Human chest and abdomen model for radiotherapy

Abstract

This invention discloses a human chest and abdomen model for radiotherapy, comprising a tumor movement mechanism and a skin movement mechanism. The tumor movement mechanism includes a tumor tray and a tumor tray drive mechanism, while the skin movement mechanism includes a tray assembly and a tray assembly drive mechanism. This invention uses two motors to control the undulations of the phantom's skin surface and the movement of the tumor trajectory, overcoming the limitations of existing technologies where the movements of these two components are coupled and difficult to control precisely, and achieving precise coordination of these two key movements.

Description

Technical Field

[0001] This utility model relates to the field of experimental physical models for respiratory motion compensation, and in particular to a physical model of the human chest and abdomen for radiotherapy to simulate human respiratory motion. Background Technology

[0002] Radiotherapy is one of the main treatment methods for thoracic and abdominal tumors, but its precision is severely hampered by changes in organ position and morphology caused by respiratory movements. Failure to accurately predict and compensate for respiratory movements will lead to target area expansion and increase the risk of damage to surrounding normal tissues. To address this challenge, technologies such as image-guided radiotherapy, respiratory gating, real-time tracking, and four-dimensional radiotherapy have been developed. However, the research and validation of these technologies urgently require a physical model that can highly simulate human respiratory movements and the trajectory of internal tumor movement.

[0003] Currently, respiratory motion phantoms generally consist of a phantom with a simulation mechanism placed inside to simulate related movements, such as skin surface movements. They are mainly divided into three categories: First, models based on simple reciprocating mechanisms, which are simple in structure and low in cost, but lack tissue simulation and have insufficient motion realism; second, biomimetic models based on flexible cavities, which simulate the surface morphology relatively realistically, but the movement of internal tumors is difficult to control precisely, and cannot meet the requirements of high-precision testing; and third, models based on multi-degree-of-freedom robots, which have precise trajectory control, but the system is complex, costly, and lacks biomechanical similarity.

[0004] In summary, existing respiratory motion physical models have limitations in terms of realism and controllability, making it difficult to simultaneously account for the biomechanical relationship between the undulations of the chest and abdomen and the movement of internal tumors. Therefore, it is essential to develop a biomimetic physical model that can simulate the periodic undulations of the body surface driven by real breathing, precisely control the movement of internal tumors, and possess advantages such as simple structure, precise control, and reasonable cost, in order to promote the development of precision radiotherapy technology. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings and defects of existing technologies and provide a human chest and abdomen model for radiotherapy. This model is a biomimetic model capable of robustly and accurately simulating the relationship between surface undulations and internal target areas during human respiratory movements. It can meet the requirements for respiratory motion compensation experiments using image-guided, respiratory gating, real-time tracking, and four-dimensional radiotherapy techniques.

[0006] This utility model is achieved through the following technical solution:

[0007] A human chest and abdomen model for radiotherapy includes a tumor motion mechanism and a skin motion mechanism. The tumor motion mechanism includes a tumor tray and a tumor tray drive mechanism, and the skin motion mechanism includes a tray assembly and a tray assembly drive mechanism.

[0008] Preferably, the tumor tray driving mechanism includes a first drive motor and a first drive rod. The output shaft of the first drive motor is connected to the first drive rod, and the first drive rod is connected to a first support through a first transmission mechanism. The tumor tray is mounted on the first support, and there is at least one tumor tray.

[0009] Preferably, the pallet group drive mechanism includes a second drive motor and a second drive rod. The output shaft of the second drive motor is connected to the second drive rod. The second drive rod is connected to a second bracket through a second transmission mechanism. The pallet group is mounted on the second bracket. The pallet group includes at least three pallets.

[0010] Preferably, the three trays are arranged in a triangular shape, and the second support is T-shaped. Each of the three ends of the T-shaped second support is connected to a vertical part, and the three trays are connected through the three vertical parts.

[0011] Preferably, the first transmission mechanism and the second transmission mechanism have the same structure.

[0012] Preferably, the first transmission mechanism / second transmission mechanism includes a sinusoidal mechanism capable of lifting and moving. The lower part of the sinusoidal mechanism is connected to a support column on the surface of the rotating disk through an elongated hole, and the upper part of the sinusoidal mechanism is connected to a first bracket / second bracket. The rotating disk is installed on the lower part of the upright plate and connected to a first drive motor / second drive motor.

