Patient moving composite robot for proton therapy

Abstract

The utility model provides a patient moving composite robot for proton treatment. An AGV chassis is a moving platform with an in-situ rotating function and can be fixed to the ground through magnetic adsorption; the linear motion module is located on the AGV chassis and used for bearing the series robot, the parallel robot and the treatment bed. The bottom of the series robot is arranged on the linear motion module and is used for realizing rotation, lifting or swinging; the bottom of the parallel robot is arranged at the end, capable of rotating, of the series robot, and the parallel robot and the series robot jointly support the treatment bed. And the treatment bed is made of a non-metal high polymer material, is positioned at the top of the parallel robot and the serial robot and is used for bearing a patient. The transfer bed is used for CT scanning and proton treatment transfer work in the proton treatment process, and it is ensured that the poses of the treatment bed and the tail end of the series robot are kept unchanged in the transfer process of a patient. The device is simple in structure and convenient to operate, and has wide popularization significance.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field, specifically, relate to a patient mobile composite robot for proton therapy. BACKGROUND

[0002] Proton therapy accelerator is a kind of medical equipment specially used for cancer treatment, it kills cancer cells by accelerating proton (positively charged subatomic particle) and accurately guiding it to tumor site.Currently small proton therapy needs to be transported to the patient proton therapy accelerator after the lesion area is scanned by CT, for the patient needs a kind of posture stable mobile robot, there is no such product on the market at present.

[0003] Through the retrieval, China utility model patent 201721661036.X discloses a patient support device for a magnetic resonance apparatus and a magnetic resonance system, which is provided with a height adjustment section and a structure part, the structure part can also be called as a carrying frame and is used as a guide for a lying plate, but its operation and structure cannot meet the needs of proton therapy. SUMMARY

[0004] In view of the defects in the prior art, the utility model aims at providing a patient mobile composite robot for proton therapy, which is used for CT scanning and proton therapy transportation work in the process of proton therapy, to ensure that the pose of treatment bed and the end of series robot remains unchanged during transportation.

[0005] To achieve the above object, the utility model provides a patient mobile composite robot for proton therapy, comprising: AGV chassis, linear motion module, series robot, parallel robot and treatment bed, wherein:

[0006] The AGV chassis is a mobile platform with in-place rotation function, which can be fixed to the ground by magnetic adsorption;

[0007] The linear motion module is located on the AGV chassis and is used for carrying series robot, parallel robot and treatment bed;

[0008] The bottom of series robot is arranged on the linear motion module, for realizing rotation, lifting or swinging;

[0009] The bottom of parallel robot is arranged on the one end of series robot capable of rotating, and parallel robot and series robot jointly support the treatment bed;

[0010] The treatment bed is made of non-metallic polymer material, is located on the top of parallel robot and series robot, and is used for carrying patient.

[0011] Optionally, the AGV chassis is a rectangle, and the series robot and the parallel robot move linearly in the long side direction of the rectangle.

[0012] Optionally, the AGV chassis further comprises a magnetic adsorption mechanism for fixing to the ground by magnetic adsorption, wherein the magnetic adsorption mechanism comprises a rotating actuator and a double-diameter adsorption component connected to the rotating actuator, and the rotating actuator drives the double-diameter adsorption component to rotate, thereby realizing adsorption or release of the magnetic adsorption and completing fixing or unlocking to the ground.

[0013] Optionally, the double-diameter adsorption component is provided with a long-diameter end and a short-diameter end, wherein the long-diameter end is a ferroboron permanent magnet, and the short-diameter end is a common metal material, the rotating actuator drives the long-diameter end and the short-diameter end to rotate to realize position switching, when the long-diameter end contacts the ground, adsorption fixing to a metal plate pre-buried in the ground is realized, and when the short-diameter end contacts the ground, adsorption release to the metal plate pre-buried in the ground is realized.

[0014] Optionally, the long-diameter end and the short-diameter end are arc shapes provided with the same center, wherein the short-diameter end is a part of an arc shape of a circular shape formed by a common metal material, and the arc shape of the other part of the circular shape is wrapped with a ferroboron permanent magnet to form the long-diameter end.

