Omnibearing anti-collision radiotherapy equipment

Abstract

The utility model discloses an omnibearing anti-collision radiotherapy device comprising a movable pedestal, the pedestal is provided with a mechanical arm, the tail end of the mechanical arm is provided with a treatment head, the pedestal is provided with at least two distance measuring sensors, the beam outlet end of the treatment head is provided with a pressure sensor, and the beam outlet end of the treatment head is provided with a pressure sensor. At least two distance measuring sensors jointly form a 360-degree scanning range, the omni-directional anti-collision radiotherapy equipment is further provided with a controller, the controller is in communication connection with the pressure sensor and used for controlling start and stop of the mechanical arm, and the controller is in communication connection with the distance measuring sensors and used for controlling start and stop of the base. The anti-collision device has an all-directional and multi-protection anti-collision function, and comprehensively protects the safety of the radiotherapy equipment during the operation in the using process.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to a radiotherapy device with all-around anti-collision protection. Background Technology

[0002] Traditional robotic arm collision avoidance systems rely on sensors or path planning, but they are often easily damaged when they collide with the outer contact area of ​​the robotic arm base.

[0003] During intraoperative radiotherapy, due to limited vision, operators may overlook the positional relationship between the radiotherapy equipment and other devices, leading to equipment collisions. Similarly, during the flexible traction or visual alignment of the treatment head, operators may focus more on the radiation beam and light limiter of the radiotherapy equipment, neglecting the positional relationship between the robotic arm and other surrounding devices. This could result in more serious collisions, damaging the robotic arm system or even the radiation source system. Utility Model Content

[0004] To address the problems existing in the prior art, the purpose of this utility model is to provide a comprehensive anti-collision radiotherapy device. This utility model has comprehensive and multi-layered anti-collision functions, fully protecting the safety of the radiotherapy device during the operation.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: an all-around anti-collision radiotherapy device, including a movable base, a robotic arm mounted on the base, and a treatment head at the end of the robotic arm. The device is characterized in that at least two ranging sensors are mounted on the base, and a pressure sensor is mounted at the beam exit end of the treatment head. The at least two ranging sensors together constitute a 360-degree scanning range. The all-around anti-collision radiotherapy device also includes a controller, which is communicatively connected to the pressure sensor to control the start and stop of the robotic arm, and communicatively connected to the ranging sensor to control the start and stop of the base.

[0006] As a further improvement of this utility model, the outer contact area of ​​the base is equipped with a ring of fully enclosed anti-collision rubber strip.

[0007] As a further improvement of this utility model, the anti-collision strip is made of rubber elastic material.

[0008] As a further improvement of this utility model, the top of the treatment head is also provided with a pressure sensor that is communicatively connected to the controller.

[0009] As a further improvement of this utility model, the ranging sensor is a laser ranging sensor.

[0010] As a further improvement of this utility model, the number of distance measuring sensors is two, and the two distance measuring sensors are located at the diagonal position of the base. The scanning angle of each distance measuring sensor is 270 degrees, so that the two distance measuring sensors form a 360-degree scanning range.

[0011] As a further improvement of this utility model, the ranging sensor has an alarm mode and an emergency stop mode. When the distance between the ranging sensor and the obstacle is between a first preset distance and a second preset distance, the controller controls the radiotherapy equipment to enter the alarm mode. When the distance between the sensor and the obstacle is less than the first preset distance, the controller controls the radiotherapy equipment to enter the emergency stop mode.

[0012] As a further improvement of this utility model, the pressure sensor is a capacitive pressure sensor or a resistive pressure sensor.

[0013] As a further improvement of this utility model, the pressure sensor has a preset braking threshold. When the pressure sensor is subjected to pressure greater than the preset braking threshold, the controller controls the robotic arm to brake in an emergency.

[0014] As a further improvement of this utility model, the beam-out end of the treatment head is provided with a protective cover for shielding the beam-out end of the treatment head, and the pressure sensor is connected to the end of the treatment head through the protective cover.

