Seven-degree-of-freedom robot treatment bed

Abstract

The utility model discloses a seven-degree-of-freedom robot treatment couch, which belongs to the technical field of medical treatment and comprises a fixed base. A first driving component is fixedly connected to the top of the fixed base; the driving end of the first driving assembly is fixedly connected with a second driving assembly; the driving end of the second driving assembly is fixedly connected with a third driving assembly; the driving end of the third driving assembly is fixedly connected with a fourth driving assembly; the driving end of the fourth driving assembly is fixedly connected with a fifth driving assembly; the driving end of the fifth driving assembly is fixedly connected with a sixth driving assembly; the sixth driving assembly is in driving connection with a quick connection assembly used for quick disassembly and assembly. The top of the quick connection assembly is connected with a seventh driving assembly for translation of the patient. By means of the mode, the seven-degree-of-freedom treatment bed not only can achieve normal positioning adjustment of a conventional treatment bed, but also can achieve real linear motion of a patient during treatment, and strictly ensures that the patient has enough pose precision during linear motion during treatment.

Description

Technical Field

[0001] The utility model relates to the technical field of medical treatment, in particular to a seven-degree-of-freedom robot treatment bed. Background Art

[0002] The method of tumor treatment is to accurately direct the high-energy radiation beam used for treatment to the tumor target area that needs to be irradiated. It is not only necessary to kill tumor cells well, but also to protect the surrounding key organs from radiation damage. During tumor treatment, the patient lies on a special treatment bed, which is also called a patient support system. Its main function is to facilitate medical staff to accurately place the patient's lesion in the radiation field for treatment. The treatment bed rotates around the isocenter of the treatment equipment as a whole and is combined with the frame rotation movement, so that the radiation beam can be injected into the lesion from multiple directions. The treatment bed using robotic technology can position the patient more flexibly and has broad application prospects.

[0003] Existing technical solutions: Existing robotic treatment beds usually consist of six degrees of freedom, and the patient's positioning is achieved through the compound movement of six joints, such as linear movement of the patient left and right, front and back, up and down, and rotational movement such as pitch, roll and revolution. The existing robotic treatment beds perform linear movement through the linkage of several joints, and there is no real linear motion axis. If it is necessary to strictly ensure that the patient moves along a straight line while maintaining a strictly unchanged posture during treatment, it is difficult to achieve this using the current six-degree-of-freedom treatment beds.

[0004] Based on this, the utility model designs a seven-degree-of-freedom robot treatment bed to solve the above problems. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the prior art, the utility model provides a seven-degree-of-freedom robot treatment bed.

[0006] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] A seven-degree-of-freedom robot treatment bed, comprising a fixed base:

[0008] A first driving assembly is fixedly connected to the top of the fixed base;

[0009] The driving end of the first driving assembly is fixedly connected to the second driving assembly;

[0010] The driving end of the second driving assembly is fixedly connected to the third driving assembly;

[0011] The driving end of the third driving assembly is fixedly connected to the fourth driving assembly;

[0012] The driving end of the fourth driving assembly is fixedly connected with the fifth driving assembly;

[0013] The driving end of the fifth driving assembly is fixedly connected with the sixth driving assembly;

[0014] The sixth driving assembly is drivingly connected to a quick-connect assembly for quick disassembly and assembly;

[0015] The top of the quick-connect assembly is connected to a seventh driving assembly for patient translation.

[0016] Furthermore, the quick-connect assembly includes a plug-in assembly and a self-locking locking assembly. The output end of the plug-in assembly and the sixth drive assembly is fixedly connected to the quick-connect assembly, and the self-locking locking assembly is connected to the plug-in assembly.

[0017] Furthermore, the plug-in assembly includes a square frame, a plug-in block and a U-shaped connecting plate. The square frame is fixedly connected to the middle end of the U-shaped connecting plate, the plug-in block is plugged into the square frame, and the U-shaped connecting plate is fixedly installed at the bottom of the seventh driving assembly.

