation operations are performed.

[0093] By introducing a calibration step with a preset initial height relationship before the dynamic compensation action is executed, the uncertainty of the absolute position of the support component 7 caused by mechanical backlash and unexpected disturbances during long-term use is fundamentally solved. This ensures that every deformation compensation action starts from a unified reference zero point, effectively avoiding overcompensation or undercompensation caused by initial position deviation, and improving the compensation accuracy during long-term operation.

[0094] In some embodiments, the control method further includes a length adjustment step for the support region 22:

[0095] S5: Adjust the position of the support area 22 of the support component that contacts and supports the bed board 31 according to the beam position of the radiotherapy device 1.

[0096] The support area 22 avoids the irradiation area 12 of the treatment device 1. For example, the edge of the support area 22 coincides with the edge of the irradiation area 12.

[0097] Specifically, refer to Figure 7 and Figure 8 If the control component detects that the radiotherapy device 1 has been transferred from the radiotherapy positioning device to the radiotherapy device and the axial length of the housing hole (L1 changes to L3) has changed, the control component can drive the support position adjustment component 2 to move so that the support area 22 can meet the compensation support requirements after the change in the axial length of the housing hole. At this time, if the positional relationship between the irradiation area of ​​the two radiotherapy devices 1 and the fixed support 32 remains unchanged, the distance L2 between the support area 22 and the fixed support 32 can remain unchanged.

[0098] Specifically, refer to Figure 9 and Figure 10 If the control component detects a change in the beam center 11 of the radiotherapy equipment, such as a movement of the spherical accelerator head that moves the beam center 11 from N to M, then Figure 9 The telescopic length of the central support position adjustment component 2 is not suitable for the current situation. Figure 10 In certain application scenarios, the control component will drive the support position adjustment component 2 to adjust the horizontal position of the corresponding support area 22. For example, if the original support area 22 may have entered the irradiation area 12, the length of the support area 22 on the bed board 31 can be reduced. Figures 10 to 9 The length changes from L5 to L4); or if a certain interval is formed between the support area 22 and the irradiation area 12, the length of the support area 22 supporting the bed board 31 can be further increased ( Figures 9 to 10 (The length changes from L4 to L5), so that the edge of the support area 22 is kept in contact with the edge of the irradiation area 12, and the support length of the bed board 31 is kept as long as possible at the maximum value allowed by the circumstances.

[0099] The bed board auxiliary device and its control method in the above embodiments can be applied to the following scenarios:

[0100] I. Treatment Scenarios for Head and Neck Tumors

[0101] When a patient needs to undergo radiotherapy for head and neck tumors, the control component communicates with the radiotherapy equipment 1 to obtain information about the treatment site (head and neck) and the patient's vital signs (height and weight). If the control component determines that the rigidity of the support portion of the patient bed 3 in the head and neck target area is sufficient and that there is no need to perform drooping deformation compensation, then the control support position adjustment component 2 will not move, and the lifting compensation component 6 will not perform compensation lifting operation.

[0102] II. Treatment Scenarios for Pelvic Tumors

[0103] When a patient requires radiotherapy for a pelvic tumor, the control component acquires information about the treatment site (pelvis) and the patient's vital signs. The control component determines that this site requires drooping deformation compensation, necessitating the movement of the support position adjustment component 2 to the outer edge of the irradiation zone 12. Then, based on data from three detection elements and weights corresponding to the treatment site, deformation compensation is calculated; for example, weight A is 0.1, weight B is 0.6, and weight C is 0.3. Finally, the lifting compensation component 6 performs support compensation based on the aforementioned deformation compensation.

[0104] III. Equipment Switching Scenarios

[0105] When the control component detects that the radiotherapy device 1 has been transferred from the radiotherapy positioning device to the radiotherapy device and that the aperture length has changed, the control component will drive the support position adjustment component 2 to move, so that the position of the support frame 21 can meet the compensation support requirements after the change in the axial length of the housing aperture, thus solving the impact of the different degree of sagging of the bed board 31 caused by the change in the aperture of the radiotherapy device 1 on the consistency of radiotherapy planning and radiotherapy execution.

[0106] IV. Beam Center 11 Changing Scenarios

[0107] When the control component detects a change in the beam center 11 of the radiotherapy equipment (such as a movement of the spherical accelerator head), and the original extension length of the support position adjustment component 2 is no longer suitable for the current application scenario, the control component will drive the support position adjustment component 2 to adjust the horizontal position of the corresponding support point.

