A body surface marking and body position fixing integrated device for tumor radiotherapy

Abstract

The application provides a tumor radiotherapy body surface marking and body position fixing integrated device, and belongs to the technical field of radiotherapy appliances. The device comprises a radiotherapy machine, the outer side of the radiotherapy machine is provided with a radiotherapy bed, the end surface of the movable bed plate of the radiotherapy bed close to the radiotherapy machine is fixedly connected with a neck pillow, further comprising: a body position fixing assembly arranged on the movable bed plate of the radiotherapy bed and used for fixing the body position of a patient; and a body surface marking assembly arranged on the outer side of the radiotherapy bed and used for marking the body surface of the patient. In the application, the body surface marking assembly is arranged, a plurality of servo motors drive a rotating disc, a first mechanical arm and a second mechanical arm are linked, the position of a marking pen can be flexibly adjusted, the marking requirements of different parts and different body types of the patient can be adapted, the marking degree of freedom is higher, the continuous marking requirements can be considered at the same time, the marking pen does not need to be frequently dipped in marking liquid, the marking efficiency is improved, and the problems of low marking degree of freedom and low marking efficiency in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of radiotherapy equipment technology, and more specifically, to an integrated device for surface marking and body positioning for tumor radiotherapy. Background Technology

[0002] In the process of tumor radiotherapy, accurately locating the tumor target area and maintaining the patient's stable position are key prerequisites for improving treatment effectiveness and reducing damage to normal tissues. Radiotherapy uses ionizing radiation as a treatment method. Its principle is that the energy generated by a large amount of radiation can destroy the chromosomes of cells, causing cells to stop growing, thereby eliminating cancer cells that can divide and grow rapidly. Before the radiotherapy process, positioning marks need to be drawn on the patient's skin.

[0003] A search revealed a surface marking device and method for radiotherapy positioning proposed in Chinese Patent Application No. CN202411404522.8, which relates to the technical field of radiotherapy marking devices. The invention includes a radiotherapy machine, a treatment bed mounted on the machine, and a cross-shaped infrared laser emitter. Guide grooves are provided on both sides of the treatment bed, and sliding blocks are slidably installed within these grooves. Mounting frames are fixedly mounted on the sliding blocks, and a semi-circular arc-shaped plate is slidably mounted on one of the mounting frames. A connecting bridge is fixedly mounted on the arc-shaped plate, and a first electric push rod is fixedly mounted on the lower surface of the connecting bridge. A marking cylinder is fixedly mounted at the output end of the first electric push rod. An opening and closing assembly is provided on the marking cylinder, and four flexible plates are mounted through this assembly. This invention allows for continuous ink supply to the marking pen tip, facilitating continuous marking and line drawing operations without the need for replacing pen refills or repeatedly dipping the pen in marking liquid as in traditional methods. It is simple to operate and convenient to use.

[0004] However, the above-mentioned devices still have some shortcomings: 1. In the existing technology, a marker pen tip needs to be dipped in marking liquid to mark the patient's body surface. This method requires frequent dipping of the marking liquid, resulting in low marking efficiency. The marker pen tip in the existing technology uses a relatively complex linkage mechanism, which is complicated to operate and inconvenient to replace. In addition, the freedom of marking lines is poor. 2. The marker pen tip in the existing technology is directly exposed after use, making it inconvenient to store and protect it. 3. The existing technology makes it inconvenient to fix the patient's position, affecting the effect of subsequent body surface marking.

[0005] Therefore, we have made improvements to this by proposing an integrated device for surface marking and body positioning in tumor radiotherapy to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to address the problems in the existing technology of marking pen tips that are inconvenient to replace, require frequent dipping in marking liquid leading to low marking efficiency, are inconvenient to store and protect the marking pen tips, and are inconvenient to fix the patient's position.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solution: An integrated device for surface marking and positioning in tumor radiotherapy includes a radiotherapy machine, a radiotherapy bed located on the outside of the radiotherapy machine, and a neck pillow fixedly connected to the upper end of the movable bed plate near the radiotherapy machine. The device also includes: The patient positioning fixation component is installed on the movable bed board of the radiotherapy bed and is used to fix the patient's position. A body surface marking component, located on the outside of the radiotherapy bed, is used to mark the patient's body surface.

[0008] As a preferred technical solution of this application, the body positioning fixation assembly includes multiple slides slidably disposed on the moving bed plate of the radiotherapy bed. Each of the multiple slides has an installation hole in its outer end. A pressure column is slidably connected in the installation hole. The bottom end of the pressure column penetrates the bottom wall of the slide and extends downward. A circular plate is fixedly connected to the top end of the pressure column. A spring is sleeved on the pressure column. The two ends of the spring are fixedly connected to the inner bottom wall of the installation hole and the lower end face of the circular plate, respectively. Two mounting blocks are symmetrically and fixedly connected to the upper end face of the outer end of the slide. An eccentric handle that cooperates with the circular plate is rotatably connected between the two mounting blocks.

