CN106730372B - Positioning system for radiotherapy - Google Patents
Positioning system for radiotherapy Download PDFInfo
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- CN106730372B CN106730372B CN201611266174.8A CN201611266174A CN106730372B CN 106730372 B CN106730372 B CN 106730372B CN 201611266174 A CN201611266174 A CN 201611266174A CN 106730372 B CN106730372 B CN 106730372B
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 141
- 238000013519 translation Methods 0.000 claims abstract description 55
- 238000010008 shearing Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- -1 calibrators Substances 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000001900 immune effect Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002503 metabolic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000144 pharmacologic effect Effects 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 230000035935 pregnancy Effects 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
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Abstract
The invention discloses a positioning system for radiotherapy, which comprises a first supporting piece, a rotating mechanism, a first bottom plate, a lifting mechanism, a second supporting piece, a second bottom plate, a first translation mechanism, a third supporting piece, a third bottom plate, a second translation mechanism, a fourth supporting piece, a fourth bottom plate, a tilting mechanism and a fifth supporting piece; the rotating mechanism is used for driving the first bottom plate to rotate around the vertical direction; the lifting mechanism is used for driving the second supporting piece to move along the vertical direction; the first translation mechanism is used for driving the third support piece to move along the horizontal direction; the second translation mechanism is used for driving the fourth support piece to move along the horizontal direction, and the direction intersects with the moving direction of the third support piece in a different plane; the tilting mechanism is used for driving the fifth supporting piece to rotate around the horizontal direction, and finally enables the fifth supporting piece to have six degrees of freedom, and can reach any position, so that the use is more flexible.
Description
Technical Field
The invention relates to medical equipment, in particular to a positioning system for radiotherapy.
Background
Medical devices refer to instruments, devices, appliances, in vitro diagnostic reagents, calibrators, materials and related items for direct or indirect use on the human body, which primarily achieve therapeutic effects by physical means, rather than pharmacological, immunological and metabolic means, and which, if any, are only helpful. The medical apparatus is mainly used for preventing, diagnosing, monitoring, treating and relieving diseases, diagnosing, treating, monitoring, relieving, compensating functions and the like of injuries, checking, replacing, regulating and supporting physiological structures or physiological processes, supporting and maintaining life and controlling pregnancy; by examining a sample from a human body, information is provided for medical or diagnostic purposes. In radiotherapy, a mechanical arm for medical treatment can play a role in supporting and positioning a patient, so that the mechanical arm is required to have multi-degree-of-freedom motion capability, has a compact structure and can realize high-precision positioning.
However, the positioning system for radiotherapy in the market at present belongs to non-vertical positioning mechanical arm equipment, and has longer cantilever and lower positioning precision; the radiotherapy is mainly carried out on patients in a lying posture, and the positioning precision is not high; the treatment head is used for treatment in a rotating way, but the flexibility of the treatment head is lower; the treatment point is easily deviated from the rotation axis due to the large load and the long-distance lifting, so that the treatment effect is seriously affected; the structure is complex, and the detection and the maintenance are not facilitated.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a positioning system for radiotherapy, which has a compact structure, can move with multiple degrees of freedom and can realize accurate positioning.