[0108] The bed board auxiliary device and its control method of this application, for compensating for the sagging deformation of the bed board 31 of the perforated radiotherapy device 1, can perform dynamic support compensation within the casing hole of the radiotherapy device 1. The compensation value not only focuses on the height difference between the compensation support position and the patient's fixed support position of the bed board 31, but also considers and reduces the influence of U-shaped deformation (large sagging deformation of the bed board in the middle region) based on prior simulated load test and weighted value based on multi-point detection. Furthermore, by dynamically adjusting the support point position and the length of the support area 22, the influence of the axial length change of the casing hole between radiotherapy devices 1 on the consistency of radiotherapy planning and treatment execution can be solved. Compared with commercial products, based on the setting of the support position adjustment component 2, the support area 22 is adjustable, the length of the bed board 31 between the two support areas at the head and tail ends of the bed board 31 can be shorter, the influence of U-shaped deformation is smaller, and the length of the bed board 31 between the two support points is adjustable, which can effectively ensure the consistency of the degree of U-shaped deformation.

[0109] It should be noted that when an element is referred to as "fixing" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as "connecting" another element, it can be directly connected to the other element or there may be an intervening element. Furthermore, in the description of this invention, unless otherwise stated, "multiple," "multiple roots," and "multiple groups" mean two or more.

[0110] 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. They are used only for the convenience of describing the invention and for 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 limiting the invention. Furthermore, the terms "first," "second," and "third" 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.

[0111] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0113] The bed board auxiliary device and its control method provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A bed board auxiliary device, characterized in that, include: The deformation detection assembly (5) includes multiple detection elements, each of which is used to detect deformation data at different selected locations on the bed board (31); Support assembly (7) for supporting the bed board (31); The control component is used to collect the deformation data of the deformation detection component (5), obtain the body association information of the target object, dynamically adjust the weight value of each deformation data based on the body association information and calculate the deformation compensation amount of the bed board (31) drooping, and control the movement of the support component (7) according to the deformation compensation amount to adjust the height of the support component (7) supporting the bed board (31).

2. The bed board auxiliary device according to claim 1, characterized in that, The body-related information includes information about the treatment site and the vital signs of the target subject.

3. The bed board auxiliary device according to claim 1, characterized in that, The support component (7) includes: The support position adjustment component (2) is used to contact and support the bed board (31), and the support area (22) on the support position adjustment component (2) that contacts the bed board (31) can be adjusted along the length direction of the bed board (31). The lifting compensation component (6) is connected to the support position adjustment component (2) and is used to adjust the height of the support position adjustment component (2).

4. The bed board auxiliary device according to any one of claims 1 to 3, characterized in that, The support position adjustment component (2) and the lifting compensation component (6) are respectively equipped with displacement sensors, which are used to feed back the displacement changes detected by each component to the control component in real time, so as to form a closed-loop control loop with the deformation detection component (5).

5. The bed board auxiliary device according to any one of claims 1 to 3, characterized in that, Also includes: The detection component (4) is used to obtain the height relationship between the bed board (31) and the support component (7); The control component is also used to control the support component (7) to move to a position with a preset initial height relationship with the bed board (31) before controlling the movement of the support component (7) according to the height relationship obtained by the detection component (4) before controlling the movement of the support component (7) according to the deformation compensation amount.

6. The bed board auxiliary device according to any one of claims 1 to 3, characterized in that, The deformation detection component (5) includes: The first detection element (51) is used to be installed at the head end of the bed board (31) in the length direction; The second detection element (52) is used to be installed in the housing hole of the radiotherapy device (1); The third detection element (53) is installed at the tail end of the bed board (31) in the length direction, and the support assembly (7) is used to support the tail end of the bed board (31) in the length direction.

7. A control method for a bed board auxiliary device, characterized in that, Applied to the bed board auxiliary device according to any one of claims 1 to 6; The control method includes: Collect deformation data from the deformation detection component (5) to obtain body-related information of the target object; Based on the body-related information, the weight values ​​of each deformation data are dynamically adjusted and the deformation compensation amount of the sagging of the bed board (31) is calculated. The movement of the support assembly (7) is controlled according to the deformation compensation amount to adjust the height of the support assembly (7) supporting the bed board (31).

8. The control method according to claim 7, characterized in that, Also includes: When the bed board (31) is empty, the bed board (31) is driven to move along the axis of the radiotherapy device (1) to complete the full path movement, and the height data of the bed board (31) at each position of the deformation detection component (5) in the full path is collected as empty load data; When the bed board (31) is under load, the weight values ​​of each deformation data are dynamically adjusted based on the body association information and the deformation compensation amount of the bed board (31) is calculated, including: obtaining the corresponding unloaded data to participate in the calculation of the deformation compensation amount.

9. The control method according to claim 7, characterized in that, Before controlling the movement of the support assembly (7) based on the deformation compensation amount to adjust the height of the support assembly (7) supporting the bed board (31), the method further includes: The support assembly (7) and the bed board (31) are controlled to be in a preset initial height relationship.

10. The control method according to any one of claims 7 to 9, characterized in that, Also includes: According to the position of the irradiation area (12) of the radiotherapy device (1), adjust the position of the support component (7) in contact with and support the support area (22) of the bed board (31); The support area (22) avoids the irradiation area (12) of the radiotherapy device (1).

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