CN117695536A - Six-dimensional treatment couch and motion control method thereof - Google Patents

Six-dimensional treatment couch and motion control method thereof Download PDF

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Publication number
CN117695536A
CN117695536A CN202311806811.6A CN202311806811A CN117695536A CN 117695536 A CN117695536 A CN 117695536A CN 202311806811 A CN202311806811 A CN 202311806811A CN 117695536 A CN117695536 A CN 117695536A
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pair
dimensional
axis
electric lifting
component
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刘松
肖友明
李鹏祯
李生玉
吴中华
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Zhongjiu Flash Medical Technology Co ltd
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Zhongjiu Flash Medical Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A61G13/06—Adjustable operating tables; Controls therefor raising or lowering of the whole table surface
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2210/00—Devices for specific treatment or diagnosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092—Details
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092—Details
    • A61N2005/1097—Means for immobilizing the patient

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Radiation-Therapy Devices (AREA)

Abstract

The invention discloses a six-dimensional treatment couch, which comprises a Z-axis component, an X/Y/Z six-dimensional component and a couch panel, wherein the Z-axis component is used for driving the treatment couch to move along a Z axis, the X/Y-axis component is arranged on the Z-axis component and used for driving the treatment couch to move along an X/Y axis, the X/Y/Z six-dimensional component is arranged on the X/Y-axis component, and the couch panel is arranged on the X/Y/Z six-dimensional component; the X/Y/Z six-dimensional assembly comprises a static platform at the bottom and a movable platform at the top, and at least six groups of electric lifting assemblies and driving components for driving the electric lifting assemblies are arranged between the static platform and the movable platform; the invention also discloses a motion control method of the six-dimensional therapeutic bed, and the control precision of the six-dimensional therapeutic bed is improved.

Description

Six-dimensional treatment couch and motion control method thereof
Technical Field
The invention relates to the technical field of medical equipment, in particular to a six-dimensional therapeutic bed and a motion control method thereof.
Background
With the development of radiotherapy technology, particularly the discovery of Flash effect in recent years, the clinical application of future radiotherapy not only puts forward higher requirements on the dosage rate of a medical electronic linear accelerator, but also puts forward more flexible, accurate and efficient demands on the placement of a matched treatment bed.
The existing treatment bed is divided into according to the function of putting: three-dimensional treatment couch, four-dimensional treatment couch, even six-dimensional treatment couch. The six-dimensional treatment couch comprises translational movement in front and back, left and right, up and down directions of a patient, rotational movement in pitch angle, roll angle and yaw angle, and the six-dimensional treatment couch is flexible in positioning mode and is a development direction of the future treatment couch.
However, six-dimensional treatment beds on the market at present have various problems such as positioning efficiency, positioning precision and the like due to the inherent structure of the six-dimensional treatment beds. For example, part of six-dimensional treatment beds adopt a parallel sliding rail connecting rod and multi-section bed plate structure, equipment is large in space requirement, low in efficiency during large-amplitude displacement adjustment, complex in control process, and difficult to meet the requirement of high-precision dose action areas on tumor tissues in a short-time high-dose Flash treatment mode, and the requirement of ultra-high dose rate on normal tissue injury is reduced as much as possible. The six-dimensional treatment bed adopts parallel telescopic screw shafts and horizontal and vertical translation control components, the control components adopt structures such as rotary servo motors, rolling screws and the like, the dynamic response, the adjusting precision, the loading capacity and the stability of the six-dimensional treatment bed are required to be further improved, and meanwhile, the treatment emotion of a tumor patient is also negatively influenced by the noise in the operation of the equipment. In addition, in the existing control method of the treatment bed, a point which is relatively fixed on the carbon fiber bed is used as an origin to rotate. When the patient target does not coincide with the fixed center of rotation, a translational movement of the couch in three directions is also required to compensate for the offset caused by the rotational movement, which introduces some additional motion control accuracy bias.
Therefore, it is needed to provide a six-dimensional therapeutic bed with high control precision, fast dynamic effect, strong loading capacity and good stability and a motion control method of the therapeutic bed, so as to meet the requirements of the modern radiotherapy technology on the positioning precision and the positioning efficiency.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a six-dimensional therapeutic bed and a motion control method thereof, and the invention improves the positioning accuracy and the positioning efficiency in the radiotherapy process.