[0013] Preferably, the upper part of the sinusoidal mechanism is Y-shaped, and the main structure of the middle part is slidably connected to the limiting groove on the upright plate. The upper structure of the Y-shape is connected to the first bracket / second bracket through one support and to the linkage rod that can rotate around the other end through another support. The other end of the linkage rod is hinged to the support.

[0014] Preferably, the support is installed on the inner surface of the U-shaped bracket body, and the U-shaped bracket body is installed on a three-dimensional surface.

[0015] Preferably, the upper part of the upright plate has a hole, two trays on the second support are on the first side of the upright plate, and another tray is on the opposite second side of the upright plate. The second bracket of the second support connected to the tray on the second side passes through the hole, and the second bracket connected to the two trays on the first side is on the second side.

[0016] Preferably, the sliding limit rod connected to the bottom of the second frame is slidably connected to the sliding groove on the second side of the upright plate.

[0017] This invention uses two motors to control the undulations of the skin surface of the model and the movement of the tumor trajectory, which overcomes the limitations of the existing technology where the two movements are coupled and difficult to control precisely, and achieves precise coordination of the two key movements.

[0018] This invention uses a tumor movement mechanism and a skin movement mechanism to simulate the mechanical scheme of tumor and tray-driven movement on the body surface. The tumor movement mechanism can accurately reproduce the complex closed-loop tumor trajectory, while the skin movement mechanism, using a three-tray linkage mechanism, provides more physiological, continuous and smooth body surface undulation movement, solving the problem of uncontrollable passive deformation of flexible phantoms. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the chest and abdomen undulation mechanism of this utility model.

[0020] Figure 2 This is a front view structural diagram of the chest and abdomen undulation mechanism of this utility model.

[0021] Figure 3 This is a rear view schematic diagram of the chest and abdomen undulation mechanism of this utility model.

[0022] Figure 4 This is a schematic diagram of the tumor movement mechanism of this utility model.

[0023] Figure 5 This is a schematic diagram of the overall structure of a human chest and abdomen model undergoing radiotherapy. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0025] See Figures 1 to 5 As shown in the exemplary embodiment of this application, the human chest and abdomen model for radiotherapy includes a tumor movement mechanism 15 and a skin movement mechanism 21. The tumor movement mechanism 15 includes a tumor tray 17 and a tumor tray drive mechanism, and the skin movement mechanism includes a tray assembly and a tray assembly drive mechanism.

[0026] The tumor tray driving mechanism includes a first drive motor 14 and a first drive rod. The output shaft of the first drive motor is connected to the first drive rod, and the first drive rod is connected to a first bracket via a first transmission mechanism. The tumor tray 14 is mounted on the first bracket. There is at least one tumor tray. Preferably, the first drive motor is fixed to a mounting base plate 13. Figure 4 As shown.

[0027] In this application, the pallet group drive mechanism includes a second drive motor 14 and a second drive rod. The output shaft of the second drive motor is connected to the second drive rod, and the second drive rod is connected to the second bracket 2 through a second transmission mechanism. The pallet group is mounted on the second bracket 2, and the pallet group includes at least three pallets 1.

[0028] The first and second drive rods are implemented using a connecting rod 16 with the same structure, which is connected to the motor output shaft and rotates under the drive of the motor.

[0029] In this application, the three trays 1 are arranged in a triangular shape, and the second support is T-shaped. Each of the upper surfaces of the T-shaped second support near its three ends is connected to a vertical part, and the three trays are connected through the three vertical parts.

[0030] In this application, the first transmission mechanism and the second transmission mechanism have the same structure.

[0031] In one embodiment, the first / second transmission mechanism includes a sinusoidal mechanism 3 capable of vertical movement. The lower part of the sinusoidal mechanism is connected to a support column 9 on the surface of the rotating disk 10 through an elongated hole. The support column 9 is parallel to the axis of the rotating disk. The upper part of the sinusoidal mechanism is connected to a first / second bracket. The rotating disk 10 is installed in a lower hole in the vertical plate 4 and connected to a first / second drive motor. A motor support 12 is located at the lower part of the vertical plate for mounting and connecting the first or second drive motor.

[0032] In one embodiment, the upper part of the sinusoidal mechanism is Y-shaped, with its main structure slidably connected to the limiting groove 8 on the upright plate. The upper structure of the Y-shape is connected to the first bracket / second bracket via one branch and to a linkage rod 7 rotatable around its other end via another branch. The other end of the linkage rod is hinged to the support 5. Preferably, the linkage rod is a V-shaped rod, with the corresponding part of the first bracket / second bracket arranged in its opening. The linkage rod 7 is connected to a cylinder (not shown) vertically connected to another branch of the upper structure of the Y-shape through an elongated hole. The cylinder is installed in the elongated hole, just as the support 9 is installed in the elongated hole of the sinusoidal mechanism.

