Method of controlling a multi-dimensional motion bed

Abstract

The application discloses a control method of a multi-dimensional motion bed, which is used for large medical equipment, and comprises a treatment bed base, a vertical lifting mechanism, a horizontal position adjusting mechanism and a medical bed main body. The medical bed main body is installed on the treatment bed base through the vertical lifting mechanism and the horizontal position adjusting mechanism. The control method comprises the following steps: acquiring the position of a treatment target on the medical bed main body by using the large medical equipment; acquiring a control amount for moving the position to a treatment point position of the large medical equipment, wherein the control amount comprises a vertical control amount and a horizontal control amount; and controlling the vertical lifting mechanism and the horizontal position adjusting mechanism to move the treatment target to the treatment point position by using the control amount. The application significantly reduces the height of the bed, improves the safety and convenience of patients, has high positioning accuracy of the multi-dimensional motion bed, consumes less computing resources, and makes the movement control more efficient.

Description

Technical Field

[0001] This invention relates to a control method for a multidimensional motion bed. Background Technology

[0002] Radiotherapy devices (such as Gamma Knife, medical linear accelerator, and TomoTherapy) are the core equipment for tumor radiotherapy. They use high-energy rays to focus and irradiate the lesion, killing tumor cells. These devices usually have a fixed treatment isocenter, and due to the physical limitations of the radiation source and shielding structure, the treatment position is relatively high, requiring a special positioning bed to precisely move the patient to the treatment position.

[0003] See Figure 1 , Figure 2 Large medical equipment (such as CT, MRI, and Gamma Knife radiotherapy devices) are typically positioned at a high altitude due to their physical structure, requiring a positioning bed to move the patient to the center of the treatment area. Currently, commonly used three-dimensional positioning beds employ a lead screw and slide structure for positioning movements along the X-axis (left and right), Y-axis (in and out), and Z-axis (up and down).

[0004] Existing positioning beds have the following problems: The Z-axis lead screw and slide drive mechanism is located below the bed board, occupying a large vertical space and causing the initial position of the bed board to be too high. Patients need to use steps or raised objects to get onto the bed, which not only poses a safety hazard but also makes it more difficult to operate for patients with mobility impairments. The X-axis lead screw and slide drive structure makes the positioning bed too large in the lateral direction, occupying limited medical space and affecting the doctor's operation, resulting in low control efficiency and poor precision of the treatment bed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology, such as the initial position of the positioning bed being too high, making it difficult for patients to get on the bed, occupying too much space in the width direction and affecting the doctor's operation, and making it difficult to balance the low bed position and the height required for treatment. The invention provides a control method for a multi-dimensional motion bed that significantly reduces the bed height, improves the safety and convenience for patients, has high positioning accuracy, occupies less computing resources, and makes the movement control more efficient.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] A control method for a multidimensional motion bed, the multidimensional motion bed being used in large medical equipment, characterized in that the multidimensional motion bed includes a treatment bed base, a vertical lifting mechanism, a horizontal position adjustment mechanism, and a medical bed body, the medical bed body being mounted on the treatment bed base via the vertical lifting mechanism and the horizontal position adjustment mechanism, and the control method comprising:

[0008] Using large medical equipment to determine the location of the treatment target on the main body of the medical bed;

[0009] Acquire a control quantity to move the position to the treatment point position of the large medical device, the control quantity including a vertical control quantity and a horizontal control quantity;

[0010] The control quantity is used to control the vertical lifting mechanism and the horizontal position adjustment mechanism to move the treatment target to the treatment point position.

[0011] Preferably, the control method includes:

[0012] Large medical equipment is used to obtain the position of the treatment target on the main body of the medical bed, and at the same time, the initial posture information of the multi-dimensional motion bed is obtained.

[0013] The large medical equipment acquires location difference data between the location of the treatment target and the location of the treatment point;

[0014] The control quantity is obtained based on the position difference data and the initial attitude information;

[0015] The vertical control quantity is used to control the vertical lifting mechanism to move the treatment target to the plane where the treatment point is located;

[0016] The treatment target is moved to the axis where the treatment point is located by using the X-axis component of the horizontal control quantity;

[0017] The treatment target is moved to the treatment point using the Y-axis component of the horizontal control quantity.

[0018] Preferably, the control method includes:

[0019] Large-scale medical equipment is used to acquire spatial point cloud of the treatment target on the main body of the medical bed, and at the same time, the initial attitude information of the multi-dimensional motion bed is acquired.

