Patient supporting and positioning device

Abstract

A patient supporting and positioning device comprises a lifting frame used for lifting; the seventh shaft is arranged on the lifting frame; the six-shaft mechanical arm is arranged on the seventh shaft through a connecting seat; the bed board is arranged on the six-axis mechanical arm; wherein roller shutter boxes are arranged on the two sides of the lifting frame, roller shutters capable of automatically contracting are arranged in the roller shutter boxes, the roller shutters are fixed to the connecting bases and used for shielding so that the device can be more attractive, the lifting frame comprises a truss and multiple mounting blocks, and the multiple mounting blocks are arranged at the top of the truss at intervals; the six-axis mechanical arm is connected with the bed board through a torque sensor and used for transmitting force and torque signals to prevent collision, a torsional spring is arranged in the roller shutter box, and the roller shutter can automatically contract into the roller shutter box under the action of the torsional spring. The moving range of the six-shaft mechanical arm is increased through the seventh shaft, the bed plate can be positioned more accurately, the protection effect can be achieved through the roller shutters on the two sides of the sliding table assembly, and the bed is more attractive.

Description

Technical Field

[0001] The utility model relates to the technical field of treatment beds, in particular to a patient support positioning device. Background Art

[0002] In high-precision radiotherapy, the accuracy of patient positioning is one of the key factors for accurate treatment. When this device is used clinically, after loading the patient on the treatment bed, it can receive commands from the bed transfer handle or the host computer operation interface to smoothly move the patient to the upper and lower bed positions and the initial treatment position, and correct the patient's position errors in multiple degrees of freedom in the treatment area.

[0003] The existing treatment bed is installed on the ground, which is limited in positioning and cannot achieve multi-angle treatment. The treatment bed with a seventh-axis robotic arm can achieve a wider range and more directional treatment. In addition, the anti-collision system is relatively complicated and easy to be accidentally touched, resulting in low treatment efficiency.

[0004] To this end, we propose a patient support positioning device. Utility Model Content

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a patient support positioning device, thereby increasing the movement range of the six-axis robotic arm through the seventh axis, and being able to position the bed board more accurately. The rolling curtains on both sides of the slide assembly can play a protective role and be more beautiful.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A patient support positioning device, comprising:

[0008] Lifting frame, used for lifting;

[0009] The seventh axis is arranged on the hanging frame;

[0010] A six-axis robot arm is arranged on the seventh axis via a connecting seat;

[0011] The bed plate is arranged on a six-axis robot arm;

[0012] Among them, rolling shutter boxes are arranged on both sides of the lifting frame, and rolling shutter boxes are provided with automatically retracted rolling shutters. The rolling shutters are fixed on the connecting seat and are used for shielding to make the device more beautiful.

[0013] It is further characterized by:

[0014] The hanging frame comprises a truss and a mounting block, wherein a plurality of mounting blocks are provided and the plurality of mounting blocks are arranged at intervals on the top of the truss.

[0015] The six-axis mechanical arm and the bed plate are connected via a torque sensor for transmitting force and torque signals to prevent collision.

[0016] A torsion spring is arranged in the rolling shutter box, and the rolling shutter can automatically retract into the rolling shutter box through the action of the torsion spring.

[0017] The seventh shaft comprises a guide groove, a slide assembly is arranged in the guide groove, and the slide assembly is fixedly connected to the connecting seat.

[0018] A drag chain is arranged in the guide groove, and the drag chain can move in the guide groove.

[0019] The drag chain is usually equipped with wires and air pipes to provide necessary power and transmit signals.

[0020] The slide assembly includes a pulley assembly, a motor, a reducer, and a gear rack. The motor provides power, the reducer reduces and amplifies the power, the gear rack realizes the conversion between linear motion and rotational motion, and the pulley assembly is responsible for guiding and supporting.