In order to achieve the above purpose, the invention adopts the following technical scheme: the six-dimensional treatment couch comprises a Z-axis component for driving the treatment couch to move along a Z-axis, an X/Y-axis component arranged on the Z-axis component and used for driving the treatment couch to move along an X/Y-axis, an X/Y/Z six-dimensional component arranged on the X/Y-axis component and a couch panel arranged on the X/Y/Z six-dimensional component; the X/Y/Z six-dimensional assembly comprises a static platform at the bottom and a movable platform at the top, and at least six groups of electric lifting assemblies and driving components for driving the electric lifting assemblies are arranged between the static platform and the movable platform.
As a further improvement of the invention, the Z-axis component is a scissor-fork type lifting structure; the scissor type lifting structure comprises a base and an X-axis base body, wherein one side of the base is provided with a pair of first guide grooves, the other side of the base is provided with a pair of first fixing seats, the pair of first fixing seats are respectively connected with one ends of a pair of first connecting rods through rolling bearings, the pair of first guide grooves are respectively connected with one ends of a pair of second connecting rods through cam followers, and connecting holes are formed in the centers of the pair of first connecting rods and the pair of second connecting rods and are mutually connected through the rolling bearings and positioning rods; a pair of second guide grooves are formed in one side of the bottom of the X-axis base body, a pair of second fixing seats are formed in the other side of the bottom of the X-axis base body, the pair of second fixing seats are respectively connected with the other ends of the pair of first connecting rods through rolling bearings, and the pair of second guide grooves are respectively connected with the other ends of the pair of second connecting rods through cam followers; the base is also provided with a first driving motor, the first driving motor is in transmission with a first screw rod through a speed reducer, and the nut end of the first screw rod is fixed on the first connecting rod or the second connecting rod.
As a further improvement of the invention, a pair of third connecting rods are arranged between the pair of second fixing seats and the pair of first connecting rods, a pair of fourth connecting rods are arranged between the pair of second guide grooves and the pair of second connecting rods, and connecting holes are arranged at the centers of the pair of third connecting rods and the pair of fourth connecting rods and are mutually connected through rolling bearings and positioning rods.
As a further improvement of the invention, the X/Y axis assembly comprises a Y axis base body, a pair of first guide rails are arranged on two sides of the top of the Z axis assembly, and sliding ends of the pair of first guide rails are arranged at the bottom of the Y axis base body; the top of the Z-axis assembly is provided with a first stator coil, and a first linear motor is arranged at the position, opposite to the first stator coil, of the bottom of the Y-axis base body; the top of Y axle base member be equipped with first stator coil vertically second stator coil, top both sides still are provided with a pair of second guide rail, the bottom of X/Y Z six-dimensional subassembly with the position that stator coil is relative is provided with second linear electric motor, the bottom of X/Y Z six-dimensional subassembly still be provided with the cooperation of second guide rail is gliding third guide rail.
As a further improvement of the invention, the electric lifting assembly comprises a rotating base arranged on the static platform, a third fixing seat arranged at the bottom of the movable platform and 8 fifth connecting rods, wherein each 4 groups of the 8 fifth connecting rods are sequentially hinged end to form a pair of scissor structures, the rotating base is hinged with one rotating shaft of a first hook hinge, and two ends of the other rotating shaft of the first hook hinge are respectively connected with the bottoms of the pair of scissor structures; the bottom of the third fixing seat is hinged with one rotating shaft of the second hook hinge, and two ends of the other rotating shaft of the second hook hinge are respectively connected with the tops of the pair of scissor fork structures.
As a further improvement of the invention, the rotating base comprises a rotating disc and a cross roller collar, the rotating disc is connected with the inner ring of the cross roller collar through the disc part of the rotating disc, and the outer ring of the cross roller collar is fixedly connected with the static platform; the rotating disk is hinged with the first hook hinge through a pair of lugs.
As a further improvement of the invention, the driving part comprises a second driving motor and a second screw rod, and the second driving motor drives the second screw rod to rotate through a synchronous belt; one side of the middle part hinge part of the pair of scissor fork structures is provided with a mounting block, the other side is provided with a fixed block, the fixed end of the second screw rod is arranged on the fixed block, and the nut end is arranged on the mounting block.
As a further improvement of the invention, the fixed block is provided with a stay cord encoder, a measuring head of the stay cord encoder is arranged on a mounting rod, and the mounting rod is connected with a hinge shaft of the fifth connecting rod.