[0015] The beneficial effects of this utility model are:

[0016] 1. All-round collision avoidance: Combining the outer anti-collision strips, the base laser rangefinder sensor, and the pressure sensor at the end of the robotic arm, when the distance between the laser rangefinder sensor and the obstacle is between 0.2m and 1m, the controller controls the radiotherapy equipment to enter alarm mode; when the distance between the laser rangefinder sensor and the obstacle is less than 0.3m, the controller controls the radiotherapy equipment to enter emergency stop mode. In addition, the threshold of the pressure sensor is 10N. When the pressure sensor is subjected to pressure greater than 10N, the controller controls the robotic arm to brake urgently; thus achieving all-round and efficient collision avoidance for the robotic arm and the base.

[0017] 2. Reduced damage: The anti-collision strips around the base can effectively reduce the impact force during collisions and reduce the risk of damage to the robotic arm base.

[0018] 3. Real-time response: The use of laser rangefinders on the base and pressure sensors at the end of the robotic arm enables rapid response when a collision threat is detected in real time, thus improving response speed.

[0019] 4. Enhanced safety: With comprehensive anti-collision design, it can operate more safely and reliably in various working environments.

[0020] 5. Multiple protections: Multiple collision protections are achieved through laser rangefinders, anti-collision strips, pressure sensors, and other means. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0022] Figure 2 This is a flowchart illustrating the anti-collision logic in an embodiment of this utility model.

[0023] Figure 3 This is a schematic diagram showing the scanning range of two ranging sensors in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram showing the scanning range of four ranging sensors in an embodiment of this utility model.

[0025] Figure label:

[0026] 1. Treatment head, 2. Robotic arm, 3. Base, 4. Distance sensor, 5. Pressure sensor, 6. Anti-collision strip, 7. Protective cover. Detailed Implementation

[0027] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0028] Example

[0029] like Figure 1 As shown, a 360-degree anti-collision radiotherapy device includes a movable base 3, a robotic arm 2 mounted on the base 3, and a treatment head 1 at the end of the robotic arm 2. The device is characterized by having at least two ranging sensors 4 on the base 3 and a pressure sensor 5 at the beam exit end of the treatment head 1. The at least two ranging sensors 4 together form a 360-degree scanning range. The 360-degree anti-collision radiotherapy device also includes a controller. The controller is communicatively connected to the pressure sensor 5 to control the start and stop of the robotic arm 2, and to the ranging sensors 4 to control the start and stop of the base 3. A fully enclosed anti-collision rubber strip 6 is installed around the outer contact area of ​​the base 3. The communication connection referred to in this embodiment includes wired connections such as circuit connections and Ethernet cable connections, as well as wireless connections such as WiFi, cellular networks, and Bluetooth.

[0030] Controller: It can be installed on the radiotherapy equipment for wired connection control, or it can be made into a remote device for remote wireless connection control. The controller can be manually controlled by the operator or automatically controlled based on the preset program in the radiotherapy equipment.

[0031] Robotic arm 2: In this utility model, the robotic arm refers to a mechanical structure that can rotate and / or move, such as a bionic robotic hand or a multi-degree-of-freedom mechanical device.

[0032] Outer anti-collision strip 6: A ring of anti-collision strip 6 is installed around the outer contact area of ​​the base 3. Its main purpose is to absorb collision energy, thereby effectively reducing the risk of damage to the base 3 during collision. The strip is made of elastic materials such as rubber, and the thickness of the strip is preferably 5mm. When the laser rangefinder fails, when the base 3 collides with an obstacle, the anti-collision strip absorbs the collision energy, effectively reducing the risk of damage to the robotic arm base.

[0033] Distance sensor 4: such as Figure 3 As shown, two distance sensors 4 are located at two positions diagonally opposite to the base 3, with a scanning angle of 270 degrees. These two sensors enable omnidirectional distance measurement of the environment surrounding the base 3, ensuring a safe distance between the base 3 and its surroundings. The distance sensors 4 can be laser distance sensors, ultrasonic distance sensors, infrared distance sensors, radar distance sensors, or other sensors used for distance measurement.