[0033] In one embodiment, the support 5 is mounted on the inner surface of the U-shaped bracket body 6, which is mounted on a three-dimensional surface.

[0034] In one embodiment, the upper part of the upright plate has a hole, two trays on the second support 6 are on the first side of the upright plate, and another tray is on the opposite second side of the upright plate. The second bracket of the second support connected to the tray on the second side passes through the hole, and the second bracket connected to the two trays on the first side is on the second side.

[0035] In this design, the sliding limiting rod connected to the bottom of the second frame 2 is slidably connected to the sliding groove 11 on the second side of the upright plate. That is, for the second support, sliding grooves are arranged on the first and second sides of the upright plate, i.e., the front and rear sides, respectively, for limiting the lifting and lowering movement of the second support. Preferably, the sliding groove is U-shaped, and its opening direction contacts the surface of the upright plate to form a limiting cavity.

[0036] Preferably, the cross-section of the limiting cavity is larger than the cross-section of the main structure of the limiting sinusoidal mechanism and the sliding limiting rod connected to the bottom of the second frame 2. This allows the second support to move up and down and sideways rather than vertically during lifting and lowering by cooperating with the linkage rod 7, achieving better motion simulation. Specifically, the sinusoidal mechanism exhibits a motion trajectory similar to a slight up-and-down and left-and-right oscillation, ensuring that the tray driven by the sinusoidal mechanism not only rises vertically but also oscillates slightly left and right. This better simulates human breathing. The greater the up-and-down motion of the sinusoidal mechanism, the greater the oscillation of the V-shaped mechanism, the greater the left-right disturbance force applied to the three trays 1, and the more pronounced the left-right amplitude.

[0037] It should be noted that the transmission components of the skin movement mechanism composed of the three trays are the same as those of the tumor movement mechanism. The difference lies in the first support and the second support. The second support is a T-shaped frame, while the first support is a straight frame, similar to the second support connecting a tumor tray to the second frame.

[0038] In this application, the tumor tray 17 is directionally restricted by the limiting groove 8 and fixed to the rotating disk by the transmission mechanism. At the same time, the rotating disk 10 and the sine mechanism 3 cooperate to form the tumor trajectory movement. The sine mechanism 3 moves up and down through the limiting groove 8. Hydrogel is placed in the tumor platform tray 17 fixed at the end of the sine mechanism 3 to simulate the tumor. In use, the rotating disk 10 rotates and transmits the rotational force to the sine mechanism 3. The sine mechanism 3 transmits the motion in the up and down direction to the tumor tray 17, which can realize the simulation of the tumor trajectory. This application can simulate the correlation between the respiratory motion of the skin surface and the tumor trajectory, and can provide a more accurate respiratory motion model experiment for puncture biopsy surgery.

[0039] In this invention, the tumor movement mechanism 15 is placed in the lung region corresponding to the human body phantom 18, with the tumor tray 17 placed in one lung region. If the other lung region is needed, the tumor movement mechanism 15 can be mirrored. In specific implementation, the tumor trajectory movement can be extracted, and the tumor movement mechanism can be designed using this trajectory to conform to the movement trajectory of the tumor. At the same time, a control panel program is set and combined with its drive motor to jointly control the tumor movement mechanism. The tumor is placed in the tumor tray, thereby realizing the transformation of rotational motion into simulated periodic movement of the tumor inside the body membrane.

[0040] In this invention, the skin movement mechanism 21 is a breathing movement simulation mechanism, which adopts a three-pallet movement assembly; the three pallets 1 are tightly connected to the skin surface of the human body model 18; in use, under the action of the second drive motor, the rotating disk rotates, and at the same time the rotating disk transmits the rotational force to the sine mechanism 3, and the sine mechanism 3 transmits the motion in the lifting direction to the three pallets 1, which can realize the simulation of breathing movement of the skin surface.