[0009] As a preferred technical solution of this application, a rod sleeve is fixedly connected to the upper inner end face of the slide block, a fixing plate is inserted into the rod sleeve, a locking bolt for locking the fixing plate is threadedly connected to the outer side wall of the top end of the rod sleeve, and a rubber pad is fixedly connected to the inner side wall of the top end of the fixing plate.

[0010] As a preferred technical solution of this application, the body surface marking component includes a mounting base disposed on one side of the radiotherapy bed. A turntable is provided at the center of the upper end face of the mounting base. A fixed base is fixedly connected to the upper end face of the turntable. A first connecting shaft is rotatably connected to the top end of the fixed base. A first robotic arm is fixedly connected to the first connecting shaft. A first servo motor is fixedly connected to one side wall of the fixed base. The drive end of the first servo motor is fixedly connected to the shaft end of the first connecting shaft. A second connecting shaft is rotatably connected to the top end of the first robotic arm. A second robotic arm is fixedly connected to the second connecting shaft. A second servo motor is fixedly connected to the top side wall of the first robotic arm. The drive end of the second servo motor is fixedly connected to the shaft end of the second connecting shaft. A rotating cylinder is rotatably connected to the outer end of the second robotic arm. A third servo motor is fixedly connected to the outer side wall of the outer end of the second robotic arm. The shaft end of the third servo motor is fixedly connected to the shaft end of the rotating cylinder.

[0011] As a preferred technical solution of this application, an installation tube is fixedly connected to the outer peripheral sidewall of the rotating drum. Two sleeves are symmetrically provided on the installation tube, and the two ends of the two sleeves are fixedly connected by a bolt assembly. A guide frame is fixedly connected to the outer sidewall of one of the sleeves. Two guide rods are symmetrically and fixedly connected inside the guide frame, and a slider is slidably connected between the two guide rods. Two straight openings are provided on the guide frame, and a notch communicating with the two straight openings is provided on the guide frame. A sliding column is slidably connected inside the lower straight opening, and a flip plate is fixedly connected to the outer end of the sliding column. The end of the flip plate away from the sliding column is rotatably connected to the slider. The rotating shaft has a pen holder fixedly connected to its inner end. A marker pen is inserted into the pen holder, and two fixing bolts that mate with the marker pen are threaded onto the pen holder. A rotating gear is fixedly connected to the outer end of the rotating shaft. A fixing block is fixedly connected to the outer wall of the guide frame, and a rack that mates with the rotating gear is fixedly connected to the fixing block. A connecting piece is fixedly connected to the lower end face of the slider, and a toothed column is fixedly connected to the connecting piece. A connecting block is fixedly connected to the guide frame, and a fourth servo motor is fixedly connected to the outer wall of the connecting block. The drive end of the fourth servo motor passes through the connecting block and is fixedly connected to a transmission gear that meshes with the toothed column.

[0012] As a preferred technical solution of this application, an assembly shaft is rotatably connected inside the mounting base. The top end of the assembly shaft passes through the top wall of the mounting base and is fixedly connected to the lower end face of the turntable. A worm gear is fixedly connected to the assembly shaft. A fifth servo motor is fixedly connected to the outer wall of the mounting base. The drive end of the fifth servo motor passes through the side wall of the mounting base and is fixedly connected to an extension shaft. The inner end of the extension shaft is fixedly connected to a worm gear that meshes with the worm gear.

[0013] As a preferred technical solution of this application, a support shaft is fixedly connected to the lower end face of the mounting base, a base plate is fixedly connected to the bottom end of the support shaft, and a caster wheel with a brake pad is installed on the lower end face of the base plate.

[0014] As a preferred technical solution of this application, a handrail is fixedly connected to one side wall of the mounting base, and an anti-slip sleeve is fitted on the handrail.

[0015] As a preferred technical solution of this application, the mounting tube has an internal hollow structure design, and the bottom end of the mounting tube has an insertion hole for cooperating with the marker pen.

[0016] As a preferred technical solution of this application, the moving bed plate of the radiotherapy bed is provided with multiple sliding openings that cooperate with the sliding seat.