[0034] Pressure sensor 5 at the end of the treatment head: Specifically, a transparent protective cover 7 is provided around the outer periphery of the treatment head beam outlet end, and a pressure sensor 5 is provided along the lower edge of the protective cover 7. The pressure sensor 5 can be capacitive or resistive, and is used to sense the possible collision at the treatment head beam outlet end before the actual collision, so that it can lock the robotic arm 2 in time or keep the robotic arm 2 away from the collision object.

[0035] Collision avoidance is achieved by using distance sensor 4 and pressure sensor 5 to identify potential collisions based on real-time environmental data. Upon detection of a potential collision, the controller controls the movement of the robotic arm 2 and the base 3, and immediately takes appropriate preventative measures, such as stopping movement or adjusting the path, when a potential collision threat is detected.

[0036] Controlling the movement of radiotherapy equipment: In this embodiment, the radiotherapy equipment is remotely controlled by a controller to move it to the final treatment position.

[0037] Distance sensor 4 measures the surrounding environment: During the movement of the radiotherapy equipment, distance sensor 4 scans the surrounding environment, measures distance, and detects the presence of obstacles. The scanning angle of distance sensor 4 reaches 270 degrees; two diagonally positioned distance sensors 4 can achieve omnidirectional monitoring of the environment surrounding the base. For example... Figure 4 As shown, four ranging sensors 4 can also be set, and the four ranging sensors 4 together form a 360-degree scanning range. In this utility model, there are no further restrictions on the number of ranging sensors 4 or the scanning angle of a single ranging sensor 4; it is only necessary to ensure that at least two ranging sensors 4 together form a 360-degree scanning range.

[0038] like Figure 2 As shown, the principle of all-around collision avoidance in this embodiment is as follows:

[0039] When the data from the capacitive sensor at the end of the treatment head 1 reaches the collision threshold, the controller stops the movement of the robotic arm 2; otherwise, the movement of the robotic arm 2 continues. Similarly, when the data from the ranging sensor 4 reaches the collision threshold, the movement of the base 3 is stopped; otherwise, the movement of the base 3 continues.

[0040] Specifically, if the ranging sensor 4 detects an obstacle interfering with the treatment position it is about to reach, the system enters a warning state and takes corresponding measures. When a potential collision threat is detected, the system issues a warning signal to alert the operator of the danger. If the obstacle affects the treatment position, the system triggers an emergency stop mechanism to ensure the radiotherapy equipment does not continue moving forward, preventing a collision. Specifically, the ranging sensor 4 has an alarm mode and an emergency stop mode. When the distance between the ranging sensor 4 and the obstacle is between a first preset distance and a second preset distance, the controller controls the radiotherapy equipment to enter the alarm mode. The alarm mode refers to a state where the radiotherapy equipment is equipped with a buzzer or other sound source device, which emits sound, or a light source device such as a light-emitting diode emits light, to warn the operator. When the distance between the ranging sensor 4 and the obstacle is less than the first preset distance, the controller controls the radiotherapy equipment to enter the emergency stop mode. The emergency stop mode refers to a braking device on the radiotherapy equipment that stops the base from moving. In fact, the first preset distance is the stopping threshold of the ranging sensor 4; in this embodiment, the first preset distance is preferably 0.2m. The second preset distance is the alarm threshold of the ranging sensor 4. In this embodiment, the second preset distance is preferably 1m. In other embodiments, the first preset distance and the second preset distance can be adapted to change. This utility model does not impose specific limitations on the values ​​of the first preset distance and the second preset distance.