[0021] The beneficial effects of the utility model are as follows:

[0022] The utility model has a compact and reasonable structure and is easy to operate. The slide assembly moves along the guide groove, and the slide assembly drives the six-axis mechanical arm to move through the connecting seat, which can increase the moving range of the six-axis mechanical arm, and thus can more accurately position the bed board. When the slide assembly moves, it can drive the rolling curtain to move, and the rolling curtain on one side is gradually pulled out from the rolling curtain box, and the rolling curtain on the other side is rolled into the rolling curtain box under the action of the torsion spring. The components on both sides of the slide assembly can play a protective role and make the device look more beautiful.

[0023] At the same time, the utility model also has the following advantages:

[0024] (1) The torque sensor is used to connect the bed board and the six-axis robot arm, and can transmit force and torque signals, thereby preventing the bed board from colliding. The anti-collision function can be improved through software path planning and motion safety zone design.

[0025] (2) The slide assembly includes a pulley assembly, a motor, a reducer, a gear rack, etc. The motor provides power, the reducer reduces and amplifies the power, the gear rack realizes the conversion between linear motion and rotational motion, and the pulley assembly is responsible for guidance and support.

[0026] (3) A drag chain is installed in the guide groove to guide the movement of the drag chain. At the same time, it can also provide necessary protection for the drag chain to prevent damage to the drag chain caused by external factors. The drag chain can slide along the guide groove. The inside of the drag chain is usually equipped with wires and air pipes to provide necessary power and transmit signals.

[0027] (4) A torsion spring is provided in the rolling shutter box, and the rolling shutter can automatically retract into the rolling shutter box through the action of the torsion spring, and the rolling shutter is used for shielding, making it look more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the utility model.

[0029] Figure 2 for Figure 1 Enlarged schematic diagram at point A in the middle.

[0030] Figure 3 for Figure 1 main view.

[0031] Figure 4 for Figure 3 Top view of the .

[0032] Figure 5 for Figure 4 Side view of.

[0033] Among them: 1. Lifting frame; 101. Truss; 102. Mounting block; 2. Seventh axis; 201. Guide groove; 202. Slide assembly; 203. Drag chain; 204. Connecting seat; 205. Rolling shutter box; 206. Rolling shutter; 3. Six-axis robotic arm; 4. Bed board; 5. Torque sensor. DETAILED DESCRIPTION

[0034] The specific implementation of the present utility model is described below in conjunction with the accompanying drawings.

[0035] like Figure 1-Figure 5 As shown, a patient support positioning device includes a hanging frame 1, a seventh axis 2, a six-axis robot arm 3, a bed board 4 and a torque sensor 5. The bed board 4 is arranged on the six-axis robot arm 3 through the torque sensor 5, and the six-axis robot arm 3 drives the bed board 4 to swing. The six-axis robot arm 3 is arranged on the seventh axis 2, and the seven axis 2 drives the six-axis robot arm 3 to move, thereby increasing the motion range of the six-axis robot arm 3, which is convenient for more accurate positioning.

[0036] The six-axis robot 3 can drive the bed board 4 to achieve linear movement in three directions and angular rotation in three directions. The patient lies on the bed board 4 and is sent to a suitable position by the six-axis robot 3. The torque sensor 5 is used to connect the bed board 4 and the six-axis robot 3, and can transmit force and torque signals, thereby preventing the bed board 4 from colliding. The anti-collision function can be improved through software path planning and the design of motion safety zones.

[0037] In the process of carrying patients for treatment, the device has the characteristics of strong real-time performance, rapid movement, stable and safe operation. When faced with situations where the movement space is limited and collisions may occur, the device can effectively respond, thereby significantly improving the efficiency and safety of surgical treatment.

[0038] The hoisting frame 1 includes a truss 101 and a mounting block 102. A plurality of mounting blocks 102 are provided. The plurality of mounting blocks 102 are spaced apart on the top of the truss 101. The hoisting is performed through the mounting blocks 102. The truss 101 is the main structure, which has high firmness and stability and is used for supporting and transmitting power.

