Multi-link Robot Arm for Flexible Patient Couch Positioning
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Solution Overview
Problem
Current patient-positioning devices in medical workstations, particularly for radiation therapy, lack flexibility and precision in aligning patients for effective irradiation, as they often rely on rigid structures that do not allow for optimal positioning and movement.
Innovation Solution
A patient-positioning device featuring a robot arm with multiple rotatably mounted links along various axes, including vertical and horizontal axes, allowing for flexible alignment and movement of a patient couch, which can be controlled electronically or manually, and integrated with a medical device for producing highly energized ionizing radiation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a rigid structure is used for patient positioning, then structural stability is improved, but positioning flexibility and precision deteriorate
Solution Approach 1:
The patient positioning device is divided into multiple independent links (first link, second link, third link, fourth link, fifth link, sixth link) that can move relative to each other. Each link is connected through rotatable joints, allowing the structure to segment its movement into discrete rotational steps while maintaining overall stability through the coordinated action of all links.
Solution Approach 2:
The patent transforms the rigid static structure into a dynamic multi-link mechanism where each link can rotate independently about its axis. The first link rotates about a first vertical axis, the second link about a second vertical axis, the third link about a third vertical axis, the fourth link about a first horizontal axis, the fifth link about a second horizontal axis, and the sixth link about a third horizontal axis. This dynamic configuration allows continuous adjustment of patient position while maintaining structural integrity.
2Device complexity
If a simple positioning mechanism is used, then device complexity is reduced, but positioning precision deteriorates
Solution Approach 1:
The multi-link robot arm serves multiple functions: it provides structural support for the patient couch, enables six degrees of freedom for positioning (three vertical rotations and three horizontal rotations), and integrates the fastening device for securing the patient. This universal design achieves high positioning precision without requiring separate specialized mechanisms for each function.
Solution Approach 2:
The patent employs a nested configuration where the sixth link contains or is directly connected to the fastening device, which in turn secures the patient couch. This nesting allows the positioning mechanism to achieve precise control through the six rotational degrees of freedom while keeping the overall structure compact and integrated, rather than requiring separate external positioning and fastening systems.
Data Source
AI summary
A patient-positioning device and a medical workstation including the patient-positioning device. The patient-positioning device includes a patient couch and a robot arm which is provided for moving the patient couch and which comprises several links arranged one after another and mounted rotatably with respect to axes. The robot arm includes, as links, a start link, a first link, a second link, a third link, a fourth link, a fifth link and a sixth link. The robot arm comprises a patient couch or a fastening device on which the patient couch is fastened.