[0041] The pressure sensor 5 at the end of the treatment head 1 senses the surrounding environment in real time, especially in the contact area of ​​the treatment head 1. When the end of the treatment head 1 is about to reach the patient's treatment site, the pressure sensor 5 determines whether there is a potential collision threat to ensure the patient's safety. Collisions can be prevented by adjusting the movement trajectory of the robotic arm 2 or by stopping its movement. The pressure sensor 5 can be capacitive or resistive. The principle is that when a collision occurs, the current or voltage value output by the pressure sensor 5 changes due to the pressure change. When this change is detected, the movement of the robotic arm is stopped to reduce collision damage. The pressure sensor 5 has a preset braking threshold. When the pressure on the pressure sensor 5 exceeds the preset braking threshold, in this embodiment, the preset braking threshold is preferably 10N. In other embodiments, the preset braking threshold can be 8N, 9N, etc. This invention does not impose a specific limitation on the value of the preset braking threshold. The controller controls the robotic arm 2 to brake urgently. Its placement is at the end of the treatment head 1 because, from the perspective of motion trajectory planning and motion alignment, the distance between the obstacle and the target is closest at the end of the treatment head 1, making it the most likely to collide. Therefore, placing it at this position is optimal. In addition, a pressure sensor 5 that communicates with the controller can also be set at the top of the treatment head 1 to cope with more complex application scenarios and prevent the top of the treatment head 1 from colliding with obstacles.

[0042] Based on data from the laser rangefinder and capacitive sensor, potential collision threats can be identified in real time. The system offers a fast response time, enabling immediate collision avoidance measures upon threat detection to ensure the safety of both the equipment and the patient. This technological solution makes radiotherapy equipment safer and more reliable during movement and treatment, avoiding potential harm to the entire radiotherapy unit and the patient from collisions.

[0043] The embodiments described above merely illustrate specific implementations of this utility model, and while the descriptions are detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A 360° anti-collision radiotherapy device, comprising a movable base, a robotic arm mounted on the base, and a treatment head at the end of the robotic arm, characterized in that, The base is equipped with at least two ranging sensors, and the beam exit end of the treatment head is equipped with a pressure sensor. The at least two ranging sensors together form a 360-degree scanning range. The all-around anti-collision radiotherapy device is also equipped with a controller. The controller is communicatively connected to the pressure sensor to control the start and stop of the robotic arm. The controller is also communicatively connected to the ranging sensor to control the start and stop of the base.

2. The all-around anti-collision radiotherapy device according to claim 1, characterized in that, The outer contact area of ​​the base is equipped with a ring of fully enclosed anti-collision rubber strips.

3. The all-around anti-collision radiotherapy device according to claim 2, characterized in that, The anti-collision strip is made of elastic rubber material.

4. The all-around anti-collision radiotherapy device according to claim 1, characterized in that, The top of the treatment head is also equipped with a pressure sensor that communicates with the controller.

5. The all-around anti-collision radiotherapy device according to claim 1, characterized in that, The ranging sensor is a laser ranging sensor.

6. The all-around anti-collision radiotherapy device according to claim 1, characterized in that, The number of distance measuring sensors is two, and the two distance measuring sensors are located diagonally on the base. The scanning angle of each distance measuring sensor is 270 degrees, so that the two distance measuring sensors form a 360-degree scanning range.

7. The all-around anti-collision radiotherapy device according to claim 1, characterized in that, The ranging sensor has an alarm mode and an emergency stop mode. When the distance between the ranging sensor and the obstacle is between a first preset distance and a second preset distance, the controller controls the radiotherapy equipment to enter the alarm mode. When the distance between the sensor and the obstacle is less than the first preset distance, the controller controls the radiotherapy equipment to enter the emergency stop mode.

8. The all-around anti-collision radiotherapy device according to claim 1, characterized in that, The pressure sensor is either a capacitive pressure sensor or a resistive pressure sensor.

9. The all-around anti-collision radiotherapy device according to any one of claims 1-8, characterized in that, The pressure sensor has a preset braking threshold. When the pressure sensor is subjected to pressure greater than the preset braking threshold, the controller controls the robotic arm to brake in an emergency.

10. The all-around anti-collision radiotherapy device according to claim 1, characterized in that, The treatment head has a protective cover at the beam exit end to shield it, and the pressure sensor is connected to the end of the treatment head through the protective cover.

Images