[0018] Furthermore, the self-locking locking assembly includes a spring, a pull plate, a plug-in hole and a right triangle block. The plug-in hole is opened on the side wall of the plug-in block, the square frame is fixedly connected to the spring, the outer end of the spring is fixedly connected to the pull plate, the inner end of the pull plate is fixedly connected to the right triangle block, and the inclined surface of the right triangle block is set downward, and when the square frame moves downward, the plug-in block first contacts the inclined surface of the right triangle block, and the right triangle block is plugged into the plug-in hole.

[0019] Furthermore, when the right triangle block is plugged into the plug hole, the spring is in an original state.

[0020] Furthermore, the pull plate is movably connected to the movable groove provided in the square frame.

[0021] Furthermore, the seventh driving assembly includes a fixed frame, a bed board, a guide assembly and a driving assembly. The U-shaped connecting plate is fixedly installed at the middle end of the bottom of the fixed frame. The front and rear inner walls of the fixed frame are connected to the guide assemblies. The bed board is fixedly connected between the guide assemblies. The bottom of the bed board is connected to a driving assembly for driving the bed board to move, and the driving assembly is connected to the fixed frame.

[0022] Furthermore, the guide assembly includes a slider and a guide rail. The slider is fixedly mounted on the front and rear inner walls of the fixed frame. The guide rail is equidistantly and slidably connected with the slider. The slider is symmetrically and fixedly mounted on the front and rear side walls of the bed board.

[0023] Furthermore, the driving assembly includes a driving motor, a threaded rod, a first fixed seat and a second fixed seat. The left and right ends of the fixed frame are respectively fixedly connected to the first fixed seat and the driving motor. The driving end of the driving motor is fixedly connected to the threaded rod, and the threaded rod is rotatably connected to the first fixed seat. The second fixed seat is threadedly connected to the threaded rod through a threaded sleeve, and the second fixed seat is fixedly installed on the bottom of the end of the bed board close to the driving motor.

[0024] Beneficial Effects

[0025] The seventh drive assembly (8) of the utility model drives the bed plate (85) to move. The bed plate (85) realizes the linear motion of the seventh drive assembly (8) without relying on the linkage of the fifth drive assembly (6) such as the joint fixing base (1) to the joint fifth drive assembly (6). The first drive assembly (2) performs a circular motion in the horizontal direction, and the second drive assembly (3) performs a circular motion in the horizontal direction; the third drive assembly (4) of the motion axis performs a circular motion in the vertical direction; the fourth drive assembly (5) realizes a circular motion around the connection direction of the third drive assembly (4) and the fourth drive assembly (5), the fifth drive assembly (6) realizes a circular motion, and the sixth drive assembly (7) realizes a circular motion; the bed plate (85) on the entire treatment bed meets various positioning requirements required during treatment, and realizes the patient's up and down movement, left and right translation, tilt, pitch and linear motion, etc.; the seven-degree-of-freedom treatment bed can not only realize the normal positioning adjustment of a conventional treatment bed, but also realize the patient's real linear motion during treatment, strictly ensuring that the patient has sufficient position accuracy during linear motion during treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 The main structure of the seven-degree-of-freedom robot treatment bed of the utility model is three-dimensional Figure 1 ;

[0028] Figure 2 This is a front view of the structure of a seven-degree-of-freedom robot treatment bed of the utility model;

[0029] Figure 3 The main structure of the seven-degree-of-freedom robot treatment bed of the utility model is three-dimensional Figure 2 ;

[0030] Figure 4 The main structure of the seven-degree-of-freedom robot treatment bed of the utility model is three-dimensional Figure 3 ;

[0031] Figure 5 For along Figure 2 AA direction cross-sectional view;

[0032] Figure 6 for Figure 5 The enlarged view of point B in the middle;

[0033] Figure 7 For the existing six degrees of freedom treatment bed.