The invention adopts the following technical scheme:
a positioning system for radiotherapy, comprising a first support, a rotating mechanism, a first bottom plate, a lifting mechanism, a second support, a second bottom plate, a first translation mechanism, a third support, a third bottom plate, a second translation mechanism, a fourth support, a fourth bottom plate, a tilting mechanism and a fifth support; the rotating mechanism is connected to the first supporting piece; the first bottom plate is connected with a rotating mechanism, and the rotating mechanism is used for driving the first bottom plate to rotate around the vertical direction; the lifting mechanism is connected to the first bottom plate, the second supporting piece is connected to the lifting mechanism, and the lifting mechanism is used for driving the second supporting piece to move along the vertical direction; the second bottom plate is fixedly connected with the second supporting piece, the first translation mechanism is connected with the second bottom plate, the third supporting piece is connected with the first translation mechanism, and the first translation mechanism is used for driving the third supporting piece to move along the horizontal direction; the third bottom plate is fixedly connected with the third supporting piece, the second translation mechanism is connected with the third bottom plate, the fourth supporting piece is connected with the second translation mechanism, and the second translation mechanism is used for driving the fourth supporting piece to move along the horizontal direction and intersecting the direction of the movement of the third supporting piece in different planes; the fourth bottom plate is fixedly connected to the fourth supporting piece, the tilting mechanism is connected to the fourth bottom plate, the fifth supporting piece is connected to the tilting mechanism, and the tilting mechanism is used for driving the fifth supporting piece to rotate around the horizontal direction.
Preferably, the rotating mechanism comprises a rotating member and a bearing, the bearing is positioned between the first supporting member and the rotating member, and the first bottom plate is fixedly connected to the rotating member; and/or the lifting mechanism comprises a fork shearing device, one end of the fork shearing device is connected with the first bottom plate, and the other end of the fork shearing device is connected with the second supporting piece; and/or the first translation mechanism comprises a first screw rod, the first screw rod is pivoted to the second bottom plate, the central axis of the first screw rod extends along the horizontal direction, and the third support piece is in threaded connection with the first screw rod; and/or the second translation mechanism comprises a second screw rod, the second screw rod is pivoted to the third bottom plate, the fourth support piece is in threaded connection with the third screw rod, and the central axis of the second screw rod is intersected with the different plane of the central axis of the first screw rod; and/or the tilting mechanism comprises a supporting rod, one end of the supporting rod is fixedly connected with the fourth bottom plate, and the other end of the supporting rod is hinged with the fifth supporting piece.
Preferably, the shearing fork device comprises a first shearing fork group and a second shearing fork group, the first shearing fork group is connected with the first bottom plate, one side of the shearing fork group is hinged with the first bottom plate, and the other side of the shearing fork group is connected with the first bottom plate in a sliding manner; the second scissors group is connected with the first scissors group, one side foot is hinged with the second supporting piece, and the other side foot is connected with the second supporting piece in a sliding way.
Preferably, the lifting mechanism further comprises a first push rod, one end of the first push rod is hinged to the first bottom plate, the other end of the first push rod is connected to the second shearing fork group, and the first push rod is used for driving the shearing fork device to move along the vertical direction.
Preferably, the rotating mechanism further comprises a positioning piece, the bearing comprises an inner ring and an outer ring, the outer ring is clung to the inner wall of the second supporting piece, the inner ring is clung to the outer wall of the positioning piece, and the inner ring is fixedly connected with the rotating piece.
Preferably, the first translation mechanism further comprises a first nut, a first sliding block and a first guide rail, wherein the first guide rail is fixedly connected to the second bottom plate, one end of the first sliding block is slidably connected to the first guide rail, the other end of the first sliding block is fixedly connected to the third supporting piece, the first nut is in threaded connection with the first screw rod, and the third supporting piece is fixedly connected to the first nut.
Preferably, the second translation mechanism further comprises a second nut, a second sliding block and a second guide rail, wherein the second guide rail is fixedly connected to the third bottom plate, one end of the second sliding block is slidably connected to the second guide rail, the other end of the second sliding block is fixedly connected to the fourth supporting piece, the second nut is in threaded connection with the second screw rod, and the fourth supporting piece is fixedly connected to the second nut.
Preferably, the tilting mechanism further comprises a first push rod and a second push rod, one end of the first push rod is hinged to the fourth bottom plate, the other end of the first push rod is hinged to the fifth supporting piece, and the first push rod is used for pushing the fifth supporting piece to rotate around a direction parallel to the moving direction of the third supporting piece; one end of the second push rod is hinged to the fourth bottom plate, the other end of the second push rod is hinged to the fifth support piece, and the second push rod is used for pushing the fifth support piece to rotate around the direction parallel to the moving direction of the fourth support piece.