[0015] Optionally, the series robot has four degrees of freedom, including three rotational degrees of freedom and one lifting or swinging degree of freedom, from the output connection end of the linear motion module, the first degree of freedom is a plane rotational degree of freedom, the second degree of freedom is a lifting degree of freedom, the third degree of freedom is a plane rotational degree of freedom, and the fourth degree of freedom is a plane rotational degree of freedom, and the actuating components of the four degrees of freedom are composed of an alternating current servo motor and an RV reducer.

[0016] Optionally, the parallel robot is a parallel mechanism with six degrees of freedom, and a rotating joint at the end of the series robot is connected to the bottom of the parallel robot.

[0017] Optionally, the parallel robot comprises a bottom, six linear actuating units and a top, one end of the linear actuating unit is a fixed end connected to the bottom, the other end of the linear actuating unit is a linear motion end connected to the top and performing linear extension and contraction along the axis of the linear actuating unit to drive the top to move.

[0018] Optionally, the linear actuating unit is axially inclined relative to the bottom.

[0019] Compared with the prior art, the utility model has at least one of the following beneficial effects:

[0020] 1. The utility model is used to CT scanning and proton therapy transfer work in the proton therapy process, through the cooperation of parallel, series connection robot etc., can realize the operation of multiple forms including rotation, lifting, swing etc., can ensure that the pose of the treatment bed and the end of the series connection robot remains unchanged during the transfer process.

[0021] 2. The utility model is used to CT scanning and proton therapy transfer work in the proton therapy process, through adopting AGV chassis as a mobile platform, can automatic guiding function, and further, the AGV chassis can select the AGV chassis with the functions such as sensing, navigation, control, obstacle avoidance.

[0022] 3. The utility model is used to CT scanning and proton therapy transfer work in the proton therapy process, the AGV chassis is fixed through the cooperation of magnetic adsorption mode and the metal plate preburied on the ground, and through the setting of specific magnetic adsorption structure, can conveniently realize adsorption fixation and adsorption release, realize the fixation or unlocking of the whole robot with the ground. BRIEF DESCRIPTION OF DRAWINGS

[0023] Other features, objects and advantages of the utility model will become more apparent through reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0024] Figure 1 It is the patient mobile composite robot structure schematic view of an embodiment of the utility model;

[0025] In the drawing: 100-AGV chassis, 200-linear motion module, 300-series connection robot, 400-parallel robot, 500-treatment bed padlock body;

[0026] Figure 2 It is AGV chassis schematic view of an embodiment of the utility model;

[0027] In the drawing: 101-AGV body, 102-magnetic adsorption mechanism;

[0028] Figure 3 (Include Figure 3 a, Figure 3 b) It is magnetic adsorption mechanism schematic view of an embodiment of the utility model;

[0029] In the drawing: 301-rotation execution mechanism, 302-bi-diameter adsorption part, 3021-long diameter end, 3022-short diameter end 3022;

[0030] Figure 4 It is linear motion module schematic view of an embodiment of the utility model;

[0031] Figures 5a-5d It is series connection robot principle schematic view of an embodiment of the utility model;

[0032] Figure 6a 、 6b Another principle schematic view of the series robot of an embodiment of the present application;

[0033] Figure 7 Schematic view of the parallel robot of an embodiment of the present application:

[0034] In the figure: 401-bottom, 402-linear actuator unit, 403-top. DETAILED DESCRIPTION

[0035] The present application will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made. These all belong to the protection scope of the present application.

[0036] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation of the present application. It should be understood that the terms "first", "second" and the like in the following embodiments are used to distinguish different objects, and are not used to describe a specific order. The terms "include" and "contain" used indicate the presence of the described features, whole, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, whole, steps, operations, elements, components and / or sets thereof.

[0037] As Figure 1 shown, the present application provides a patient moving composite robot for proton therapy, comprising: AGV chassis 100, linear motion module 200, series robot 300, parallel robot 400 and treatment bed 500. Wherein: AGV chassis 100 is a mobile platform with rotation function, which can be fixed to the ground by magnetic adsorption; the linear motion module 200 is located on the AGV chassis 100, used to carry the series robot 300, the parallel robot 400 and the treatment bed 500; the bottom of the series robot 300 is arranged on the linear motion module 200, used to realize rotation, lifting or swinging; the bottom of the parallel robot 400 is arranged on one end of the series robot 300 capable of rotating, and supports the treatment bed 500 together with the series robot 300; the treatment bed 500 is made of non-metallic polymer material, located at the top of the parallel robot 400 and the series robot 300, used to carry the patient.