[0034] The numbers in the figure represent:

[0035] 1. Fixed base 2. First drive assembly 3. Second drive assembly 4. Third drive assembly 5. Fourth drive assembly 6. Fifth drive assembly 7. Sixth drive assembly 8. Seventh drive assembly 81. Fixed frame 82. Drive motor 83. Slider 84. Guide rail 85. Bed board 86. Threaded rod 87. First fixed seat 88. Second fixed seat 9. Quick-connect assembly 91. Square frame 92. Spring 93. Insert block 94. Pull plate 95. U-shaped connecting plate 96. Plug hole 97. Straight triangle block. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] The utility model is further described below in conjunction with embodiments.

[0038] In some embodiments, please refer to the attached instructions. Figure 1-2 , a seven-degree-of-freedom robot treatment bed, comprising a fixed base 1:

[0039] A first driving assembly 2 is fixedly connected to the top of the fixed base 1;

[0040] The driving end of the first driving assembly 2 is fixedly connected to the second driving assembly 3;

[0041] The driving end of the second driving assembly 3 is fixedly connected to the third driving assembly 4;

[0042] The driving end of the third driving assembly 4 is fixedly connected to the fourth driving assembly 5;

[0043] The driving end of the fourth driving assembly 5 is fixedly connected with the fifth driving assembly 6;

[0044] The driving end of the fifth driving assembly 6 is fixedly connected with the sixth driving assembly 7;

[0045] The sixth driving assembly 7 is drivingly connected to a quick-connect assembly 9 for quick disassembly and assembly;

[0046] The top of the quick-connect assembly 9 is connected with a seventh driving assembly 8 for patient translation;

[0047] The seventh drive assembly 8 drives the bed plate 85 to move. The bed plate 85 does not rely on the linkage of the six degrees of freedom of the fifth drive assembly, such as the joint fixed base 1 to the joint fifth drive assembly 6, to realize the linear motion of the seventh drive assembly 8. The first drive assembly 2 makes a circular motion in the horizontal direction, and the second drive assembly 3 makes a circular motion in the horizontal direction; the third drive assembly 4 of the motion axis makes a circular motion in the up and down direction; the fourth drive assembly 5 realizes a circular motion around the connection direction of the third drive assembly 4 and the fourth drive assembly 5, the fifth drive assembly 6 realizes a circular motion, and the sixth drive assembly 7 realizes a circular motion; the bed plate 85 on the entire treatment bed meets various positioning requirements required during treatment, and realizes the patient's up and down movement, left and right translation, tilt, pitch and linear motion, etc. The seven-degree-of-freedom treatment bed can not only realize the normal positioning adjustment of the conventional treatment bed, but also realize the patient can realize real linear motion during treatment, strictly ensuring that the patient has sufficient posture accuracy during linear motion during treatment.

[0048] In some embodiments, please refer to the attached instructions. Figure 1-6 , the quick-connect assembly 9 includes a plug-in assembly and a self-locking locking assembly, the output end of the plug-in assembly and the sixth drive assembly 7 is fixedly connected to the quick-connect assembly 9, and the self-locking locking assembly is connected to the plug-in assembly;

[0049] The plug-in assembly includes a square frame 91, a plug-in block 93 and a U-shaped connecting plate 95. The square frame 91 is fixedly connected at the middle end of the U-shaped connecting plate 95. The plug-in block 93 is plugged into the square frame 91. The U-shaped connecting plate 95 is fixedly installed at the bottom of the seventh driving assembly 8.

[0050] The self-locking locking assembly includes a spring 92, a pull plate 94, a plug hole 96 and a straight triangular block 97. The plug hole 96 is opened on the side wall of the plug block 93. The square frame 91 is fixedly connected to the spring 92. The outer end of the spring 92 is fixedly connected to the pull plate 94. The inner end of the pull plate 94 is fixedly connected to the straight triangular block 97, and the inclined surface of the straight triangular block 97 is set downward. When the square frame 91 moves downward, the plug block 93 first contacts the inclined surface of the straight triangular block 97, and the straight triangular block 97 is plugged into the plug hole 96.