Preferably, the positioning system for radiotherapy further comprises a flange fixedly connected to the sixth support.
Preferably, the rotating mechanism further comprises a first driving device and a first transmission device, and the first driving device drives the rotating piece through the first transmission device; the lifting mechanism further comprises a second driving device, and a first pushing rod is arranged on the first driving device; the first translation mechanism further comprises a third driving device, and the third driving device is used for driving the first screw rod; the second translation mechanism further comprises a fourth driving device, and the fourth driving device is used for driving the second screw rod; the tilting mechanism further comprises a fifth driving device for driving the second push rod and a sixth driving device for driving the third push rod.
Compared with the prior art, the invention has the beneficial effects that:
through setting up first support piece, rotary mechanism, first bottom plate, elevating system, second support piece, second bottom plate, first translation mechanism, third support piece, third bottom plate, second translation mechanism, fourth support piece, fourth bottom plate, tilting mechanism and fifth support piece at this a positioning system for radiotherapy, finally make fifth support piece possess six degrees of freedom, can reach optional position, use more nimble.
Drawings
FIG. 1 is a schematic view of a positioning system for radiation therapy according to the present invention;
FIG. 2 is a schematic view of a rotating mechanism of a positioning system for radiation therapy according to the present invention;
FIG. 3 is a schematic view of a lifting mechanism of a positioning system for radiotherapy according to the present invention;
FIG. 4 is a schematic view of a first translation mechanism of a positioning system for radiation therapy according to the present invention;
FIG. 5 is a schematic diagram of a second translation mechanism of a positioning system for radiation therapy according to the present invention;
FIG. 6 is a schematic view of a tilting mechanism of a positioning system for radiation therapy according to the present invention;
in the figure: 101. a first support; 102. a rotating member; 103. a large gear; 104. a first bearing; 105. a positioning piece; 106. a second bearing; 107. a pinion gear; 108. a first decelerator; 109. a first driving device; 201. a first base plate; 202. a first scissors group; 203. a second scissors group; 204. a second support; 205. a first push rod; 206. a second driving device; 301. a second base plate; 302. a first guide rail; 303. a first screw rod; 304. a third support; 305. a first support base; 306. a first slider; 307. a first nut; 308. a third driving device; 309. a first pulley; 310. a second transmission; 401. a third base plate; 402. a second guide rail; 403. a second screw rod; 404. a fourth support; 405. the second supporting seat; 406. a second slider; 407. a second nut; 408. a fourth driving device; 409. a second pulley; 410. a third transmission; 501. a fourth base plate; 502. a second push rod; 503. a support rod; 504. a third push rod; 505. a fifth support; 506. a sixth driving device; 507. a fifth driving device; 601. and a flange plate.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, wherein the embodiments and technical features described below can be combined into different detailed description without conflict.
As shown in fig. 1 to 6, a positioning system for radiotherapy includes a first support 101, a rotation mechanism, a first base 201, a lifting mechanism, a second support 204, a second base 301, a first translation mechanism, a third support 304, a third base 401, a second translation mechanism, a fourth support 404, a fourth base 501, a tilting mechanism, and a fifth support 505; the rotating mechanism is connected to the first support 101; the first bottom plate 201 is connected to a rotating mechanism, and the rotating mechanism is used for driving the first bottom plate 201 to rotate around the vertical direction; the lifting mechanism is connected to the first bottom plate 201, the second support 204 is connected to the lifting mechanism, and the lifting mechanism is used for driving the second support 204 to move along the vertical direction; the second bottom plate 301 is fixedly connected to the second supporting member 204, the first translation mechanism is connected to the second bottom plate 301, the third supporting member 304 is connected to the first translation mechanism, and the first translation mechanism is used for driving the third supporting member 304 to move along the horizontal direction; the third bottom plate 401 is fixedly connected to the third supporting member 304, the second translation mechanism is connected to the third bottom plate 401, the fourth supporting member 404 is connected to the second translation mechanism, and the second translation mechanism is used for driving the fourth supporting member 404 to move along the horizontal direction, and the direction intersects with the moving direction of the third supporting member 304 in a different plane; the fourth bottom plate 501 is fixedly connected to the fourth supporting member 404, the tilting mechanism is connected to the fourth bottom plate 501, the fifth supporting member 505 is connected to the tilting mechanism, and the tilting mechanism is used for driving the fifth supporting member 505 to rotate around the horizontal direction.