[0017] In the scheme of this application: 1. By setting up a body surface marking component, multiple sets of servo motors drive the turntable, the first robotic arm, and the second robotic arm to work together. The position of the marking pen can be flexibly adjusted to adapt to the marking needs of patients in different parts of the body and different body types. The marking freedom is higher, while also taking into account the need for continuous marking. There is no need to frequently dip the marking liquid, which improves the marking efficiency and solves the problems of low marking freedom and low marking efficiency in the existing technology. 2. By setting up a marking component, the marking pen is leaked out during marking and can be recycled and protected after marking is finished. This can prevent the external environment from contaminating the marking pen and reduce the evaporation of the marking liquid in the marking pen, thus solving the problem of inconvenience in recycling and protecting the marking pen in the existing technology. 3. By setting up a body position fixation component, the position can be adjusted by sliding along the sliding opening via the slide block. In conjunction with the fixation plate 409, different positions of the patient are pressed to achieve fixation of the patient's body position. This can not only adapt to the fixation needs of patients with different body types, but also ensure the stability of the patient's body position during radiotherapy, effectively avoid the problem of inconvenience in fixing the patient's body position due to the patient's body position, and improve the accuracy of radiotherapy. This solves the problem of inconvenience in fixing the patient's body position in the existing technology. Attached Figure Description

[0018] Figure 1 This is one of the schematic diagrams of the overall structure of the present invention; Figure 2 This is the second schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the structure of the body surface marking component of the present invention; Figure 4 This is a schematic diagram of the internal structure of the mounting base of the present invention; Figure 5 This is a schematic diagram of the structure of the marker pen and its connecting components of the present invention; Figure 6 For the present invention Figure 5 A structural diagram from another perspective; Figure 7 This is a schematic diagram of the structure of the marking pen retraction mounting tube of the present invention; Figure 8 This is a front view structural diagram of the present invention; Figure 9 This is a schematic diagram of the body positioning fixation component of the present invention; Figure 10 This is a schematic diagram of the internal structure of the slide of the present invention.

[0019] In the diagram: 1. Radiotherapy machine; 2. Radiotherapy bed; 3. Neck pillow; 4. Body positioning fixation assembly; 401. Slide; 402. Mounting hole; 403. Pressure column; 404. Circular plate; 405. Spring; 406. Mounting block; 407. Eccentric handle; 408. Rod sleeve; 409. Fixing plate; 4010. Locking bolt; 4011. Rubber pad; 5. Body surface marking assembly; 501. Mounting base; 502. Turntable; 503. Fixing base; 504. First connecting shaft; 505. First robotic arm; 506. First servo motor; 507. Second connecting shaft; 508. Second robotic arm; 509. Second servo motor; 5010. Rotary drum; 5011. Third servo motor; 5012. Mounting tube; 5013. Sleeve; 501 4. Guide frame; 5015. Guide rod; 5016. Slider; 5017. Straight opening; 5018. Notch; 5019. Sliding column; 5020. Flip plate; 5021. Flip shaft; 5022. Pen holder; 5023. Marking pen; 5024. Fixing bolt; 5025. Flip gear; 5026. Fixing block; 5027. Rack; 5028. Connecting piece; 5029. Gear column; 5030. Connecting block; 5031. Fourth servo motor; 5032. Transmission gear; 5033. Assembly shaft; 5034. Worm gear; 5035. Fifth servo motor; 5036. Extension shaft; 5037. Worm; 5038. Support shaft; 5039. Base plate; 5040. Universal wheel; 5041. Handrail; 6. Sliding opening. Detailed Implementation

[0020] 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.

[0021] Example: Please see Figures 1-10 This embodiment proposes an integrated device for surface marking and positioning fixation in tumor radiotherapy, including a radiotherapy machine 1, a radiotherapy bed 2 provided on the outside of the radiotherapy machine 1, and a neck pillow 3 fixedly connected to the upper end face of the movable bed plate of the radiotherapy bed 2 near the radiotherapy machine 1, and further including: The body position fixation component 4 is installed on the movable bed board of the radiotherapy bed 2 and is used to fix the patient's body position; The body surface marking component 5 is located on the outside of the radiotherapy bed 2 and is used to mark the patient's body surface.

[0022] The radiotherapy machine 1 is used to perform radiotherapy on the patient's tumor site and is the core equipment for tumor radiotherapy. The radiotherapy bed 2 is used to carry the patient, and its movable bed board can move the patient and adjust the patient's position within the radiotherapy range of the radiotherapy machine 1, facilitating precise radiotherapy. The neck pillow 3 is used to support the patient's neck, improving the patient's comfort during radiotherapy, and at the same time, it helps to fix the patient's head position, preventing head shaking from affecting the accuracy of radiotherapy. The body position fixation component 4 is used to limit and fix the patient's body, ensuring that the patient's position remains stable during radiotherapy and preventing body position deviation from causing deviation of the radiotherapy site. The body surface marking component 5 is used to mark the area of ​​the patient that needs radiotherapy, providing a reference for the precise positioning of the radiotherapy machine 1 and improving the efficiency and accuracy of radiotherapy.