[0051] When the right triangle block 97 is plugged into the plug hole 96, the spring 92 is in the original state;

[0052] The pull plate 94 is movably connected to the movable groove of the square frame 91;

[0053] In some embodiments, please refer to the attached instructions. Figure 1-4, the seventh driving component 8 drives the U-shaped connecting plate 95 of the plug-in component of the quick-connecting component 9 to move downward, the U-shaped connecting plate 95 drives the square frame 91 to move downward, the square frame 91 is inserted on the outside of the plug-in block 93, the square frame 91 drives the pull plate 94 of the plug-in component to move downward, the plug-in block 93 contacts the inclined surface of the right triangle block 97 to push the right triangle block 97 to move outward, the plug-in block 93 drives the plug-in hole 96 to move to the right triangle block 97, the spring 92 drives the pull plate 94 to move toward the plug-in block 93, the plug-in block 93 drives the right triangle block 97 to be inserted into the plug-in hole 96, the pull plate 94, the right triangle block 97 and the plug-in hole 96 automatically lock the plug-in block 93 in the square frame 91 under the action of the pull plate 94, the right triangle block 97 and the plug-in hole 96, so that the seventh driving component 8 is conveniently installed on the sixth driving component 7;

[0054] Pull the pull plate 94 outwards, the pull plate 94 drives the right triangle block 97 to separate from the plug hole 96, pull the square frame 91 outwards, the square frame 91 is separated from the plug block 93, and the quick-connect assembly 9 is opened, which facilitates the disassembly of the seventh drive assembly 8;

[0055] The seventh driving assembly 8 includes a fixed frame 81, a bed board 85, a guide assembly and a driving assembly. The U-shaped connecting plate 95 is fixedly installed at the middle end of the bottom of the fixed frame 81. The front and rear inner walls of the fixed frame 81 are connected with guide assemblies. The bed board 85 is fixedly connected between the guide assemblies. The bottom of the bed board 85 is connected with a driving assembly for driving the bed board 85 to move. The driving assembly is connected to the fixed frame 81.

[0056] The guide assembly includes a slider 83 and a guide rail 84. The slider 83 is fixedly mounted on the front and rear inner walls of the fixed frame 81. The sliders 83 are equidistantly and slidably connected to the guide rail 84. The sliders 83 are symmetrically and fixedly mounted on the front and rear side walls of the bed board 85.

[0057] The driving assembly includes a driving motor 82, a threaded rod 86, a first fixing seat 87 and a second fixing seat 88. The left and right ends of the fixing frame 81 are respectively fixedly connected with the first fixing seat 87 and the driving motor 82. The driving end of the driving motor 82 is fixedly connected with the threaded rod 86, and the threaded rod 86 is rotatably connected to the first fixing seat 87. The second fixing seat 88 is threadedly connected to the threaded rod 86 through a threaded sleeve, and the second fixing seat 88 is fixedly installed at the bottom of the end of the bed board 85 close to the driving motor 82.

[0058] The driving motor 82 of the driving assembly of the seventh driving assembly 8 drives the threaded rod 86 to rotate, and the threaded rod 86 drives the second fixed seat 88 to move. Under the action of the slider 83 and the guide rail 84 of the guide assembly, the bed board 85 moves linearly, and then cooperates with the first driving assembly 2, the second driving assembly 3, the third driving assembly 4, the fourth driving assembly 5, the fifth driving assembly 6 and the sixth driving assembly 7, so that the bed board 85 on the entire treatment bed meets various positioning requirements required during treatment, and realizes the patient's up and down movement, left and right translation, tilt, pitch and linear movement, etc.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seven-degree-of-freedom robotic treatment bed, comprising a fixed base (1), characterized in that: A first driving assembly (2) is fixedly connected to the top of the fixed base (1); The driving end of the first driving component (2) is fixedly connected to the second driving component (3); The driving end of the second driving assembly (3) is fixedly connected to the third driving assembly (4); The driving end of the third driving assembly (4) is fixedly connected to the fourth driving assembly (5); The driving end of the fourth driving assembly (5) is fixedly connected to the fifth driving assembly (6); The driving end of the fifth driving assembly (6) is fixedly connected to the sixth driving assembly (7); The sixth driving assembly (7) is drivingly connected to a quick-connect assembly (9) for quick disassembly and assembly; The top of the quick-connect assembly (9) is connected to a seventh driving assembly (8) for patient translation.