Since the rotation mechanism is connected to the first support 101 and the first base plate 201 is connected to the rotation mechanism, the rotation mechanism drives the first base plate 201 to rotate around the vertical direction, so the first base plate 201 has a degree of freedom to rotate around the vertical direction; since the lifting mechanism is connected to the first base plate 201 and the second support 204 is connected to the lifting mechanism, the lifting mechanism drives the second support 204 to move in the vertical direction, so that the second support 204 has both the freedom of rotating around the vertical direction and moving in the vertical direction; since the second base plate 301 is fixedly connected to the second supporting member 204, the first translation mechanism is connected to the second base plate 301, and the third supporting member 304 is connected to the first translation mechanism, the first translation mechanism drives the third supporting member 304 to move in the horizontal direction, so that the third supporting member 304 has degrees of freedom of rotating around the vertical direction, moving in the vertical direction, and moving in the horizontal direction; since the third base plate 401 is fixedly connected to the third support member 304, the second translation mechanism is connected to the third base plate 401, and the fourth support member 404 is connected to the second translation mechanism, the second translation mechanism drives the fourth support member 404 to move in a horizontal direction, which intersects with the direction of movement of the third support member 304, the fourth support member 404 has four degrees of freedom, that is, to rotate in a vertical direction, to move in a horizontal direction, and to move in a direction intersecting with the direction of movement of the third support member 304; since the fourth bottom plate 501 is fixedly connected to the fourth support 404, the tilting mechanism is connected to the fourth bottom plate 501, and the fifth support 505 is connected to the tilting mechanism, the tilting mechanism drives the fifth support 505 to rotate around the horizontal direction, so that the fifth support 505 has six degrees of freedom, that is, to rotate around the vertical direction, to move along the horizontal direction, to move along the direction intersecting with the direction of movement of the third support 304, to rotate around the direction of movement of the third support 304, and to rotate around the direction of movement of the fourth support 404, and can achieve any position.
As shown in fig. 1 to 6, the rotating mechanism includes a rotating member 102 and a bearing, the bearing is located between the first supporting member 101 and the rotating member 102, so that the rotating member 102 can rotate stably relative to the first supporting member 101, and the noise is low, and the adverse effect on the treatment of the patient is avoided; the lifting mechanism can adopt a cylinder, a hydraulic mechanism, a gear, a belt or other mechanisms for transmission, preferably adopts a scissor device for transmission, one end of the scissor device is connected with the first bottom plate 201, the other end of the scissor device is connected with the second support piece 204, and the scissor device moves along the vertical direction to drive the second support piece 204 to move along the vertical direction; the first translation mechanism may adopt a cylinder, a hydraulic mechanism, a gear, a belt or other mechanisms for transmission, preferably adopts screw transmission, and comprises a first translation screw, a first screw 303 is pivoted to a second bottom plate 301, the central axis of the first screw 303 extends along the horizontal direction, a third support member 304 is in threaded connection with the first screw 303, and the central axis of the first screw 303 extends along the horizontal direction, so that when the first screw 303 rotates, the third support member 304 is driven to move along the central axis of the first screw 303; the second translation mechanism can adopt a cylinder, a hydraulic mechanism, a gear, a belt or other mechanisms for transmission, preferably adopts screw transmission, and comprises a second screw rod 403, wherein the second screw rod 403 is pivoted on a third bottom plate 401, a fourth support piece 404 is in screwed connection with the second screw rod 403, and the central axis of the second screw rod 403 is intersected with the different plane of the central axis of the first screw rod 303, preferably is perpendicular to the different plane, so that when the second screw rod 403 rotates, the fourth support piece 404 is driven to move along the central axis of the second screw rod 403, and the transmission precision is high and the noise is low; the tilting mechanism comprises a supporting rod 503, one end of the supporting rod 503 is fixedly connected to the fourth bottom plate 501, and the other end is hinged to the fifth supporting member 505, so that the fifth supporting member 505 can rotate in any direction relative to the supporting rod 503, preferably around a direction parallel to the moving direction of the third supporting member 304 and a direction parallel to the moving direction of the fourth supporting member 404; the flange 601 is fixedly connected to the fifth supporting member 505, and a seat for a patient can be mounted on the flange 601, so that the seat can realize flexible movement with six degrees of freedom; or directly to the fifth support 505, which also allows for six degrees of freedom of movement.