[0039] The seventh axis 2 includes a guide groove 201, which is fixed to one side of the truss 101. A slide assembly 202 is arranged in the guide groove 201. A connection seat 204 is fixed to the bottom of the slide assembly 202. The six-axis robot 3 is fixed to the connection seat 204. A drag chain 203 is arranged in the guide groove 201. The movement of the drag chain 203 is guided by the guide groove 201, and necessary protection can also be provided for the drag chain 203 to prevent external factors from causing damage to the drag chain 203. The drag chain 203 can slide along the guide groove 201. The inside of the drag chain 203 is usually equipped with wires and air pipes for providing necessary power and transmitting signals.

[0040] The slide assembly 202 includes a pulley assembly, a motor, a reducer, a gear rack and other parts. The motor provides power, the reducer reduces and amplifies the power, the gear rack realizes the conversion between linear motion and rotational motion, and the pulley assembly is responsible for guiding and supporting.

[0041] Rolling shutter boxes 205 are provided at both ends of the truss 101. An automatically retractable rolling shutter 206 is provided in the rolling shutter box 205. One end of the rolling shutter 206 is fixed on the connecting seat 204. A torsion spring is provided in the rolling shutter box 205. Through the action of the torsion spring, the rolling shutter 206 can automatically retract into the rolling shutter box 205. The rolling shutter 206 is used for shielding, making it look more beautiful.

[0042] When in use, the slide assembly 202 moves along the guide groove 201, and the slide assembly 202 drives the six-axis robot 3 to move through the connecting seat 204, which can increase the moving range of the six-axis robot 3, and thus can more accurately position the bed plate 4. When the slide assembly 202 moves, it can drive the rolling curtain 206 to move, and the rolling curtain 206 on one side is gradually pulled out from the rolling curtain box 205, and the rolling curtain 206 on the other side is rolled into the rolling curtain box 205 under the action of the torsion spring. The components on both sides of the slide assembly 202 can play a protective role and make the device look more beautiful.

[0043] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the protection scope of the utility model.

Claims

1. A patient support positioning device, characterized in that: include: A lifting frame (1), used for lifting; A seventh axis (2) is arranged on the hanging frame (1); A six-axis robot arm (3) is arranged on the seventh axis (2) via a connecting seat (204); A bed plate (4) is arranged on the six-axis mechanical arm (3); Wherein, a rolling shutter box (205) is arranged on both sides of the hanging frame (1), and a rolling shutter (206) capable of automatically retracting is arranged in the rolling shutter box (205). The rolling shutter (206) is fixed on the connecting seat (204) and is used for shielding to make the device more beautiful.

2. A patient support and positioning device according to claim 1, characterized in that: The hanging frame (1) comprises a truss (101) and a mounting block (102), a plurality of mounting blocks (102) are provided, and the plurality of mounting blocks (102) are arranged at intervals on the top of the truss (101).

3. A patient support positioning device according to claim 1, characterized in that: The six-axis mechanical arm (3) and the bed board (4) are connected via a torque sensor (5) for transmitting force and torque signals to prevent collision.

4. A patient support and positioning device according to claim 1, characterized in that: A torsion spring is arranged in the rolling shutter box (205), and the rolling shutter (206) can automatically retract into the rolling shutter box (205) through the action of the torsion spring.

5. A patient support and positioning device according to claim 1, characterized in that: The seventh shaft (2) comprises a guide groove (201), a slide assembly (202) is arranged in the guide groove (201), and the slide assembly (202) is fixedly connected to the connecting seat (204).

6. A patient support and positioning device according to claim 5, characterized in that: A drag chain (203) is arranged in the guide groove (201), and the drag chain (203) can move in the guide groove (201).

7. A patient support and positioning device according to claim 6, characterized in that: The drag chain (203) is internally provided with electric wires and air pipes for providing necessary electric power and transmitting signals.

8. A patient support and positioning device according to claim 5, characterized in that: The slide assembly (202) comprises a pulley assembly, a motor, a reducer, and a gear rack. The motor provides power, the reducer reduces and amplifies the power, the gear rack realizes the conversion between linear motion and rotational motion, and the pulley assembly is responsible for guiding and supporting.

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