[0020] Based on the initial posture information and positional relationship, the spatial point cloud is transformed into a three-dimensional model in the coordinate system of the multi-dimensional motion bed, wherein the positional relationship is the positional relationship between the multi-dimensional motion bed and the large medical equipment.

[0021] Obtain the control quantity that moves the coordinates of a target position on the 3D model to the treatment point position of the large medical device.

[0022] Preferably, the large medical device is equipped with a 3D camera, and the control method includes:

[0023] Control the main body of the medical bed to move to the treatment area of ​​the large medical equipment and obtain the initial posture information of the multi-dimensional motion bed;

[0024] A 3D camera was used to obtain a model of the main body of the medical bed;

[0025] A transformation matrix between the large medical equipment and the multidimensional motion bed coordinate system is established using the bed model and initial posture information as the positional relationship.

[0026] Preferably, the step of obtaining the control quantity for moving the coordinates of a target position on the 3D model to the treatment point position of the large medical device includes:

[0027] Using the above positional relationships and the shell parameters of large medical equipment, an overall model of the multidimensional motion bed and the large medical equipment is established.

[0028] Using the above-mentioned overall model and artificial intelligence technology, the path for moving the target location coordinates to the treatment point position of the large medical equipment is obtained. The path must satisfy that the minimum distance between the spatial point cloud of the large medical equipment and the spatial point cloud of the multidimensional motion bed is greater than a preset value. The path must also satisfy that the sum of the number of moves in the three coordinate axis directions is the minimum.

[0029] The control quantity is obtained using the above path.

[0030] Preferably, the multidimensional motion bed includes a swing mechanism for swinging about the Y-axis, and the control method includes:

[0031] Using large medical equipment, spatial point clouds of the treatment target and adjacent organs on the main body of the medical bed are obtained;

[0032] The 3D model converted from spatial point cloud is input into the artificial intelligence model to obtain the optimal treatment angle on the XZ plane;

[0033] The rotation angle of the swing mechanism is adjusted using the treatment angle.

[0034] Preferably, the multidimensional motion bed includes an X-axis base, a Y-axis base, a Z-axis base, and a medical bed body.

[0035] The X-axis base is located at the mounting position, the Z-axis base is located on the X-axis base, and the drive structure of the X-axis base drives the Z-axis base to move on the X-axis.

[0036] The Y-axis base is mounted on one side of the Z-axis base via a support seat, and the drive structure of the Z-axis base drives the Y-axis base to move on the Z-axis.

[0037] The main body of the medical bed is fixed to the top of the Y-axis base by a support block, and the driving structure of the Y-axis base drives the main body of the medical bed to move on the Y-axis.

[0038] Preferably, the X-axis base includes a bottom base plate and a side base plate for fixing, and the driving structure of the X-axis base includes an X-axis lead screw, a drive motor and a reducer. The bottom and side of the Z-axis base are respectively mounted on the guide rails of the bottom base plate and the side base plate by sliders. The movement direction of the X-axis lead screw is parallel to the intersection line of the bottom base plate and the side base plate.

[0039] The bottom substrate and the side substrate are perpendicular to each other. The X-axis base includes a reinforcing plate. The two sides of the reinforcing plate are fixed to the bottom substrate and the side substrate respectively. The X-axis lead screw is mounted on the reinforcing plate.

[0040] The Z-axis base includes a support column, and the driving structure of the Z-axis base includes a Z-axis lead screw, a drive motor, and a reducer. The support seat of the Y-axis base is mounted on two vertical guide rails of the support column by two sliders, and the Z-axis lead screw is located between the two vertical guide rails.

[0041] The base plate of the Y-axis base is equipped with a Y-axis lead screw, a drive motor, a reducer, and a guide rail. The main body of the medical bed is mounted on the Y-axis lead screw and guide rail of the base plate through a support block.

[0042] The support block includes a swing mechanism, which includes a bottom support block and a top support block. The top support block is fixed to the main body of the medical bed. The bottom support block has arc-shaped guide rails on both sides in the Y-axis direction. The top support block is mounted on the arc-shaped guide rails by two sliders. The bottom support block has a swing drive structure inside, which drives the top support block to move on the arc-shaped guide rails.

[0043] Preferably, the multidimensional motion bed is a robotic arm-type treatment bed, which includes a treatment bed base, a first drive arm, a second drive arm, a support plate, and a medical bed body.