The invention also provides a motion control method of the six-dimensional therapeutic bed, which comprises the following steps:
setting the variable theta, X 0 、Y 0 、Z 0 Respectively representing revolution angle of the therapeutic bed and moving distance of the therapeutic bed main body in X/Y/Z direction, and introducing a rotation change matrixTranslation change matrix->
Simplifying the connection points of each group of electric lifting components, the static platform and the movable platform into rotary hinge points, and respectively representing the space vectors of the connection points as r x And R is X Then:
wherein,a spatial initial vector representing the connection point of each set of motorized lift assemblies to the stationary platform,each component of the matrix representation of the spatial initial vector representing the connection point of each group of electric lifting components and the static platform;
wherein,a space initial vector representing the connection point of each group of electric lifting components and the movable platform,each component of the matrix representation of the spatial initial vector of each group of electric lifting components and the movable platform connection point is represented respectively;
according to the coordinate conversion relation, the conversion relation of any vector in the dynamic and static coordinate system of the connection point of each group of electric lifting components and the movable platform is obtained as follows:
r X ＝T 0 ·R X +P 0
r X for the space vector of each group of electric lifting component and the connecting point of the movable platform in a static coordinate system, R X For each group of space vectors of the connection point of the electric lifting component and the movable platform in the movable coordinate system, T 0 And P 0 Respectively representing a rotation change matrix and a translation change matrix of the X/Y/Z six-dimensional component;
lifting vector L of the electric lifting assembly X The method comprises the following steps:
L X ＝r X -r x 。
as a further improvement of the invention, the rotation change matrix T of the X/Y/Z six-dimensional component i The method comprises the following steps:
T i ＝R z (γ)R Y (β)R X (α)
wherein R is X (α)、R Y (β)、R z (gamma) is a rotation operator, which respectively indicates that the movable platform rotates by an alpha angle around the X axis, rotates by a beta angle around the Y axis, rotates by a gamma angle around the Z axis, and:
translation change matrix P of X/Y/Z six-dimensional component 0 The method comprises the following steps:
wherein X is i 、Y i 、Z i Respectively representing the translation distance of the X/Y/Z six-dimensional component along the X/Y/Z direction in space;
will rotate the change matrix T i And shift change matrix P i Substituting the conversion relation of any vector in the dynamic and static coordinate system of each group of electric lifting components and the movable platform connection point to obtain:
thereby, the lifting vector of the electric lifting assembly is obtained as follows:
the beneficial effects of the invention are as follows:
1. compared with the traditional scheme, the linear motor is adopted as a driving scheme on translational movement of the X axis and the Y axis, so that the transmission rigidity, the movement positioning precision and the dynamic response performance under the condition of large displacement are greatly improved, and the linear motor does not need a transmission device, so that the overall efficiency is improved, the noise and vibration are reduced, the system structure is simplified, and the overall maintenance cost is reduced;
2. the X/Y/Z six-dimensional component adopts a plurality of groups of scissor-type structures, which is not only beneficial to accurate six-dimensional motion control, but also adopts a parallel double-scissor structure, so that the transmission rigidity, stability and load capacity of the X/Y/Z six-dimensional component are greatly improved, and the positioning precision of patients, especially the positioning precision of patients with larger weight, can be ensured;
3. through real-time position detection, the X/Y/Z six-dimensional component can adjust the body position of a patient at different positions by taking the isocenter position as an original point, the spatial displacement caused by the linear motion compensation rotation adjustment of the treatment bed is not needed, and the positioning error caused by the linear motion is avoided, so that the control precision is further improved.
Drawings
FIG. 1 is a block diagram of the whole embodiment of the present invention;
FIG. 2 is a block diagram of a Z-axis assembly in accordance with an embodiment of the present invention;
FIG. 3 is a block diagram of an X/Y axis assembly in accordance with an embodiment of the present invention;
FIG. 4 is a block diagram of an X/Y/Z six-dimensional assembly in accordance with an embodiment of the present invention;
FIG. 5 is a block diagram of an electric lift assembly in an embodiment of the present invention;
FIG. 6 is a schematic illustration of a swivel base coupled to a hook in an embodiment of the invention;
FIG. 7 is a schematic view of the revolution motion and three-dimensional translation of a couch according to an embodiment of the present invention;
FIG. 8 is a simplified schematic diagram of a therapeutic bed according to an embodiment of the present invention;
FIG. 9 is a control flow diagram of an X/Y/Z six-dimensional assembly in accordance with an embodiment of the present invention.