[0038] The embodiment is used for CT scanning and proton therapy transportation work in the proton therapy process. A patient lies on a treatment bed 500 made of a non-metallic polymer material, which does not affect the proton therapy. Through cooperation between the linear motion module 200, the serial robot 300 and the parallel robot 400, the position of the patient on the treatment bed 500 and the end of the serial robot 300 can be kept unchanged during rotation, lifting and swinging. In addition, the AGV chassis 100 can realize automatic guided walking until reaching the specified position. The AGV chassis 100 is fixed to the ground by magnetic adsorption, which is convenient and fast to operate.

[0039] In some preferred embodiments, the AGV chassis 100 is a rectangle. The serial robot 300 and the parallel robot 400 move linearly in the long direction of the rectangle of the AGV chassis 100. That is, the AGV chassis 100 is a heavy-duty rectangular mobile platform with the ability of movement, positioning and navigation, which can ensure the movement of the serial robot 300 and the parallel robot 400 arranged thereon while realizing automatic guided walking.

[0040] In some preferred embodiments, as shown in Figure 2 To better realize the guided walking and fixation of the AGV chassis 100, a metal plate is generally pre-buried on the ground in the area where the robot is used. In this way, the AGV chassis 100 is provided with a magnetic adsorption mechanism 102 for fixation by magnetic adsorption with the pre-buried metal plate on the ground. As shown in Figure 2 The AGV chassis 100 includes an AGV body 101 and a magnetic adsorption mechanism 102. The AGV body 101 is a mobile platform with the functions of sensing, navigation, control, obstacle avoidance and the like, and has the function of rotating in place.

[0041] As shown in Figure 3 a、 Figure 3 b, in order to simplify the operation of magnetic adsorption and avoid affecting the position of the patient on the treatment bed, a specially structured magnetic adsorption mechanism 102 is used in some embodiments. The magnetic adsorption mechanism 102 includes a rotating actuator 301 and a double-diameter adsorption component 302. The double-diameter adsorption component 302 with magnetism is connected to the rotating actuator 301. The rotating actuator 301 drives the double-diameter adsorption component 302 to rotate, so as to realize adsorption or release of magnetic adsorption, and complete fixation or unlocking with the ground.

[0042] Specifically, the double-diameter adsorption component 302 is provided with a long-diameter end 3021 and a short-diameter end 3022, wherein the long-diameter end 3021 is a ferro-boron permanent magnet, and the short-diameter end 3022 is a common metal material. The rotating actuator 301 drives the long-diameter end 3021 and the short-diameter end 3022 to rotate to realize position switching. When the long-diameter end 3021 is in contact with the ground, it realizes adsorption and fixation with the metal plate pre-buried in the ground. When the short-diameter end 3022 is in contact with the ground, it realizes adsorption and release with the metal plate pre-buried in the ground. As shown in Figure 3 a、 Figure 3 b, in an embodiment, the long-diameter end 3021 and the short-diameter end 3022 are arc-shaped and arranged at the same center, wherein the short-diameter end 3022 is a part of the arc-shaped circle formed by a common metal material, and the arc-shaped outer periphery of the other part of the circle is wrapped with a ferro-boron permanent magnet to form the long-diameter end 3021. In this embodiment, the long-diameter end 3021 and the short-diameter end 3022 each occupy about half of the arc of the circle, and the rotation switching is realized by wrapping, which is simple in structure, convenient to operate, and small in overall volume.

[0043] The magnetic adsorption mechanism 102 with the above structure realizes the relative fixation of the AGV body 101 and the metal plate when the AGV body 101 moves to the required position and the metal plate is pre-buried in the road surface, and the rotating actuator 301 switches the long-diameter end 3021 to the upper surface of the metal plate. The relative release between the AGV body 101 and the metal plate is realized when the rotating actuator 301 switches the short-diameter end 3022 to the upper surface of the metal plate.