[0023] like Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10 As shown, in a preferred embodiment, based on the above method, the body positioning fixation component 4 further includes multiple slides 401 slidably disposed on the moving bed plate of the radiotherapy bed 2. Each of the multiple slides 401 has an installation hole 402 in its outer end. A pressure column 403 is slidably connected in the installation hole 402. The bottom end of the pressure column 403 penetrates the bottom wall of the slide 401 and extends downward. A circular plate 404 is fixedly connected to the top end of the pressure column 403. A spring 405 is sleeved on the pressure column 403. The two ends of the spring 405 are fixedly connected to the inner bottom wall of the installation hole 402 and the lower end face of the circular plate 404, respectively. The upper end face of the outer end of the slide 401 is symmetrically and fixedly connected to two mounting blocks 406. An eccentric handle 407 that cooperates with the circular plate 404 is rotatably connected between the two mounting blocks 406.

[0024] The slide 401 can be adjusted in position according to the patient's body shape and positioning needs to accommodate the fixation requirements of different patients. When the eccentric handle 407 is rotated to a horizontal position, it will continuously compress the disc 404. The disc 404 will drive the pressure column 403 to slide downward until the bottom end of the pressure column 403 presses against the inner bottom wall of the sliding opening 6 to limit the slide 401 and prevent the slide 401 from sliding during operation. When the eccentric handle 407 is rotated in the opposite direction, the spring 405 will reset and drive the pressure column 403 to rise, while releasing the limit on the slide 401. The slide 401 can be set at the head, neck, upper body and lower body to facilitate the fixation of the patient's position and ensure stability during marking and radiotherapy.

[0025] like Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10As shown, in a preferred embodiment, based on the above method, a rod sleeve 408 is fixedly connected to the upper inner end face of the slide block 401, a fixing plate 409 is inserted into the rod sleeve 408, a locking bolt 4010 for locking the fixing plate 409 is threadedly connected to the outer side wall of the top end of the rod sleeve 408, and a rubber pad 4011 is fixedly connected to the inner side wall of the top end of the fixing plate 409.

[0026] The sleeve 408 is used to insert the fixing plate 409, providing installation support for the fixing plate 409 and facilitating the adjustment of the height of the fixing plate 409. The fixing plate 409 can slide up and down along the sleeve 408. After being adjusted to a suitable height, it is used to assist in fixing the patient's body from the side. Tightening the locking bolt 4010 will press the inner end of the locking bolt 4010 against the fixing plate 409, locking the fixing plate 409 at the current height and preventing it from sliding. The rubber pad 4011 is used to contact the patient's body, increasing friction and improving the fixation effect, while avoiding direct contact between the fixing plate 409 and the patient's skin to prevent pressure damage and improve patient comfort.

[0027] like Figures 1-3 As shown, in a preferred embodiment, based on the above method, the body surface marking component 5 further includes a mounting base 501 disposed on one side of the radiotherapy bed 2. A turntable 502 is provided at the center of the upper end face of the mounting base 501. A fixing base 503 is fixedly connected to the upper end face of the turntable 502. A first connecting shaft 504 is rotatably connected to the top end of the fixing base 503. A first robotic arm 505 is fixedly connected to the first connecting shaft 504. A first servo motor 506 is fixedly connected to one side wall of the fixing base 503. The drive end of the first servo motor 506 is connected to the shaft end of the first connecting shaft 504. The first robotic arm 505 is rotatably connected to a second connecting shaft 507 at its top end. A second robotic arm 508 is fixedly connected to the second connecting shaft 507. A second servo motor 509 is fixedly connected to the side wall of the top end of the first robotic arm 505. The drive end of the second servo motor 509 is fixedly connected to the shaft end of the second connecting shaft 507. A rotating drum 5010 is rotatably connected to the outer end of the second robotic arm 508. A third servo motor 5011 is fixedly connected to the outer side wall of the outer end of the second robotic arm 508. The shaft end of the third servo motor 5011 is fixedly connected to the shaft end of the rotating drum 5010.