Reference numerals:
1. a Z-axis assembly; 2. an X/Y axis assembly; 3. an X/Y/Z six-dimensional assembly; 4. a bed panel; 5. a base; 6. a first guide groove; 7. a first driving motor; 8. a first screw rod; 9. a first fixing seat; 10. a first link; 11. a second link; 12. a third link; 13. a fourth link; 14. a second fixing seat 15 and a second guide groove; 16. an X-axis substrate; 17. a first guide rail; 18. a first stator coil; 19. a first linear motor; 20. a Y-axis substrate; 21. a second stator coil; 22. a second guide rail; 23. a third guide rail; 24. a second linear motor; 25. a static platform; 26. an electric lifting assembly; 27. a movable platform; 28. a rotating base; 29. a first hook joint; 30. a fifth link; 31. installing a rod; 32. a pull rope encoder; 33. a second screw rod; 34. a mounting block; 35. a fixed block; 36. a synchronous belt; 37. a second driving motor, 38, a second hook hinge; 39. a third fixing seat; 280. a rotating disc; 281. cross roller collars; 2801. a disk portion; 2802. an ear.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
As shown in fig. 1, a six-dimensional therapeutic bed for radiation therapy has a Z-axis assembly 1, and a mechanical interface is provided at the upper end of the Z-axis assembly 1 to connect with an X/Y-axis assembly 2. The X/Y axis component 2 is provided with a linear guide rail which is connected with the X/Y/Z six-dimensional component 3, and the top end of the X/Y/Z six-dimensional component 3 is provided with a mechanical interface which is connected with the bed panel 4 of the carbon fiber.
As shown in fig. 2, the whole Z-axis assembly 1 is a scissor-fork type lifting structure, and is used for completing the linear motion of the six-dimensional treatment couch along the Z-axis direction. The bottom of the Z-axis assembly 1 is provided with a base 5, and the upper end surface of the base 5 is fixed with a pair of first guide grooves 6 and a first fixing seat 9 through a mechanical interface. The first fixing seat 9 is connected with a first connecting rod 10 through a rolling bearing, the rolling bearing is used as a rotary hinge, and the first connecting rod 10 can rotate around the rotary hinge. The first guide groove 6 is cooperatively connected with the second connecting rod 11 through a cam follower, the cam follower can reciprocate in the first guide groove 6, and the second connecting rod 11 can rotate around the center of the cam follower. The centers of the first connecting rod 10 and the second connecting rod 11 are provided with a connecting hole, the connecting holes are mutually connected through rolling bearings and positioning rods, and the top ends of the first connecting rod 10 and the second connecting rod 11 are respectively connected with the fourth connecting rod 13 and the third connecting rod 12 through the rolling bearings and the positioning rods. Similar to the first connecting rod 10 and the second connecting rod 11, the centers of the third connecting rod 12 and the third connecting rod 13 are connected with each other, and the top end of the third connecting rod and the X-axis base 16 form a scissor-type structure through the second fixing seat 14 and the second guide groove 15. Be provided with a first driving motor 7 on the base 5, first driving motor 7 carries out the transmission through speed reducer and first lead screw 8, and the nut end of first lead screw 8 is fixed in on the first connecting rod 10 for first lead screw 8 can make first connecting rod 10 go on the luffing motion around center of rotation when rotating, finally drives whole scissors fork structure and carries out elevating movement.
A pair of first guide rails 17 are respectively arranged on the left side and the right side of the X-axis base 16, wherein a fixed rail of the first guide rails 17 is mounted on the X-axis base 16, and a sliding rail of the first guide rails 17 is mounted on the Y-axis base 20, so that the Y-axis base 20 can perform linear motion along the X-axis direction. In order to limit the range of motion of the guide rail, a limit module is provided. The upper end surface of the X-axis base body 16 is provided with a groove, a first stator coil 18 is arranged in the groove, and the same position of the lower end surface of the Y-axis base body 20 is provided with a first linear motor 19. The Y-axis base 20 is driven to move in the X-axis direction by magnetic field induction between the first linear motor and the first stator coil.
As shown in fig. 3, in the X/Y axis assembly 2, a second stator coil 21 and a second rail 22 are provided on the Y axis base 20. As shown in fig. 4, a static platform 25 is disposed at the bottom of the X/Y/Z six-dimensional assembly 3, a third guide rail 23 and a second linear motor 24 at the bottom can cooperate with the X/Y axis assembly 2, and the X/Y/Z six-dimensional assembly 3 can be driven to move in the Y axis direction by magnetic field induction between the second linear motor 24 and the second stator coil 21. Six groups of electric lifting assemblies 26 are arranged at the top end of the static platform 25, the top end of each electric lifting assembly 26 is connected with a movable platform 27, and the top end of each movable platform 27 is connected with the carbon fiber bed panel 4.