As shown in fig. 2, the rotating mechanism further includes a first driving device 109, a first transmission device and a positioning member 105, where the first supporting member 101 is preferably cylindrical, the rotating member 102 is preferably cylindrical, the positioning member 105 is preferably cylindrical, the first driving device 109 is preferably a motor, the first transmission device includes a first speed reducer 108, a pinion 107 and a large gear 103, the bearings preferably include two first bearings 104 and second bearings 106, each bearing includes an inner ring and an outer ring, the outer ring is tightly attached to the inner wall of the first supporting member 101, the inner ring is tightly attached to the outer wall of the positioning member 105, and the inner ring is fixedly connected with the rotating member 102, so that the rotating member 102 can rotate relative to the first supporting member 101, and simultaneously, coaxiality of the rotating member 102 and the first supporting member 101 can be ensured, so as to improve rotation precision and work efficiency; when the motor is turned on, the rotary member 102 is driven to rotate around the vertical direction by the first reduction gear 108, the pinion gear 107 and the large gear 103, and the noise is low at the time of rotation due to the use of the bearing.
As shown in fig. 3, the lifting mechanism further includes a first scissor set 202, a second scissor set 203, a second driving device 206 and a first push rod 205, wherein the first scissor set 202 is connected to the first bottom plate 201, one side leg is hinged to the first bottom plate 201, and the other side leg is slidably connected to the first bottom plate 201; the second scissor set 203 is connected to the first scissor set 202, one side leg is hinged to the second support 204, the other side leg is slidably connected to the second support 204, the second driving device 206 is preferably a motor, one end of the first push rod 205 is hinged to the first bottom plate 201, the other end is connected to the second scissor set 203, and the first push rod 205 is used for driving the scissor device to move along the vertical direction; because one end of the first push rod 205 is hinged to the first bottom plate 201, and the other end of the first push rod 205 is connected to the second scissor group 203, the motor can drive the first push rod 205 to extend upwards, so that the second scissor group 203 is pushed to move upwards, and the second supporting piece 204 is pushed to move upwards; the motor can drive the first push rod 205 to retract downwards, so that the second shearing fork group 203 is driven to move downwards, the second supporting piece 204 is driven to move downwards, the freedom degree of movement along the vertical direction is realized, the shearing fork device is stable to lift, the longitudinal size can be effectively reduced, the error caused by long-distance lifting is reduced, and the overall design precision is improved.