[0028] Mounting base 501 provides mounting support for turntable 502 and all components above it, ensuring the overall structural stability of the body surface marking assembly 5. Turntable 502 can drive fixed base 503 and components above it to rotate horizontally, adjusting the marking position. The first servo motor 506 is started, driving the first connecting shaft 504 to rotate. The first connecting shaft 504 drives the first robotic arm 505 to rotate around the fixed base 503, adjusting the tilt angle of the first robotic arm 505. The second servo motor 509 is started, driving the second connecting shaft 507 to rotate. The second connecting shaft 507 drives the second robotic arm 508 to rotate around the top of the first robotic arm 505, further adjusting the marking position to meet the marking needs of different parts of the patient's body. Rotary cylinder 5010 is used to install marking-related components. The third servo motor 5011 is started, driving the rotary cylinder 5010 to rotate. The rotary cylinder 5010 drives the marking-related components on its periphery to rotate synchronously, adjusting the orientation of the marking pen 5023 to ensure marking accuracy, higher marking freedom, and improved marking effect.

[0029] like Figure 3 , Figure 5 , Figure 6 and Figure 7As shown, in a preferred embodiment, based on the above method, further, an installation tube 5012 is fixedly connected to the outer peripheral sidewall of the rotating drum 5010. Two sleeves 5013 are symmetrically provided on the installation tube 5012, and the two ends of the two sleeves 5013 are fixedly connected by a bolt assembly. A guide frame 5014 is fixedly connected to the outer sidewall of one of the sleeves 5013. Two guide rods 5015 are symmetrically and fixedly connected inside the guide frame 5014. A slider 5016 is slidably connected between the two guide rods 5015. Two straight openings 5017 are provided on the guide frame 5014, and a notch 5018 communicating with the two straight openings 5017 is provided on the guide frame 5014. A sliding column 5019 is slidably connected inside the lower straight opening 5017. A flip plate 5020 is fixedly connected to the outer end of the sliding column 5019. A flip shaft is rotatably connected between the end of the flip plate 5020 away from the sliding column 5019 and the slider 5016. 5021, the inner end of the flip shaft 5021 is fixedly connected to a pen holder 5022, a marker pen 5023 is inserted into the pen holder 5022, and two fixing bolts 5024 that cooperate with the marker pen 5023 are threaded onto the pen holder 5022. The outer end of the flip shaft 5021 is fixedly connected to a flip gear 5025, and a fixing block 5026 is fixedly connected to the outer wall of the guide frame 5014. A component that cooperates with the flip gear 5025 is fixedly connected to the fixing block 5026. The rack 5027 is matched with the slider 5016. A connecting piece 5028 is fixedly connected to the lower end face of the slider 5016. A toothed column 5029 is fixedly connected to the connecting piece 5028. A connecting block 5030 is fixedly connected to the guide frame 5014. A fourth servo motor 5031 is fixedly connected to the outer wall of the connecting block 5030. The driving end of the fourth servo motor 5031 passes through the connecting block 5030 and is fixedly connected to a transmission gear 5032 that meshes with the toothed column 5029.

[0030] The mounting tube 5012 is used to insert and place the marker pen 5023 when not marking, providing storage and protection for the marker pen 5023. The guide frame 5014 provides mounting support for components such as the guide rod 5015 and the slider 5016. The two guide rods 5015 guide the sliding of the slider 5016, ensuring that the slider 5016 slides smoothly along the guide rods 5015. The slider 5016 is used to drive the flip shaft 5021, the pen holder 5022, and the marker pen 5023 to move synchronously. The straight opening 5017 and the notch 5018 are for sliding posts 50 The sliding and rotating shaft 5021 of the sliding plate 5020 provides room for movement. The notch 5018 facilitates the sliding column 5019 entering another straight opening 5017 during flipping. The sliding column 5019 moves synchronously with the flipping plate 5020. The flipping plate 5020 is used to transmit the moving power of the slider 5016, driving the flipping shaft 5021 to flip. The pen holder 5022 is used to insert the marker pen 5023. Tightening the two fixing bolts 5024 can firmly fix the marker pen 5023 in the pen holder 5022, preventing the marker pen 5023 from being used during marking. The sliding mechanism also facilitates the replacement of the marker pen 5023. The marker pen 5023 is used to mark the radiotherapy sites on the patient's body surface. During retrieval, the fourth servo motor 5031 is activated, which drives the transmission gear 5032 to rotate. The transmission gear 5032 drives the meshing gear column 5029 to move upward. The gear column 5029 drives the slider 5016 to slide along the guide rod 5015 through the connecting piece 5028. The slider 5016 drives the flip shaft 5021 to move synchronously. The movement of the flip shaft 5021 causes the flip to rotate. The plate 5020 and the slide column 5019 move upward synchronously. Then, the flip gear 5025 meshes with the rack 5027 and rotates during the movement, which in turn drives the flip shaft 5021, the pen holder 5022 and the marker pen 5023 to flip. At the same time, the flip plate 5020 and the slide column 5019 move out from the lower straight opening 5017 and into the upper straight opening 5017. Then, the slide column 5019 slides along the upper straight opening 5017, so that the flipped marker pen 5023 is inserted into the mounting tube 5012 for storage.