2. The seven-degree-of-freedom robot treatment bed according to claim 1, characterized in that: The quick-connect assembly (9) comprises a plug-in assembly and a self-locking locking assembly. The output end of the plug-in assembly and the sixth drive assembly (7) is fixedly connected to the quick-connect assembly (9), and the self-locking locking assembly is connected to the plug-in assembly.

3. The seven-degree-of-freedom robot treatment bed according to claim 2, characterized in that: The plug-in assembly comprises a square frame (91), an insert block (93) and a U-shaped connecting plate (95); the square frame (91) is fixedly connected at the middle end of the U-shaped connecting plate (95); the insert block (93) is inserted into the square frame (91); and the U-shaped connecting plate (95) is fixedly mounted on the bottom of the seventh driving assembly (8).

4. The seven-degree-of-freedom robot treatment bed according to claim 3, characterized in that: The self-locking locking assembly comprises a spring (92), a pull plate (94), a plug-in hole (96) and a right triangle block (97); the plug-in hole (96) is provided on the side wall of the plug-in block (93); the spring (92) is fixedly connected to the square frame (91); the outer end of the spring (92) is fixedly connected to the pull plate (94); the inner end of the pull plate (94) is fixedly connected to the right triangle block (97); the inclined surface of the right triangle block (97) is arranged downward; when the square frame (91) moves downward, the plug-in block (93) first contacts the inclined surface of the right triangle block (97), and the right triangle block (97) is plugged into the plug-in hole (96).

5. The seven-degree-of-freedom robot treatment bed according to claim 4, characterized in that: When the right triangle block (97) is plugged into the plug hole (96), the spring (92) is in the original state.

6. The seven-degree-of-freedom robotic treatment bed according to claim 5, characterized in that: The pull plate (94) is movably connected to the movable groove provided in the square frame (91).

7. The seven-degree-of-freedom robotic treatment bed according to any one of claims 2 to 6, characterized in that: The seventh driving assembly (8) comprises a fixed frame (81), a bed board (85), a guide assembly and a driving assembly, wherein the U-shaped connecting plate (95) is fixedly mounted at the middle end of the bottom of the fixed frame (81), the front and rear inner walls of the fixed frame (81) are both connected with the guide assemblies, the bed board (85) is fixedly connected between the guide assemblies, the bottom of the bed board (85) is connected with a driving assembly for driving the bed board (85) to move, and the driving assembly is connected to the fixed frame (81).

8. The seven-degree-of-freedom robotic treatment bed according to claim 7, characterized in that: The guide assembly comprises a slider (83) and a guide rail (84), wherein the slider (83) is fixedly mounted on the front and rear inner walls of the fixed frame (81), the guide rail (84) is equidistantly and position-limitedly slidably connected with the slider (83), and the slider (83) is symmetrically and fixedly mounted on the front and rear side walls of the bed board (85).

9. The seven-degree-of-freedom robotic treatment bed according to claim 8, characterized in that: The driving assembly comprises a driving motor (82), a threaded rod (86), a first fixing seat (87) and a second fixing seat (88); the left and right ends of the fixing frame (81) are respectively fixedly connected with the first fixing seat (87) and the driving motor (82); the driving end of the driving motor (82) is fixedly connected with the threaded rod (86), and the threaded rod (86) is rotatably connected to the first fixing seat (87); the second fixing seat (88) is threadedly connected to the threaded rod (86) through a threaded sleeve, and the second fixing seat (88) is fixedly installed on the bottom of the end of the bed board (85) close to the driving motor (82).

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