[0041] This invention simulates the trajectory of an internal tumor through the reciprocating motion of a tumor tray. Simultaneously, three trays drive the skin surface to simulate respiratory movements. These two coordinated movements replicate the biomechanical relationship between surface undulations and internal tumor movement during respiration, providing a highly realistic motion simulation experimental platform for radiotherapy and biopsy. In practice, a control panel program can be programmed to control the motor speed. Utilizing real respiratory motion signals, the control panel controls the motor rotation, thereby using the three-tray mechanism to drive skin surface movement and simulate human respiratory motion.

[0042] In practice, the movement of the two drive motors is coordinated by the central control board to ensure that the undulations of the body surface and the movement of the internal tumor maintain a preset correlation in phase and period. This allows for the accurate dynamic reproduction of the movement relationship between the body surface and the tumor observed in clinical practice, achieving collaborative control and dynamic verification.

[0043] This application can simulate the correlation between respiratory motion on the skin surface and tumor trajectory, and can provide a more accurate respiratory motion model experiment for puncture biopsy surgery.

[0044] The model of this invention achieves high-precision simulation of human chest and abdominal respiratory movements and internal tumor trajectories. It uses a tumor motion mechanism to reproduce the three-dimensional motion trajectory of the tumor, and at the same time drives the simulated body surface to generate respiratory fluctuations by controlling the tray mechanism, thereby achieving precise coordination between body surface movement and internal tumor movement. This provides a solid foundation for technologies such as image-guided radiotherapy, respiratory gating technology, real-time tracking technology, and four-dimensional radiotherapy.

[0045] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic features of this utility model.

[0046] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the present invention is defined by the appended claims rather than the foregoing description. Thus, it is intended to encompass all variations falling within the meaning and scope of the equivalents of the claims within the present invention.

[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A human chest and abdomen model for radiotherapy, characterized in that, It includes a tumor movement mechanism and a skin movement mechanism. The tumor movement mechanism includes a tumor tray and a tumor tray drive mechanism, and the skin movement mechanism includes a tray assembly and a tray assembly drive mechanism.

2. The human chest and abdomen model for radiotherapy according to claim 1, characterized in that, The tumor tray driving mechanism includes a first drive motor and a first drive rod. The output shaft of the first drive motor is connected to the first drive rod. The first drive rod is connected to a first support through a first transmission mechanism. The tumor tray is mounted on the first support. There is at least one tumor tray.

3. The human chest and abdomen model for radiotherapy according to claim 2, characterized in that, The pallet group drive mechanism includes a second drive motor and a second drive rod. The output shaft of the second drive motor is connected to the second drive rod. The second drive rod is connected to a second bracket through a second transmission mechanism. The pallet group is mounted on the second bracket. The pallet group includes at least three pallets.

4. The human chest and abdomen model for radiotherapy according to claim 3, characterized in that, The three trays are arranged in a triangular shape, and the second support is T-shaped. Each of the three ends of the T-shaped second support is connected to a vertical part, and the three trays are connected through the three vertical parts.

5. The human chest and abdomen model for radiotherapy according to claim 4, characterized in that, The first transmission mechanism and the second transmission mechanism have the same structure.

6. The human chest and abdomen model for radiotherapy according to claim 5, characterized in that, The first transmission mechanism / second transmission mechanism includes a sinusoidal mechanism that can move up and down. The lower part of the sinusoidal mechanism is connected to a support column on the surface of the rotating disk through an elongated hole. The upper part of the sinusoidal mechanism is connected to the first bracket / second bracket. The rotating disk is installed on the lower part of the vertical plate and connected to the first drive motor / second drive motor.

7. The human chest and abdomen model for radiotherapy according to claim 6, characterized in that, The upper part of the sinusoidal mechanism is Y-shaped, and the main structure in the middle part is slidably connected to the limiting groove on the upright plate. The upper structure of the Y shape is connected to the first bracket / second bracket through one support and to the linkage rod that can rotate around the other end through another support. The other end of the linkage rod is hinged to the support.

8. The human chest and abdomen model for radiotherapy according to claim 7, characterized in that, The support is installed on the inner surface of the U-shaped bracket body, which is installed on a three-dimensional surface.

9. The human chest and abdomen model for radiotherapy according to claim 8, characterized in that, The upper part of the upright plate has a hole, and two trays on the second support are on the first side of the upright plate, and another tray is on the opposite second side of the upright plate. The second bracket of the second support connected to the tray on the second side passes through the hole, and the second bracket connected to the two trays on the first side is on the second side.

10. The human chest and abdomen model for radiotherapy according to claim 9, characterized in that, The sliding limit rod connected to the bottom of the second frame is slidably connected to the sliding groove on the second side of the upright plate.

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