[0044] As shown in Figure 4 , the linear motion module 200 can be realized by a lead screw transmission or a belt transmission, Figure 4 which is a schematic diagram of the lead screw transmission.

[0045] In some embodiments, as shown in Figures 5a-5d , Figure 6a , 6b , the serial robot 300 has four degrees of freedom, including three rotational degrees of freedom and one lifting or swinging degree of freedom. From the output connection end of the linear motion module 200, the first degree of freedom is a plane rotational degree of freedom, the second degree of freedom is a lifting degree of freedom, the third degree of freedom is a plane rotational degree of freedom, and the fourth degree of freedom is a plane rotational degree of freedom. The output shafts of the first, third and fourth degrees of freedom are parallel, the output shafts of the second and first degrees of freedom are orthogonal and perpendicular, and the rotational joint configurations of the four degrees of freedom are consistent. The actuating components of the four degrees of freedom are composed of an alternating current servo motor and an RV reducer.

[0046] Figure 5d In some embodiments, the second degree of freedom of the serial robot 300 is lifted by a lead screw.

[0047] Figure 6b In particular, the second degree of freedom of the serial robot 300 is realized by the swing of the parallelogram structure.

[0048] In some embodiments, the parallel robot 400 is a parallel mechanism with six degrees of freedom, and the rotation joint of the end of the serial robot 300 is connected to the bottom of the parallel robot 400. The serial robot 300 can be regarded as a serial robot arm composed of multiple rotation joints, and the output end of the serial robot arm is connected to the parallel robot 400.

[0049] As shown in Figure 7 The parallel robot 400 includes a bottom 401, six linear actuator units 402, and a top 403. The linear actuator units 402 are arranged in an axial direction relative to the bottom 401, one end (fixed end) of the linear actuator units 402 is connected to the bottom 401, the other end (linear motion end) 403 of the linear actuator units 402 is connected to the top 403, and the linear actuator units 402 perform linear extension and retraction along the axis of the linear actuator units 402 to drive the top 403 to move.

[0050] The linear actuator unit 402 can be composed of an alternating current servo motor and a linear transmission structure. The linear transmission structure includes but is not limited to a lead screw transmission, a pulley transmission, etc.

[0051] The patient moving composite robot for proton therapy described above is used as follows:

[0052] CT detection: The patient is moved to the vicinity of the CT machine by the AGV chassis 100, the linear motion module 200, the serial robot 300, the parallel robot 400, and the treatment bed. The magnetic adsorption mechanism of the AGV chassis 10 drives the double-diameter adsorption components to move to the long-diameter end position through the rotary actuator, and is adsorbed to the metal ground. The linear motion module 200 and the serial robot 300 are used in cooperation to send the patient into the CT machine for inspection. Specifically, the three rotation degrees of freedom and one lifting or swinging degree of freedom of the serial robot 300 can change the position or posture of the treatment bed where the patient is located during the detection process. For example, through the rotation degree of freedom, the rotation of a certain joint of the serial robot 300 is realized, and through the lifting or swinging degree of freedom, the lifting or swinging of the position of the treatment bed is realized. The rotation and swing of the serial robot 300 are all within the range defined by the linear motion module 200, that is, within the range of the long side of the AGV chassis 100. The movement of each joint can be driven by an alternating current servo motor and an RV reducer, so as to realize the requirements of different positions and postures.

[0053] Patient transportation: the linear motion module 200 and the serial robot 300 are used in cooperation to collect and expand the patient to the treatment bed above the AGV chassis 100. The magnetic adsorption mechanism of the AGV chassis 100 drives the double-diameter adsorption components to move to the short-diameter end position through the rotary actuator, and is released from the metal ground. The linear motion module 200, the serial robot 300, the parallel robot 400 and the treatment bed are driven by the AGV chassis 100 to move the patient to the vicinity of the proton therapy machine. Referring to Figure 5a As shown in the drawings, the serial robot 300 and the parallel robot 400 are arranged between the AGV chassis 100 and the treatment bed in a similar side-by-side manner. The last joint, i.e. the fourth degree of freedom (rotary degree of freedom), of the serial robot 300 is provided with the parallel robot 400. Since the top of the serial robot 300 and the parallel robot 400 is connected to the treatment bed, after the rotation of the last joint (the fourth degree of freedom), the parallel robot 400 located on the last joint is rotated, thereby changing the position and direction of the treatment bed located on the parallel robot 400. Similarly, the other degrees of freedom of the serial robot 300 can also realize corresponding rotation and lifting, thereby changing the position and direction of the treatment bed located on the serial robot 300. Referring to Figure 5c 、 5d and Figure 6a 、 6b as shown in the drawings.