As shown in fig. 5, a rotating base 28 is arranged at the bottom of the electric lifting assembly 26 and is hinged to two ends of one rotating shaft of the first hook joint 29 of the static platform, and two ends of the other rotating shaft of the first hook joint 29 are hinged to a fifth connecting rod 30. The 4 fifth connecting rods 30 are a group and are sequentially hinged end to form a scissor-fork structure; a total of 8 fifth links 30 in each of the motorized lift assemblies 26 form a pair of scissor-like structures. The left end of the middle hinge part of the scissor structure is connected with a mounting block 34, and the right end of the hinge part is connected with a fixing block 35. The top of the scissor structure is hinged with two ends of one rotating shaft of a second hook hinge 38 of the movable platform, and two ends of the other rotating shaft of the second hook hinge 38 are hinged with two lugs 391 of a third fixed seat 39. The specific structure of the rotary base 28 is shown in fig. 6, the rotary base 28 includes a rotary disk 280 and a cross roller collar 281, the rotary disk 280 is connected with the inner ring of the cross roller collar 281 through a disk portion 2801 thereof, and can rotate with the inner ring of the cross roller collar 281, and the outer ring of the cross roller collar 281 is fixedly connected with the static platform 25. The rotary disk 280 is further provided with a pair of ears 2802, the ears 2802 being hinged to the first hook hinge 29.
The driving part outputs driving force for the second driving motor 37 to drive the synchronous belt 36 to rotate, and the synchronous belt 36 outputs a belt wheel to drive the second screw rod 33 to rotate. The fixed end of the second screw rod 33 is arranged on the fixed block 35, and the nut end is arranged on the mounting block 34. When the rotation of the second driving motor 37 is controlled, the distance between the mounting block 34 and the fixing block 35 can be controlled, thereby achieving the elevating movement of the electric elevating assembly. One side of the fixed block 35 is provided with a stay cord encoder 32 for detecting the movement displacement of the second screw rod 33 in real time. The measuring head of the rope encoder 32 is mounted on the mounting bar 31, and the mounting bar 31 is connected to the hinge shaft of the fifth link 30 on the side of the mounting block 34.
The embodiment uses the linear motor as a driving motor for translational movement in the front-back and left-right directions, has the advantages of high acceleration and high dynamic corresponding performance, high transmission rigidity, high movement positioning precision, lower mechanical noise and vibration, simpler and easier maintenance structure and the like, and can well improve the movement speed of the existing treatment bed, improve the positioning and transmission precision and greatly simplify the structural complexity.
In the embodiment, the X/Y/Z six-dimensional component adopts a plurality of groups of scissor-type structures, which is not only beneficial to accurate six-dimensional motion control, but also adopts a parallel double-scissor structure, so that the transmission rigidity, stability and load capacity of the X/Y/Z six-dimensional component are greatly improved, and the positioning precision of patients, particularly the positioning precision of patients with larger weight, can be ensured;
the embodiment also provides a motion control method of the six-dimensional treatment couch, wherein in the radiotherapy process, after the image guiding system is matched with the treatment plan image to a certain extent, the positioning deviation of the tumor tissue in the treatment stage and the positioning stage can be obtained. The positioning deviation generally comprises deviation of tumor tissue in six degrees of freedom by taking the isocenter as the origin of a coordinate system. Because of the large difference between the tumor position and the tumor tissue position of different patients, the distance that the treatment couch needs to move when the treatment couch transports the tumor tissue to the isocenter is also different.
As shown in figure 7, the X/Y/Z six-dimensional assembly is spatially displaced by the orbital and three-dimensional translational motion of the couch body during normal use. Introducing an initial rotational variable θ and an initial three-dimensional motion variable X 0 、Y 0 、Z 0 The revolution angle of the therapeutic bed and the moving distance of the therapeutic bed main body in the X/Y/Z direction are respectively shown, and the range of the revolution angle is 0-the maximum stroke of the therapeutic bed in the X, Y, Z directions. As shown in FIG. 1, when the upper surface, front end surface and bilateral symmetry plane of the carbon fiber bed board are coincident with the isocenter, the initial variables θ, X of the treatment bed body are recorded as the initial positions 0 、Y 0 、Z 0 All are zero positions.