[0031] like Figure 4 As shown, in a preferred embodiment, based on the above method, further, an assembly shaft 5033 is rotatably connected inside the mounting base 501. The top end of the assembly shaft 5033 passes through the top wall of the mounting base 501 and is fixedly connected to the lower end face of the turntable 502. A worm gear 5034 is fixedly connected to the assembly shaft 5033. A fifth servo motor 5035 is fixedly connected to the outer wall of the mounting base 501. The drive end of the fifth servo motor 5035 passes through the side wall of the mounting base 501 and is fixedly connected to an extension shaft 5036. The inner end of the extension shaft 5036 is fixedly connected to a worm 5037 that meshes with the worm gear 5034.

[0032] The fifth servo motor 5035 is started, which drives the extension shaft 5036 to rotate. The extension shaft 5036 drives the worm gear 5037 at the inner end to rotate synchronously. The worm gear 5037 drives the worm wheel 5034 that meshes with it to rotate. The worm wheel 5034 drives the assembly shaft 5033 to rotate. The assembly shaft 5033 drives the turntable 502 to rotate, thereby adjusting the horizontal direction of the fixed seat 503 and the marking component above it to adapt to the marking needs of different parts of the patient.

[0033] like Figure 2 and Figure 3 As shown, in a preferred embodiment, based on the above method, the lower end face of the mounting base 501 is further fixedly connected to a support shaft 5038, the bottom end of the support shaft 5038 is fixedly connected to a base plate 5039, and the lower end face of the base plate 5039 is equipped with a caster wheel 5040 with a brake pad.

[0034] The support shaft 5038 is used to connect the mounting base 501 and the base plate 5039, providing stable support for the mounting base 501 and ensuring that the overall height of the body surface marking component 5 is adapted to the radiotherapy bed 2. When the device is pushed, the caster wheel 5040 can rotate flexibly to facilitate the adjustment of the position of the body surface marking component 5 to adapt to different radiotherapy scenarios. After adjusting to the appropriate position, stepping on the brake pad can lock the caster wheel 5040 to prevent the device from moving accidentally and ensure the stability of the device during marking and radiotherapy.

[0035] like Figure 2 As shown, in a preferred embodiment, based on the above method, a handrail 5041 is fixedly connected to one side wall of the mounting base 501, and an anti-slip sleeve is fitted on the handrail 5041.

[0036] Handrail 5041 provides a leverage point for the operator, making it easy for the operator to move the body surface marking component 5 and adjust the position of the device; the anti-slip sleeve is used to increase the friction between the operator's hand and the handrail 5041, prevent the hand from slipping when pushing, improve the convenience and safety of operation, and at the same time improve the grip comfort.

[0037] like Figure 5 , Figure 6 and Figure 7 As shown, in a preferred embodiment, based on the above method, the mounting tube 5012 is further designed with an internal hollow structure, and the bottom end of the mounting tube 5012 is provided with an insertion hole that cooperates with the marking pen 5023.

[0038] The mounting tube 5012 features an internal hollow structure design and an insertion hole at the bottom, which can precisely fit the shape of the marker pen 5023, making it easy to insert and store the marker pen 5023. After storage, it protects the tip of the marker pen 5023, preventing damage to the tip and affecting the marking effect. It also prevents external impurities from adhering to the tip and reduces the evaporation of the marking liquid in the marker pen 5023. The marker pen 5023 is based on existing technology.

[0039] like Figure 2 and Figure 8 As shown, in a preferred embodiment, based on the above method, the moving bed plate of the radiotherapy bed 2 is further provided with a plurality of sliding openings 6 that cooperate with the slide 401.

[0040] The sliding opening 6 cooperates with the sliding base 401 to provide guidance and space for the sliding of the sliding base 401, ensuring that the sliding base 401 can slide smoothly along the sliding opening 6. This allows the operator to flexibly adjust the position of the sliding base 401 according to the patient's body shape and position requirements, so that the position fixation component 4 can accurately fit the patient's body and improve the stability and adaptability of the position fixation.