As shown in fig. 4, the first translation mechanism further includes a first nut 307, a first slider 306, a first guide rail 302, a third driving device 308, a second transmission device 310, and a first supporting seat 305, where the first supporting seat 305 is used to support two ends of the first screw 303, the third driving device 308 is preferably a motor, and the motor has a first belt pulley 309, and the second transmission device 310 is preferably a belt; the first guide rail 302 is fixedly connected to the second bottom plate 301, one end of the first sliding block 306 is slidably connected to the first guide rail 302, the other end of the first sliding block 306 is fixedly connected to the third supporting member 304, the first nut 307 is in threaded connection with the first screw rod 303, and the third supporting member 304 is fixedly connected to the first nut 307; when the motor is turned on, the first screw rod 303 is driven to rotate via the first pulley 309 and the belt, and the third supporting member 304 is driven to slide along the central axis of the first screw rod 303 via the first nut 307, meanwhile, since one end of the first sliding block 306 is slidably connected to the first guide rail 302, and the other end is fixedly connected to the third supporting member 304, the third supporting member 304 drives the first sliding block 306 to slide along the first guide rail 302, which is beneficial to reducing friction resistance, stably performing horizontal movement, and reducing noise.
As shown in fig. 5, the second translation mechanism further comprises a second nut 407, a second slider 406, a second guide rail 402, a fourth driving device 408, a third transmission device 410, and a second supporting seat 405, wherein the second supporting seat 405 is used for supporting the second screw 403, the fourth driving device 408 is preferably a motor, the motor has a second belt pulley 409, and the third transmission device 410 is preferably a belt; the second guide rail 402 is fixedly connected to the third bottom plate 401, one end of the second sliding block 406 is slidably connected to the second guide rail 402, the other end of the second sliding block 406 is fixedly connected to the fourth supporting member 404, the second nut 407 is in threaded connection with the second screw rod 403, the fourth supporting member 404 is fixedly connected to the second nut 407, when the motor is started, the second screw rod 403 is driven to rotate through the second belt pulley 409 and the belt, and the fourth supporting member 404 is driven to slide along the central axis of the second screw rod 403 through the second nut 407, meanwhile, as one end of the second sliding block 406 is slidably connected to the second guide rail 402, the other end of the second sliding block 406 is fixedly connected to the fourth supporting member 404, the fourth supporting member 404 drives the second sliding block 406 to slide along the second guide rail 402, friction resistance is reduced, horizontal movement is stably performed, and noise is reduced.
As shown in fig. 6, the tilting mechanism further includes a second push rod 502, a third push rod 504, a fifth driving device 507, and a sixth driving device 506, where one end of the second push rod 502 is hinged to the fourth base plate 501, and the other end is hinged to the fifth supporting member 505, and the second push rod 502 is used to push the fifth supporting member 505 to rotate around a direction parallel to the moving direction of the third supporting member 304; one end of the third push rod 504 is hinged to the fourth bottom plate 501, the other end is hinged to the fifth support member 505, and the third push rod 504 is used for pushing the fifth support member 505 to rotate around a direction parallel to the moving direction of the fourth support member 404; the fifth driving device 507 is used for driving the second push rod 502, and when the second push rod 502 is extended or retracted, the fifth supporting member 505 is driven to rotate around the direction parallel to the moving direction of the fourth supporting member 404; the sixth driving device 506 is configured to drive the third push rod 504, and when the third push rod 504 is extended or retracted, drive the fifth support 505 to rotate around a direction parallel to the moving direction of the fourth support 404.
It will be apparent to those skilled in the art from this disclosure that various other changes and modifications can be made which are within the scope of the invention as defined in the appended claims.