[0044] The treatment bed base is connected to one end of the first drive arm via a first drive mechanism, and the first drive mechanism drives the first drive arm to swing in the horizontal plane.

[0045] The other end of the first drive arm is connected to one end of the second drive arm via a second drive mechanism, and the second drive mechanism drives the second drive arm to swing in the horizontal plane.

[0046] The other end of the second drive arm is connected to the rear side of the support plate via a third drive mechanism. The front side of the support plate is connected to the rear end of the medical bed body via a lifting mechanism. The lifting mechanism drives the medical bed body to move in the vertical direction.

[0047] Preferably, the first drive mechanism includes a first turntable bearing and a first drive motor. The inner ring of the first turntable bearing is fixed to the treatment bed base, and the outer ring of the first turntable bearing is fixed to the bottom of the first drive arm. The first drive motor meshes with the outer ring of the first turntable bearing through a reducer and a gear assembly.

[0048] The second drive mechanism includes a second turntable bearing and a second drive motor. The inner ring of the second turntable bearing is fixed to the top of the first drive arm, and the outer ring of the second turntable bearing is fixed to the bottom of the second drive arm. The second drive motor meshes with the outer ring of the second turntable bearing through a reducer and a gear assembly.

[0049] The third drive mechanism includes a third turntable bearing and a third drive motor. The inner ring of the third turntable bearing is fixed to the top of the second drive arm, and the outer ring of the third turntable bearing is fixed to the bottom of the mounting protrusion on the rear side of the support plate. The third drive motor meshes with the outer ring of the third turntable bearing through a reducer and a gear assembly.

[0050] The front side of the support plate is provided with a fourth driving mechanism, which is a swing mechanism. The fourth driving mechanism drives the main body of the medical bed to swing around the vertical axis of the support plate.

[0051] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0052] The positive and progressive effects of this invention are as follows:

[0053] This application significantly reduces the height of the bed, improving patient safety and convenience. The multi-dimensional motion bed has high positioning accuracy and requires less computing resources, making motion control more efficient. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the structure of the multidimensional motion bed in Embodiment 1 of the present invention.

[0055] Figure 2 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 1 of the present invention.

[0056] Figure 3 This is another structural schematic diagram of the multidimensional motion bed of Embodiment 1 of the present invention.

[0057] Figure 4 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 1 of the present invention.

[0058] Figure 5 This is another structural schematic diagram of the multidimensional motion bed of Embodiment 1 of the present invention.

[0059] Figure 6 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 1 of the present invention.

[0060] Figure 7 This is a schematic diagram of the structure of the multidimensional motion bed in Embodiment 2 of the present invention.

[0061] Figure 8 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 2 of the present invention.

[0062] Figure 9 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 2 of the present invention.

[0063] Figure 10 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 2 of the present invention.

[0064] Figure 11 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 2 of the present invention.

[0065] Figure 12 This is another structural schematic diagram of the multidimensional motion bed in Embodiment 2 of the present invention. Detailed Implementation

[0066] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0067] Example 1

[0068] In this embodiment, 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 present 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 limitations on the present 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.

[0069] See Figures 1 to 6 This embodiment provides a radiotherapy device and a multidimensional motion bed used in conjunction with the radiotherapy device.

[0070] The multidimensional motion bed includes an X-axis base 11, a Y-axis base 21, a Z-axis base 31, and a medical bed body 41.

[0071] The X-axis base 11 is located at the mounting position, which in this embodiment is the front side of the large medical device. The X-axis base is fixed to the ground. The Z-axis base 31 is located on the X-axis base. The drive structure of the X-axis base 11 drives the Z-axis base 31 to move on the X-axis.

[0072] The Y-axis base 21 is mounted on one side of the Z-axis base 31 via a support 311, and the drive structure of the Z-axis base 31 drives the Y-axis base 21 to move on the Z-axis.

[0073] The main body of the medical bed is fixed to the top of the Y-axis base by a support block 211, and the driving structure of the Y-axis base drives the main body of the medical bed to move on the Y-axis.

[0074] The isocenter axis of the radiotherapy device is parallel to the Y-axis.

[0075] The X-axis base 11 includes a bottom base plate 111 and a side base plate 112 for fixing. The drive structure of the X-axis base includes an X-axis lead screw 113, a drive motor, and a reducer.