As shown in fig. 8, the present embodiment is illustrated by taking six groups of electric lifting assemblies i, ii, iii … … vi as examples, simplifying the scissor structure in the six groups of electric lifting assemblies 26 to be telescopic rods, and simplifying the first and second hook joints in each electric lifting assembly 26 to be the rotation hinge points of the lower spherical joint X and the upper hook joint X, where x=a, b, c, d, e, f; x=a, B, C, D, E, F. The first hook hinge and the second hook hinge are respectively fixedly connected with the static platform and the movable platform, so that a plane formed by X and a plane formed by X can be respectively regarded as a static plane and a movable plane. The space vector r of the first Hooke's joint in the static coordinate system is respectively expressed according to the space geometrical relationship x And a vector R of a second Hooke's joint in the dynamic coordinate system X As shown in fig. 8. Because the initial rotation variable theta and the initial three-dimensional movement variable X of the main body of the treatment bed are introduced when the treatment bed makes revolution movement 0 、Y 0 、Z 0 So a rotation change matrix is introducedIntroducing a translation change matrix->The following relationship can be listed:
r a 、r b 、r c 、r d 、r e 、r f respectively representing space vectors of first hook joints in all electric lifting assemblies in a static coordinate system;the space initial vectors respectively representing the first hook hinge in the 6 groups of electric lifting assemblies are a group of known quantities related to the design of the electric lifting assemblies; />Representing spatial initial vectors +.>Components of the matrix representation of (a); />Respectively represent the space initial vectorsComponents of the matrix representation of (a); … … ->Representing spatial initial vectors +.>Each component of the matrix representation of (a).
Similarly, for the second hook, the following formula is given:
R A 、R B 、R C 、R D 、R E 、R F respectively representing space vectors of second hook joints in each electric lifting assembly in the dynamic coordinate system;the spatial initial vectors respectively representing the second hook hinge in each electric lifting assembly are a set of known quantities related to the design of the electric lifting assembly itself; />Representing spatial initial vectors +.>Components of the matrix representation of (a); />Representing spatial initial vectors +.>Components of the matrix representation of (a); … … ->Spatial initial vector +.>Each component of the matrix representation of (a).
According to the coordinate conversion relation, the conversion relation of any vector in the dynamic and static coordinate systems of the second hook hinge can be known:
r X ＝T 0 ·R X +P 0
wherein: x represents A, B, C, D, E, F;
r X -a second hook hinge spatial vector under the static coordinate system;
R X -spatial vector of the second hook in the dynamic coordinate system;
T 0 rotational variation of X/Y/Z six-dimensional assemblyA matrix;
P 0 -a translation change matrix of the X/Y/Z six-dimensional assembly.
Wherein T is 0 And P 0 Is a known quantity related to the X/Y/Z six-dimensional component design, from which it is easy to derive the vector representations of the first hook and the second hook in the same coordinate system. And then calculate the pole length vector of the electric lifting push rod through the vector operation relation as:
L X ＝r X -r x
wherein L is X Representing a bar length vector; x represents A-F, and X correspondingly represents a-F;
while the positioning deviation input by the image positioning system in the radiotherapy system requires the pitching angle alpha of the bed panel rotating around the X axis, the rolling angle beta of the bed panel rotating around the Y axis and the yaw angle gamma of the bed panel rotating around the Z axis to respectively translate X relative to X/Y/Z i 、Y i 、Z i 。
Rotational movement of X/Y/Z six-dimensional assembly using RPY angle method, rotational operator R X (α)、R Y (β)、R Z And (gamma) respectively represents the angle alpha of rotation of the movable platform around the X axis, the angle beta of rotation of the movable platform around the Y axis and the angle gamma of rotation of the movable platform around the Z axis. The rotation operator of the dynamic plane satisfies the following relation:
when the X/Y/Z six-dimensional component rotates around a plurality of axes in space, the X/Y/Z six-dimensional component can rotate in sequence according to the order of X, Y, Z to obtain a rotation transformation matrix T of the X/Y/Z six-dimensional component i ＝R z (γ)R Y (β)R X (alpha). According to the space geometrical relationship, the translation of the movable platform relative to the static platform in the initial state can be obtained
The rotation change matrix T is obtained i And shift change matrix P i Conversion relation of substituted dynamic and static coordinate system vectors and rod length vector of electric lifting push rodThe method can obtain:
after the rod length formula is obtained, the rod length of each electric lifting assembly of the X/Y/Z six-dimensional assembly under any pose can be calculated according to the vectors substituted into the different first and second hook hinges. The rod length variation of the six groups of electric lifting assemblies in the process of the X/Y/Z six-dimensional assembly from the initial state to any pose state can be obtained through differential calculation. Through the relation between the rod length variation and the rotation angle of the driving motor, the control of the X/Y/Z six-dimensional assembly can be realized.