Claims (10)
1. A positioning system for radiation therapy, characterized by: the device comprises a first supporting piece, a rotating mechanism, a first bottom plate, a lifting mechanism, a second supporting piece, a second bottom plate, a first translation mechanism, a third supporting piece, a third bottom plate, a second translation mechanism, a fourth supporting piece, a fourth bottom plate, a tilting mechanism and a fifth supporting piece; the rotating mechanism is connected to the first supporting piece; the first bottom plate is connected with a rotating mechanism, and the rotating mechanism is used for driving the first bottom plate to rotate around the vertical direction; the lifting mechanism is connected to the first bottom plate, the second supporting piece is connected to the lifting mechanism, and the lifting mechanism is used for driving the second supporting piece to move along the vertical direction; the second bottom plate is fixedly connected with the second supporting piece, the first translation mechanism is connected with the second bottom plate, the third supporting piece is connected with the first translation mechanism, and the first translation mechanism is used for driving the third supporting piece to move along the horizontal direction; the third bottom plate is fixedly connected with the third supporting piece, the second translation mechanism is connected with the third bottom plate, the fourth supporting piece is connected with the second translation mechanism, and the second translation mechanism is used for driving the fourth supporting piece to move along the horizontal direction and intersecting the direction of the movement of the third supporting piece in different planes; the fourth bottom plate is fixedly connected with the fourth supporting piece, the tilting mechanism is connected with the fourth bottom plate, the fifth supporting piece is connected with the tilting mechanism, and the tilting mechanism is used for driving the fifth supporting piece to rotate around the horizontal direction;
the rotating mechanism comprises a rotating piece, a bearing, a first driving device, a first transmission device and a positioning piece, wherein the bearing is positioned between the first supporting piece and the rotating piece, and the first bottom plate is fixedly connected with the rotating piece; the first supporting piece, the rotating piece and the positioning piece are cylindrical, the first driving device is a motor, and the first transmission device comprises a first speed reducer, a pinion and a large gear; the bearing comprises an inner ring and an outer ring, the outer ring is clung to the inner wall of the first supporting piece, the inner ring is clung to the outer wall of the positioning piece, and the inner ring is fixedly connected with the rotating piece.
2. The positioning system for radiation therapy of claim 1, wherein: the rotating mechanism comprises a rotating piece and a bearing, the bearing is positioned between the first supporting piece and the rotating piece, and the first bottom plate is fixedly connected to the rotating piece; and/or
The lifting mechanism comprises a fork shearing device, one end of the fork shearing device is connected with the first bottom plate, and the other end of the fork shearing device is connected with the second supporting piece; and/or
The first translation mechanism comprises a first screw rod, the first screw rod is pivoted to the second bottom plate, the central axis of the first screw rod extends along the horizontal direction, and the third support piece is in threaded connection with the first screw rod; and/or
The second translation mechanism comprises a second screw rod, the second screw rod is pivoted to the third bottom plate, the fourth support piece is in threaded connection with the third screw rod, and the central axis of the second screw rod is intersected with the different plane of the central axis of the first screw rod; and/or
The tilting mechanism comprises a supporting rod, one end of the supporting rod is fixedly connected to the fourth bottom plate, and the other end of the supporting rod is hinged to the fifth supporting piece.
3. The positioning system for radiation therapy of claim 2, wherein: the shearing fork device comprises a first shearing fork group and a second shearing fork group, the first shearing fork group is connected with the first bottom plate, one side of the shearing fork group is hinged with the first bottom plate, and the other side of the shearing fork group is connected with the first bottom plate in a sliding manner; the second scissors group is connected with the first scissors group, one side foot is hinged with the second supporting piece, and the other side foot is connected with the second supporting piece in a sliding way.
4. A positioning system for radiation therapy according to claim 3, wherein: the lifting mechanism further comprises a first push rod, one end of the first push rod is hinged to the first bottom plate, the other end of the first push rod is connected to the second shearing fork group, and the first push rod is used for driving the shearing fork device to move along the vertical direction.
5. Positioning system for radiation therapy according to claim 1 or 2, characterized in that: the rotating mechanism further comprises a positioning piece, the bearing comprises an inner ring and an outer ring, the outer ring is clung to the inner wall of the second supporting piece, the inner ring is clung to the outer wall of the positioning piece, and the inner ring is fixedly connected with the rotating piece.