[0076] The bottom and side of the Z-axis base are respectively mounted on the guide rails (X-axis guide rails 115) of the bottom substrate and the side substrate via sliders (X-axis sliders 114), and the movement direction of the X-axis lead screw is parallel to the intersection line of the bottom substrate and the side substrate.

[0077] The bottom substrate and the side substrate are perpendicular to each other. The X-axis base includes a reinforcing plate 116. The two sides of the reinforcing plate are fixed to the bottom substrate and the side substrate, respectively. The X-axis lead screw is mounted on the reinforcing plate.

[0078] The reinforcing plate, along with the bottom substrate and side substrates, forms a triangular prism structure, which increases the overall structural strength of the equipment.

[0079] The Z-axis base 31 includes a support column 311. The driving structure of the Z-axis base includes a Z-axis lead screw 312, a drive motor, and a reducer. The support seat of the Y-axis base is installed on two vertical guide rails (Z-axis guide rails 314) of the support column by two sliders (Z-axis sliders 313). The Z-axis lead screw is located between the two vertical guide rails.

[0080] The support column is in the shape of a right pentagonal prism. The interior of the support column is divided into three cuboids and a right triangular prism with an isosceles right triangle base by cross reinforcing ribs 315. Two vertical guide rails and a Z-axis lead screw are all located on the outer side of the right triangular prism.

[0081] The two vertical guide rails and the Z-axis lead screw are all located on the outer side of the straight triangular prism, which not only provides space for guide rail installation, but also increases the overall structural strength of the equipment by utilizing the straight triangular prism.

[0082] The support base 311 includes a support platform 3111 and an L-shaped support member 3112. The bottom plate of the Y-axis base is fixed to the support platform 3111, and the support platform is installed with two vertical guide rails through the L-shaped support member.

[0083] The Y-axis base plate 212 is equipped with a Y-axis lead screw, a drive motor, a reducer, and a guide rail. The main body of the medical bed is mounted on the Y-axis lead screw and guide rail of the base plate through a support block.

[0084] The support block includes a swing mechanism, which includes a bottom support block 2111 and a top support block 2112. The top support block is fixed to the main body of the medical bed.

[0085] The bottom support block has arc-shaped guide rails 2113 on both the front and rear sides in the Y-axis direction, and the top support block is mounted on the arc-shaped guide rails by two sliders (outer sliders 2114).

[0086] The bottom support block is equipped with a swing drive structure, which drives the top support block to move on the arc-shaped guide rail.

[0087] The swing drive structure includes a swing drive motor 2117, a reducer, a timing belt, and a lead screw, all located in the mounting slot of the bottom support block.

[0088] The swing drive motor drives the lead screw to rotate through the reducer synchronous belt. The lead screw is equipped with a swing slider, and the swing slider is equipped with a lead screw nut. The top of the swing slider is equipped with a lever 2115. The top support block is equipped with a mounting hole 2116 that matches the lever. The swing slider drives the top support block to move on the arc track through the lever.

[0089] Using the aforementioned multidimensional motion bed, this embodiment provides a control method for the multidimensional motion bed, including:

[0090] Using large medical equipment to determine the location of the treatment target on the main body of the medical bed;

[0091] Acquire a control quantity to move the position to the treatment point position of the large medical device, the control quantity including a vertical control quantity and a horizontal control quantity;

[0092] The control quantity is used to control the vertical lifting mechanism and the horizontal position adjustment mechanism to move the treatment target to the treatment point position.

[0093] Specifically, the control method includes:

[0094] Large medical equipment is used to obtain the position of the treatment target on the main body of the medical bed, and at the same time, the initial posture information of the multi-dimensional motion bed is obtained.

[0095] The large medical equipment acquires location difference data between the location of the treatment target and the location of the treatment point;

[0096] The control quantity is obtained based on the position difference data and the initial attitude information;

[0097] The vertical control quantity is used to control the vertical lifting mechanism to move the treatment target to the plane where the treatment point is located;

[0098] The treatment target is moved to the axis where the treatment point is located by using the X-axis component of the horizontal control quantity;

[0099] The treatment target is moved to the treatment point using the Y-axis component of the horizontal control quantity.

[0100] Furthermore, the control method includes:

[0101] Large-scale medical equipment is used to acquire spatial point cloud of the treatment target on the main body of the medical bed, and at the same time, the initial attitude information of the multi-dimensional motion bed is acquired.