[0041] Specifically, when using this integrated device for surface marking and positioning in tumor radiotherapy: First, push the handrail 5041 to move the surface marking component 5 via the casters 5040 at the lower end of the base plate 5039, adjust it to a suitable position on one side of the radiotherapy bed 2, and then press the brake pads of the casters 5040 to lock the device position; the patient lies on the movable bed board of the radiotherapy bed 2 with their neck placed on the neck pillow 3, and the patient's position is adjusted to a suitable state; Then, according to the patient's different body positions, slide the fixing plate 409 up and down along the sleeve 408 to the appropriate height, tighten the locking bolt 4010 to lock the fixing plate 409, then move the sliding block 401 so that the rubber pad 4011 contacts the patient's body surface, rotate the eccentric handle 407, when the eccentric handle 407 is rotated to the horizontal state, the squeeze disc 404 drives the pressure column 403 to slide downward, the spring 405 is compressed, and the bottom end of the pressure column 403 presses against the patient's body. When the eccentric handle 407 is rotated to the horizontal state, the disc 404 will be continuously squeezed, and the disc 404 drives the pressure column 403 to slide downward until the bottom end of the pressure column 403 presses against the inner bottom wall of the sliding port 6 to limit the sliding block 401 and prevent the sliding block 401 from sliding during the operation, thus completing the fixation of the patient's body position. The body surface marking assembly 5 is activated. The fourth servo motor 5031 drives the transmission gear 5032 to rotate. The transmission gear 5032 drives the meshing gear column 5029 to move downward. The gear column 5029 drives the slider 5016 to slide along the guide rod 5015 through the connecting piece 5028. The slider 5016 drives the flip shaft 5021 to move synchronously. The movement of the flip shaft 5021 drives the flip plate 5020 and the slide column 5019 to move downward synchronously, thereby causing the marking pen 5023 to move out of the mounting tube 5012. Then, the flip gear 5025 meshes with the rack 5027 and rotates during the movement, thereby causing the flip shaft 5021, pen holder 5022 and marking pen 5023 to flip. At the same time, the flip plate 5022 and the slide column 5019 move out from the upper straight opening 5017 and into the lower straight opening 5017, adjusting the marking pen 5023 to be displayed. Figure 5 The system is in a state of readiness. Then, the fifth servo motor 5035 is activated, driving the extension shaft 5036, worm gear 5037, worm wheel 5034, and assembly shaft 5033 to rotate, causing the turntable 502 and its upper components to rotate horizontally, adjusting the marking direction. The first servo motor 506 and the second servo motor 509 are activated, driving the first connecting shaft 504 and the second connecting shaft 507 to rotate, causing the first robotic arm 505 and the second robotic arm 508 to rotate, adjusting the marking pen 5023 to the vicinity of the area to be marked on the patient. The third servo motor 5011 is activated, driving the rotating drum 5010 to rotate, adjusting the orientation of the marking pen 5023, and precisely marking the radiotherapy area on the patient's body surface. After marking is completed, the fourth servo motor 5031 is activated in reverse, causing the marking pen 5023 to flip and reset, and then inserted into the installation tube 5012 for storage.

[0042] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An integrated device for surface marking and positioning in tumor radiotherapy, comprising a radiotherapy machine (1), characterized in that, The radiotherapy machine (1) is provided with a radiotherapy bed (2) on its outer side. A neck pillow (3) is fixedly connected to the upper end of the movable bed board of the radiotherapy bed (2) near the radiotherapy machine (1). The radiotherapy bed (2) also includes: The body position fixation component (4) is set on the movable bed board of the radiotherapy bed (2) and is used to fix the patient's body position; A body surface marking component (5) is set on the outside of the radiotherapy bed (2) for marking the patient's body surface.

2. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 1, characterized in that, The body positioning fixation component (4) includes multiple slides (401) slidably mounted on the moving bed plate of the radiotherapy bed (2). Each of the multiple slides (401) has an installation hole (402) in its outer end. A pressure column (403) is slidably connected in the installation hole (402). The bottom end of the pressure column (403) penetrates the bottom wall of the slide (401) and extends downward. A circular plate (404) is fixedly connected to the top end of the pressure column (403). A spring (405) is sleeved on the pressure column (403). The two ends of the spring (405) are fixedly connected to the inner bottom wall of the installation hole (402) and the lower end face of the circular plate (404), respectively. The upper end face of the outer end of the slide (401) is symmetrically connected to two mounting blocks (406). An eccentric handle (407) that cooperates with the circular plate (404) is rotatably connected between the two mounting blocks (406).

3. The integrated device for surface marking and body positioning in tumor radiotherapy according to claim 2, characterized in that, A rod sleeve (408) is fixedly connected to the upper inner end of the slide (401). A fixing plate (409) is inserted into the rod sleeve (408). A locking bolt (4010) for locking the fixing plate (409) is threadedly connected to the outer side wall of the top end of the rod sleeve (408). A rubber pad (4011) is fixedly connected to the inner side wall of the top end of the fixing plate (409).

4. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 1, characterized in that, The surface marking component (5) includes a mounting base (501) disposed on one side of the radiotherapy bed (2). A turntable (502) is provided at the center of the upper end face of the mounting base (501). A fixed seat (503) is fixedly connected to the upper end face of the turntable (502). A first connecting shaft (504) is rotatably connected to the top of the fixed seat (503). A first robotic arm (505) is fixedly connected to the first connecting shaft (504). A first servo motor (506) is fixedly connected to one side wall of the fixed seat (503). The drive end of the first servo motor (506) is fixedly connected to the shaft end of the first connecting shaft (504). The first robotic arm (505) A second connecting shaft (507) is rotatably connected to the top of the first robotic arm (505). A second robotic arm (508) is fixedly connected to the second connecting shaft (507). A second servo motor (509) is fixedly connected to the top side wall of the first robotic arm (505). The drive end of the second servo motor (509) is fixedly connected to the shaft end of the second connecting shaft (507). A rotating drum (5010) is rotatably connected to the outer end of the second robotic arm (508). A third servo motor (5011) is fixedly connected to the outer side wall of the outer end of the second robotic arm (508). The shaft end of the third servo motor (5011) is fixedly connected to the shaft end of the rotating drum (5010).

5. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 4, characterized in that, An installation tube (5012) is fixedly connected to the outer peripheral side wall of the rotating drum (5010). Two retaining sleeves (5013) are symmetrically provided on the installation tube (5012). The two ends of the two retaining sleeves (5013) are fixedly connected by a bolt assembly. A guide frame (5014) is fixedly connected to the outer side wall of one of the retaining sleeves (5013). Two guide rods (5015) are symmetrically and fixedly connected inside the guide frame (5014). A slider (5016) is slidably connected between the two guide rods (5015). The guide frame (5014) has two straight openings (5017), and the guide frame (5014) has a notch (5018) communicating with the two straight openings (5017). A sliding column (5019) is slidably connected inside the lower straight opening (5017). A flip plate (5020) is fixedly connected to the outer end of the sliding column (5019). A flip shaft (5021) is rotatably connected between the end of the flip plate (5020) away from the sliding column (5019) and the slider (5016). The inner end of the pen holder (5022) is fixedly connected to the pen holder (5022), and a marker pen (5023) is inserted inside the pen holder (5022). Two fixing bolts (5024) that cooperate with the marker pen (5023) are threaded onto the pen holder (5022). A flip gear (5025) is fixedly connected to the outer end of the flip shaft (5021). A fixing block (5026) is fixedly connected to the outer wall of the guide frame (5014), and a rack (5025) that cooperates with the flip gear (5025) is fixedly connected to the fixing block (5026). 27) A connecting piece (5028) is fixedly connected to the lower end face of the slider (5016), a toothed column (5029) is fixedly connected to the connecting piece (5028), a connecting block (5030) is fixedly connected to the guide frame (5014), a fourth servo motor (5031) is fixedly connected to the outer side wall of the connecting block (5030), and the driving end of the fourth servo motor (5031) passes through the connecting block (5030) and is fixedly connected to a transmission gear (5032) that meshes with the toothed column (5029).

6. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 4, characterized in that, An assembly shaft (5033) is rotatably connected inside the mounting base (501). The top end of the assembly shaft (5033) passes through the top wall of the mounting base (501) and is fixedly connected to the lower end face of the turntable (502). A worm gear (5034) is fixedly connected to the assembly shaft (5033). A fifth servo motor (5035) is fixedly connected to the outer wall of the mounting base (501). The drive end of the fifth servo motor (5035) passes through the side wall of the mounting base (501) and is fixedly connected to an extension shaft (5036). The inner end of the extension shaft (5036) is fixedly connected to a worm (5037) that meshes with the worm gear (5034).

7. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 4, characterized in that, The lower end face of the mounting base (501) is fixedly connected to a support shaft (5038), the bottom end of the support shaft (5038) is fixedly connected to a base plate (5039), and the lower end face of the base plate (5039) is equipped with a caster wheel (5040) with a brake pad.

8. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 4, characterized in that, A handrail (5041) is fixedly connected to one side wall of the mounting base (501), and an anti-slip sleeve is fitted on the handrail (5041).

9. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 5, characterized in that, The mounting tube (5012) has an internal hollow structure design, and the bottom end of the mounting tube (5012) has an insertion hole that matches the marker pen (5023).

10. The integrated device for surface marking and positioning in tumor radiotherapy according to claim 1, characterized in that, The radiotherapy bed (2) has multiple sliding openings (6) on its movable bed plate that cooperate with the sliding seat (401).

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