FIG. 9 is a control flow diagram of the X/Y/Z six-dimensional assembly, the control flow automatically initiating variable X for three-dimensional motion of the couch body 0 、Y 0 、Z 0 And the initial revolution angle theta is detected, and a kinematic model is established in real time. According to the positioning deviation input by the image positioning system in the radiotherapy system, the motion quantity of the driving motor of each electric lifting assembly is obtained through calculation by a kinematic model, so that the electric lifting assembly moves at any position by taking the isocenter as the origin.
The motion control method with the isocenter as the motion origin ensures that the treatment couch can rotate around the isocenter at any position without spatial displacement caused by linear motion compensation rotation adjustment of the treatment couch, and avoids positioning errors caused by linear motion.
The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims (10)

1. The six-dimensional treatment couch is characterized by comprising a Z-axis component for driving the treatment couch to move along a Z-axis, an X/Y-axis component arranged on the Z-axis component and used for driving the treatment couch to move along an X/Y-axis, an X/Y/Z six-dimensional component arranged on the X/Y-axis component and a couch panel arranged on the X/Y/Z six-dimensional component; the X/Y/Z six-dimensional assembly comprises a static platform at the bottom and a movable platform at the top, and at least six groups of electric lifting assemblies and driving components for driving the electric lifting assemblies are arranged between the static platform and the movable platform.
2. The six-dimensional therapeutic bed of claim 1, wherein the Z-axis assembly is a scissor lift structure; the scissor type lifting structure comprises a base and an X-axis base body, wherein one side of the base is provided with a pair of first guide grooves, the other side of the base is provided with a pair of first fixing seats, the pair of first fixing seats are respectively connected with one ends of a pair of first connecting rods through rolling bearings, the pair of first guide grooves are respectively connected with one ends of a pair of second connecting rods through cam followers, and connecting holes are formed in the centers of the pair of first connecting rods and the pair of second connecting rods and are mutually connected through the rolling bearings and positioning rods; a pair of second guide grooves are formed in one side of the bottom of the X-axis base body, a pair of second fixing seats are formed in the other side of the bottom of the X-axis base body, the pair of second fixing seats are respectively connected with the other ends of the pair of first connecting rods through rolling bearings, and the pair of second guide grooves are respectively connected with the other ends of the pair of second connecting rods through cam followers; the base is also provided with a first driving motor, the first driving motor is in transmission with a first screw rod through a speed reducer, and the nut end of the first screw rod is fixed on the first connecting rod or the second connecting rod.
3. The six-dimensional therapeutic bed according to claim 2, wherein a pair of third links are further provided between the pair of second holders and the pair of first links, a pair of fourth links are further provided between the pair of second guide grooves and the pair of second links, and a connecting hole is provided at the center of the pair of third links and the pair of fourth links, and are connected to each other by a rolling bearing and a positioning rod.
4. The six-dimensional therapeutic bed according to claim 1, wherein the X/Y axis assembly comprises a Y axis base, a pair of first guide rails are provided on both sides of the top of the Z axis assembly, and sliding ends of the pair of first guide rails are mounted on the bottom of the Y axis base; the top of the Z-axis assembly is provided with a first stator coil, and a first linear motor is arranged at the position, opposite to the first stator coil, of the bottom of the Y-axis base body; the top of Y axle base member be equipped with first stator coil vertically second stator coil, top both sides still are provided with a pair of second guide rail, the bottom of X/Y Z six-dimensional subassembly with the position that stator coil is relative is provided with second linear electric motor, the bottom of X/Y Z six-dimensional subassembly still be provided with the cooperation of second guide rail is gliding third guide rail.