[0102] Based on the initial posture information and positional relationship, the spatial point cloud is transformed into a three-dimensional model in the coordinate system of the multi-dimensional motion bed, wherein the positional relationship is the positional relationship between the multi-dimensional motion bed and the large medical equipment.

[0103] Obtain the control quantity that moves the coordinates of a target position on the 3D model to the treatment point position of the large medical device.

[0104] The large medical device is equipped with a 3D camera, and the control method includes:

[0105] Control the main body of the medical bed to move to the treatment area of ​​the large medical equipment and obtain the initial posture information of the multi-dimensional motion bed;

[0106] A 3D camera was used to obtain a model of the main body of the medical bed;

[0107] A transformation matrix between the large medical equipment and the multidimensional motion bed coordinate system is established using the bed model and initial posture information as the positional relationship.

[0108] The step of obtaining the control quantity for moving the coordinates of a target position on the 3D model to the treatment point position of the large medical device includes:

[0109] Using the above positional relationships and the shell parameters of large medical equipment, an overall model of the multidimensional motion bed and the large medical equipment is established.

[0110] Using the above-mentioned overall model and artificial intelligence technology, the path for moving the target location coordinates to the treatment point position of the large medical equipment is obtained. The path must satisfy that the minimum distance between the spatial point cloud of the large medical equipment and the spatial point cloud of the multidimensional motion bed is greater than a preset value. The path must also satisfy that the sum of the number of moves in the three coordinate axis directions is the minimum.

[0111] The control quantity is obtained using the above path.

[0112] The swing mechanism is used to swing around the Y-axis, and the control method includes:

[0113] Using large medical equipment, spatial point clouds of the treatment target and adjacent organs on the main body of the medical bed are obtained;

[0114] The 3D model converted from spatial point cloud is input into the artificial intelligence model to obtain the optimal treatment angle on the XZ plane;

[0115] The rotation angle of the swing mechanism is adjusted using the treatment angle.

[0116] Example 2

[0117] See Figures 7 to 12 This embodiment is basically the same as Embodiment 1, except that:

[0118] The multidimensional motion bed is a robotic arm-type treatment bed, which includes a treatment bed base 510, a first drive arm 511, a second drive arm 512, a support plate 513, and a medical bed body 514.

[0119] The treatment bed base is connected to one end of the first drive arm 511 via a first drive mechanism, and the first drive mechanism drives the first drive arm to swing in the horizontal plane.

[0120] The other end of the first drive arm is connected to one end of the second drive arm via a second drive mechanism, and the second drive mechanism drives the second drive arm to swing in the horizontal plane.

[0121] The other end of the second drive arm is connected to the rear side of the support plate via a third drive mechanism. The front side of the support plate is connected to the rear end of the medical bed body via a lifting mechanism. The lifting mechanism drives the medical bed body to move in the vertical direction.

[0122] The first drive mechanism 515 includes a first turntable bearing 5151 and a first drive motor 5152, with the inner ring of the first turntable bearing fixed to the treatment bed base.

[0123] The outer ring of the first turntable bearing is fixed to the bottom of the first drive arm 511, and the first drive motor meshes with the outer ring of the first turntable bearing through a reducer and gear assembly.

[0124] It oscillates in the horizontal plane, that is, it oscillates around the axis of the first turntable bearing.

[0125] The second drive mechanism 516 includes a second turntable bearing 5161 and a second drive motor 5162, with the inner ring of the second turntable bearing fixed to the top of the first drive arm 511.

[0126] The outer ring of the second turntable bearing is fixed to the bottom of the second drive arm, and the second drive motor meshes with the outer ring of the second turntable bearing through a reducer and gear assembly.

[0127] The third drive mechanism 517 includes a third turntable bearing 5171 and a third drive motor 5172, with the inner ring of the third turntable bearing fixed to the top of the second drive arm.

[0128] The outer ring of the third turntable bearing is fixed to the bottom of the mounting protrusion on the rear side of the support plate, and the third drive motor meshes with the outer ring of the third turntable bearing through a reducer and gear assembly.

[0129] The lifting mechanism includes two guide rails 5181, a lead screw 51812, a lifting drive motor 5183, and a sliding plate 5184. The two guide rails are vertically arranged on the front side of the support plate.