[0054] Proton therapy: the magnetic adsorption mechanism of the AGV chassis drives the double-diameter adsorption components to move to the long-diameter end position through the rotary actuator, and is adsorbed to the metal ground. The linear motion module 200 and the serial robot are used in cooperation to transport the patient to the working space range of the proton therapy machine. The parallel robot 400 drives the treatment bed to perform high-precision positioning on the patient, and moves the irradiation area of the patient to the focal position of the proton therapy machine.

[0055] In the utility model, the configuration of the parallel robot 400 can have multiple choices, including but not limited to the Stewart platform configuration. The transmission mode of the linear actuator unit 402 includes but is not limited to: planetary ball screw, ball screw, T-type screw, etc.

[0056] The utility model is used for CT scanning and proton therapy transfer work in the proton therapy process, ensures that the pose of the treatment bed 500 and the end of the serial robot 300 remains unchanged during the transfer process. The utility model has the advantages of simple structure, convenient operation and wide popularization significance.

[0057] The specific embodiments of the utility model are described above. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various modifications or changes within the scope of claims, which does not affect the essential content of the utility model.

Claims

1. A patient movement composite robot for proton therapy, characterized by, The application relates to an AGV chassis, a linear motion module, a serial robot, a parallel robot and a treatment bed. The AGV chassis is a moving platform with a function of rotating in situ and can be fixed to the ground through magnetic adsorption. The linear motion module is arranged on the AGV chassis and is used for bearing the serial robot, the parallel robot and the treatment bed. The bottom of the serial robot is arranged on the linear motion module and is used for realizing rotation, lifting or swinging. The bottom of the parallel robot is arranged on one end of the serial robot capable of rotating and supports the treatment bed together with the serial robot. The treatment bed is made of non-metallic polymer material and is arranged on the top of the parallel robot and the serial robot and is used for bearing a patient. The AGV chassis is a rectangle, and the serial robot and the parallel robot move linearly along the long side of the rectangle.

2. The patient movement composite robot for proton therapy of claim 1, wherein, The AGV chassis further comprises a magnetic adsorption mechanism used for being fixed to the ground through magnetic adsorption.

3. The patient movement composite robot for proton therapy of claim 1, wherein, The magnetic adsorption mechanism comprises a rotating actuating mechanism and a double-diameter adsorption component connected to the rotating actuating mechanism. The double-diameter adsorption component is provided with a long-diameter end and a short-diameter end.

4. The patient movement composite robot for proton therapy of claim 3, wherein, The long-diameter end is a ferrous boro-alloy permanent magnet, and the short-diameter end is made of ordinary metal material.

5. The patient movement composite robot for proton therapy of claim 4, wherein, The long-diameter end and the short-diameter end are arranged in the same circle center and are in arc shapes.

6. The patient movement composite robot for proton therapy of claim 1, wherein, The serial robot has four degrees of freedom, including three rotation degrees of freedom and one lifting or swinging degree of freedom.

7. The patient movement composite robot for proton therapy of claim 1, wherein, The parallel robot is a parallel mechanism with six degrees of freedom.

8. The patient movement composite robot for proton therapy of claim 7, wherein, The rotating joint of the end of the serial robot is connected to the bottom of the parallel robot.

9. The patient movement composite robot for proton therapy of claim 8, wherein, The parallel robot comprises a bottom, six linear actuating units and a top. One end of the linear actuating unit is a fixed end connected to the bottom. The other end of the linear actuating unit is a linear motion end connected to the top and performs linear stretching and retracting along the axis of the linear actuating unit to drive the top to move. The linear actuating unit is arranged in an axial inclination relative to the bottom.

10. The patient movement composite robot for proton therapy of claim 8, wherein, The linear actuating unit is composed of an alternating current servo motor and a linear transmission structure. The linear actuating unit is composed of an alternating current servo motor and a linear transmission structure.

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