6. Positioning system for radiation therapy according to claim 1 or 2, characterized in that: the first translation mechanism further comprises a first nut, a first sliding block and a first guide rail, wherein the first guide rail is fixedly connected to the second bottom plate, one end of the first sliding block is slidably connected to the first guide rail, the other end of the first sliding block is fixedly connected to the third supporting piece, the first nut is in threaded connection with the first screw rod, and the third supporting piece is fixedly connected to the first nut.
7. Positioning system for radiation therapy according to claim 1 or 2, characterized in that: the second translation mechanism further comprises a second nut, a second sliding block and a second guide rail, wherein the second guide rail is fixedly connected to the third bottom plate, one end of the second sliding block is slidably connected to the second guide rail, the other end of the second sliding block is fixedly connected to the fourth supporting piece, the second nut is in threaded connection with the second screw rod, and the fourth supporting piece is fixedly connected to the second nut.
8. Positioning system for radiation therapy according to claim 1 or 2, characterized in that: the tilting mechanism further comprises a first push rod and a second push rod, one end of the first push rod is hinged to the fourth bottom plate, the other end of the first push rod is hinged to the fifth supporting piece, and the first push rod is used for pushing the fifth supporting piece to rotate around the direction parallel to the moving direction of the third supporting piece; one end of the second push rod is hinged to the fourth bottom plate, the other end of the second push rod is hinged to the fifth support piece, and the second push rod is used for pushing the fifth support piece to rotate around the direction parallel to the moving direction of the fourth support piece.
9. The positioning system for radiation therapy of claim 1, wherein: the positioning system for radiotherapy further comprises a flange plate fixedly connected to the sixth support member.
10. The positioning system for radiation therapy of claim 1, wherein: the rotating mechanism further comprises a first driving device and a first transmission device, and the first driving device drives the rotating piece through the first transmission device; the lifting mechanism further comprises a second driving device, and a first pushing rod is arranged on the first driving device; the first translation mechanism further comprises a third driving device, and the third driving device is used for driving the first screw rod; the second translation mechanism further comprises a fourth driving device, and the fourth driving device is used for driving the second screw rod; the tilting mechanism further comprises a fifth driving device for driving the second push rod and a sixth driving device for driving the third push rod.
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| CN201611266174.8A CN106730372B (en) | 2016-12-31 | 2016-12-31 | Positioning system for radiotherapy |
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| CN201611266174.8A CN106730372B (en) | 2016-12-31 | 2016-12-31 | Positioning system for radiotherapy |
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| CN203379504U (en) * | 2013-07-11 | 2014-01-08 | 佛山顺德恒健强子医疗科技有限公司 | 360-degree therapy device suitable for fixed hadron beams |
| CN104174121A (en) * | 2013-05-22 | 2014-12-03 | 住友重机械工业株式会社 | Neutron capture therapy apparatus and neutron beam measuring method |
| CN204121044U (en) * | 2014-08-22 | 2015-01-28 | 苏州雷泰医疗科技有限公司 | A kind of patient's positioning equipment and Medical Equipment for Radiotherapy |
| CN204709657U (en) * | 2015-05-21 | 2015-10-21 | 苏州爱因智能设备有限公司 | A kind of accurately pendulum position therapeutic bed |
| CN106975162A (en) * | 2016-01-15 | 2017-07-25 | 南京中硼联康医疗科技有限公司 | neutron capture therapy system |
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| DE102005048392B4 (en) * | 2005-10-10 | 2016-05-19 | Siemens Aktiengesellschaft | Spindle drive for a diagnostic and / or therapeutic device |
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| CN104174121A (en) * | 2013-05-22 | 2014-12-03 | 住友重机械工业株式会社 | Neutron capture therapy apparatus and neutron beam measuring method |
| CN203379504U (en) * | 2013-07-11 | 2014-01-08 | 佛山顺德恒健强子医疗科技有限公司 | 360-degree therapy device suitable for fixed hadron beams |
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