[0130] The lead screw and lifting drive motor are located between the two guide rails. The rear side of the sliding plate is provided with a slider that matches the two guide rails and a lead screw nut that matches the lead screw. The front side of the sliding plate is connected to the main body of the medical bed.

[0131] The front side of the support plate is provided with a fourth drive mechanism 519, which is a swing mechanism. The fourth drive mechanism drives the main body of the medical bed to swing around the vertical axis of the support plate.

[0132] The main body 514 of the medical bed includes an L-shaped fixing member 5141, which includes a horizontal plate and a vertical plate. The fourth drive mechanism includes a fourth turntable bearing 5191 and a fourth drive motor 5192. The inner ring of the fourth turntable bearing is fixed to the front side of the sliding plate.

[0133] The outer ring of the fourth turntable bearing is fixed to the rear side of the horizontal plate, and the bed board of the main body of the medical bed is fixed to the longitudinal plate.

[0134] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A control method for a multidimensional motion bed, wherein the multidimensional motion bed is used in large medical equipment, characterized in that, The multidimensional motion bed includes a treatment bed base, a vertical lifting mechanism, a horizontal position adjustment mechanism, and a medical bed body. The medical bed body is mounted on the treatment bed base via the vertical lifting mechanism and the horizontal position adjustment mechanism. The control method includes: Using large medical equipment to determine the location of the treatment target on the main body of the medical bed; Acquire a control quantity to move the position to the treatment point position of the large medical device, the control quantity including a vertical control quantity and a horizontal control quantity; The control quantity is used to control the vertical lifting mechanism and the horizontal position adjustment mechanism to move the treatment target to the treatment point position.

2. The control method for the multidimensional motion bed as described in claim 1, characterized in that, The control method includes: Large medical equipment is used to obtain the position of the treatment target on the main body of the medical bed, and at the same time, the initial posture information of the multi-dimensional motion bed is obtained. The large medical equipment acquires location difference data between the location of the treatment target and the location of the treatment point; The control quantity is obtained based on the position difference data and the initial attitude information; The vertical control quantity is used to control the vertical lifting mechanism to move the treatment target to the plane where the treatment point is located; The treatment target is moved to the axis where the treatment point is located by using the X-axis component of the horizontal control quantity; The treatment target is moved to the treatment point using the Y-axis component of the horizontal control quantity.

3. The control method for the multidimensional motion bed as described in claim 1, characterized in that, The control method includes: Large-scale medical equipment is used to acquire spatial point cloud of the treatment target on the main body of the medical bed, and at the same time, the initial attitude information of the multi-dimensional motion bed is acquired. Based on the initial posture information and positional relationship, the spatial point cloud is transformed into a three-dimensional model in the coordinate system of the multi-dimensional motion bed, wherein the positional relationship is the positional relationship between the multi-dimensional motion bed and the large medical equipment. Obtain the control quantity that moves the coordinates of a target position on the 3D model to the treatment point position of the large medical device.

4. The control method for the multidimensional motion bed as described in claim 3, characterized in that, The large medical device is equipped with a 3D camera, and the control method includes: Control the main body of the medical bed to move to the treatment area of ​​the large medical equipment and obtain the initial posture information of the multi-dimensional motion bed; A 3D camera was used to obtain a model of the main body of the medical bed; A transformation matrix between the large medical equipment and the multidimensional motion bed coordinate system is established using the bed model and initial posture information as the positional relationship.

5. The control method for the multidimensional motion bed as described in claim 4, characterized in that, The acquisition of the control quantity for moving the coordinates of a target position on the 3D model to the treatment point position of the large medical device includes: Using the above positional relationships and the shell parameters of large medical equipment, an overall model of the multidimensional motion bed and the large medical equipment is established. Using the above-mentioned overall model and artificial intelligence technology, the path for moving the target location coordinates to the treatment point position of the large medical equipment is obtained. The path must satisfy that the minimum distance between the spatial point cloud of the large medical equipment and the spatial point cloud of the multidimensional motion bed is greater than a preset value. The path must also satisfy that the sum of the number of moves in the three coordinate axis directions is the minimum. The control quantity is obtained using the above path.

6. The control method for the multidimensional motion bed as described in claim 5, characterized in that, The multidimensional motion bed includes a swing mechanism for swinging around the Y-axis, and the control method includes: Using large medical equipment, spatial point clouds of the treatment target and adjacent organs on the main body of the medical bed are obtained; The 3D model converted from spatial point cloud is input into the artificial intelligence model to obtain the optimal treatment angle on the XZ plane; The rotation angle of the swing mechanism is adjusted using the treatment angle.