5. The six-dimensional therapeutic bed according to claim 1, wherein the electric lifting assembly comprises a rotating base arranged on the static platform, a third fixing seat arranged at the bottom of the movable platform and 8 fifth connecting rods, each 4 groups of the 8 fifth connecting rods are sequentially hinged end to form a pair of scissor structures, the rotating base is hinged with one rotating shaft of the first hook hinge, and two ends of the other rotating shaft of the first hook hinge are respectively connected with the bottoms of the pair of scissor structures; the bottom of the third fixing seat is hinged with one rotating shaft of the second hook hinge, and two ends of the other rotating shaft of the second hook hinge are respectively connected with the tops of the pair of scissor fork structures.
6. The six-dimensional therapeutic bed according to claim 5, wherein the rotating base comprises a rotating disc and a cross roller collar, the rotating disc being connected by its disc portion to an inner ring of the cross roller collar, an outer ring of the cross roller collar being fixedly connected to the stationary platform; the rotating disk is hinged with the first hook hinge through a pair of lugs.
7. The six-dimensional therapeutic bed according to claim 5 or 6, wherein the driving means comprises a second driving motor and a second screw, the second driving motor driving the second screw to rotate through a timing belt; one side of the middle part hinge part of the pair of scissor fork structures is provided with a mounting block, the other side is provided with a fixed block, the fixed end of the second screw rod is arranged on the fixed block, and the nut end is arranged on the mounting block.
8. The six-dimensional therapeutic bed according to claim 7, wherein the fixed block is provided with a pull rope encoder, and a measuring head of the pull rope encoder is mounted on a mounting rod, and the mounting rod is connected with a hinge shaft of the fifth connecting rod.
9. A method of motion control of a six-dimensional therapeutic bed according to any one of claims 1 to 8, comprising:
setting the variable theta, X 0 、Y 0 、Z 0 Respectively representing revolution angle of the therapeutic bed and moving distance of the therapeutic bed main body in X/Y/Z direction, and introducing a rotation change matrixTranslation change matrix->
Simplifying the connection points of each group of electric lifting components, the static platform and the movable platform into rotary hinge points, and respectively representing the space vectors of the connection points as r x And R is X Then:
wherein,a spatial initial vector representing the connection point of each set of motorized lift assemblies to the stationary platform,each component of the matrix representation of the spatial initial vector representing the connection point of each group of electric lifting components and the static platform;
wherein,a space initial vector representing the connection point of each group of electric lifting components and the movable platform,each component of the matrix representation of the spatial initial vector of each group of electric lifting components and the movable platform connection point is represented respectively;
according to the coordinate conversion relation, the conversion relation of any vector in the dynamic and static coordinate system of the connection point of each group of electric lifting components and the movable platform is obtained as follows:
r X ＝T 0 ·R X +P 0
r X for the space vector of each group of electric lifting component and the connecting point of the movable platform in a static coordinate system, R X For each group of space vectors of the connection point of the electric lifting component and the movable platform in the movable coordinate system, T 0 And P 0 Respectively representing a rotation change matrix and a translation change matrix of the X/Y/Z six-dimensional component;
lifting vector L of the electric lifting assembly X The method comprises the following steps:
L X ＝r X -r x 。
10. the method of motion control of a six-dimensional therapeutic bed according to claim 9, wherein the X/Y/Z six-dimensional assembly has a rotational variation matrix T i The method comprises the following steps:
T i ＝R z (γ)R Y (β)R X (α)
wherein R is X (α)、R Y (β)、R z (gamma) is a rotation operator, which respectively indicates that the movable platform rotates by an alpha angle around the X axis, rotates by a beta angle around the Y axis, rotates by a gamma angle around the Z axis, and:
translation change matrix P of X/Y/Z six-dimensional component 0 The method comprises the following steps:
wherein X is i 、Y i 、Z i Respectively representing the translation distance of the X/Y/Z six-dimensional component along the X/Y/Z direction in space;
will rotate the change matrix T i And shift change matrix P i Substituting the conversion relation of any vector in the dynamic and static coordinate system of each group of electric lifting components and the movable platform connection point to obtain:
thereby, the lifting vector of the electric lifting assembly is obtained as follows:
CN202311806811.6A 2023-12-26 2023-12-26 Six-dimensional treatment couch and motion control method thereof Pending CN117695536A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118987508A (en) * 2024-08-14 2024-11-22 西安真核医疗科技有限公司 Control method of treatment bed

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118987508A (en) * 2024-08-14 2024-11-22 西安真核医疗科技有限公司 Control method of treatment bed
CN118987508B (en) * 2024-08-14 2025-09-19 西安真核医疗科技有限公司 Control method of treatment bed

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