7. The control method for the multidimensional motion bed as described in any one of claims 1 to 6, characterized in that, The multidimensional motion bed includes an X-axis base, a Y-axis base, a Z-axis base, and a medical bed body. The X-axis base is located at the mounting position, the Z-axis base is located on the X-axis base, and the drive structure of the X-axis base drives the Z-axis base to move on the X-axis. The Y-axis base is mounted on one side of the Z-axis base via a support seat, and the drive structure of the Z-axis base drives the Y-axis base to move on the Z-axis. The main body of the medical bed is fixed to the top of the Y-axis base by a support block, and the driving structure of the Y-axis base drives the main body of the medical bed to move on the Y-axis.

8. The control method for the multidimensional motion bed as described in claim 7, characterized in that, The X-axis base includes a bottom base plate and a side base plate for fixing. The driving structure of the X-axis base includes an X-axis lead screw, a drive motor and a reducer. The bottom and side of the Z-axis base are respectively mounted on the guide rails of the bottom base plate and the side base plate by sliders. The movement direction of the X-axis lead screw is parallel to the intersection line of the bottom base plate and the side base plate. The bottom substrate and the side substrate are perpendicular to each other. The X-axis base includes a reinforcing plate. The two sides of the reinforcing plate are fixed to the bottom substrate and the side substrate respectively. The X-axis lead screw is mounted on the reinforcing plate. The Z-axis base includes a support column, and the driving structure of the Z-axis base includes a Z-axis lead screw, a drive motor, and a reducer. The support seat of the Y-axis base is mounted on two vertical guide rails of the support column by two sliders, and the Z-axis lead screw is located between the two vertical guide rails. The base plate of the Y-axis base is equipped with a Y-axis lead screw, a drive motor, a reducer, and a guide rail. The main body of the medical bed is mounted on the Y-axis lead screw and guide rail of the base plate through a support block. The support block includes a swing mechanism, which includes a bottom support block and a top support block. The top support block is fixed to the main body of the medical bed. The bottom support block has arc-shaped guide rails on both sides in the Y-axis direction. The top support block is mounted on the arc-shaped guide rails by two sliders. The bottom support block has a swing drive structure inside, which drives the top support block to move on the arc-shaped guide rails.

9. The control method for a multidimensional motion bed as described in any one of claims 1 to 6, characterized in that, The multidimensional motion bed is a robotic arm-type treatment bed, which includes a treatment bed base, a first drive arm, a second drive arm, a support plate, and a medical bed body. The treatment bed base is connected to one end of the first drive arm via a first drive mechanism, and the first drive mechanism drives the first drive arm to swing in the horizontal plane. The other end of the first drive arm is connected to one end of the second drive arm via a second drive mechanism, and the second drive mechanism drives the second drive arm to swing in the horizontal plane. The other end of the second drive arm is connected to the rear side of the support plate via a third drive mechanism. The front side of the support plate is connected to the rear end of the medical bed body via a lifting mechanism. The lifting mechanism drives the medical bed body to move in the vertical direction.

10. The control method for the multidimensional motion bed as described in claim 9, characterized in that, The first drive mechanism includes a first turntable bearing and a first drive motor. The inner ring of the first turntable bearing is fixed to the treatment bed base, and the outer ring of the first turntable bearing is fixed to the bottom of the first drive arm. The first drive motor meshes with the outer ring of the first turntable bearing through a reducer and a gear assembly. The second drive mechanism includes a second turntable bearing and a second drive motor. The inner ring of the second turntable bearing is fixed to the top of the first drive arm, and the outer ring of the second turntable bearing is fixed to the bottom of the second drive arm. The second drive motor meshes with the outer ring of the second turntable bearing through a reducer and a gear assembly. The third drive mechanism includes a third turntable bearing and a third drive motor. The inner ring of the third turntable bearing is fixed to the top of the second drive arm, and the outer ring of the third turntable bearing is fixed to the bottom of the mounting protrusion on the rear side of the support plate. The third drive motor meshes with the outer ring of the third turntable bearing through a reducer and a gear assembly. The front side of the support plate is provided with a fourth driving mechanism, which is a swing mechanism. The fourth driving mechanism drives the main body of the medical bed to swing around the vertical axis of the support plate.

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