技术领域technical field
本发明涉及一种适用于放射治疗的U型梁三维移动定位床，属于新型医疗辅助设备制造技术领域。The invention relates to a U-shaped beam three-dimensional mobile positioning bed suitable for radiotherapy, and belongs to the technical field of novel medical auxiliary equipment manufacturing.
背景技术Background technique
目前的临床应用中的各种医疗床，虽然也能靠下部行走轮进行移动，或由机械杠杆机构调节床板不同分段的使用角度，但由于结构过于简单，不能实现原地水平旋转、纵向倾角大范围改变，床面横向摆动等三维度的调节及定位，尤其不能按一定角度或运动轨迹进行智能控制位移，特别是不适用于放射治疗时对患者的某处病变区域进行区域扫描及按一定轨迹移动患者、实现扫描式照射治疗，需要根据病变区域预设轨迹，设定移动速度与照射强度指标，实现治疗床对患者的数控精确定位及扫描位移治疗。Although various medical beds in current clinical applications can also be moved by the lower walking wheels, or the use angle of different sections of the bed can be adjusted by a mechanical lever mechanism, due to the too simple structure, the horizontal rotation and vertical inclination cannot be realized in place. Large-scale changes, three-dimensional adjustment and positioning such as the lateral swing of the bed surface, especially cannot be intelligently controlled displacement according to a certain angle or motion trajectory, especially not suitable for regional scanning of a certain lesion area of the patient during radiotherapy and press a certain To move the patient on the trajectory and realize the scanning irradiation treatment, it is necessary to preset the trajectory according to the lesion area, set the moving speed and the irradiation intensity index, and realize the numerical control precise positioning and scanning displacement treatment of the patient by the treatment couch.
发明内容SUMMARY OF THE INVENTION
本发明针对现有技术的不足，提供了一种设计合理、结构紧凑，操作方便的适用于放射治疗的U型梁三维移动定位床，具有使用方便、智能控制、安全可靠等优点。Aiming at the deficiencies of the prior art, the present invention provides a U-shaped beam three-dimensional mobile positioning bed suitable for radiotherapy with reasonable design, compact structure and convenient operation, which has the advantages of convenient use, intelligent control, safety and reliability, and the like.
本发明的目的是通过以下技术方案来实现的：一种适用于放射治疗的U型梁三维移动定位床，由底座，水平旋转伺服电机，U型梁，纵向摇动伺服电机，蜗杆A，蜗轮A，纵向摇动轴，纵向主梁，横向摇动轴，横梁，边框，横向摇动伺服电机，蜗杆B，蜗轮B，三段式床板，摇臂支架，电动升降螺杆，床板铰链，约束固定带和智能控制器等20个零件组成，其中，水平旋转伺服电机设于底座上，且该电机轴与U形梁下端连接，U型梁上端通过纵向摇动轴和蜗轮A与纵向主梁铰接，且蜗轮A的上端与纵向主梁连接为一体，纵向主梁的向上翘起的两端均设有横向摇动轴，该横向摇动轴分别与前后两端的横梁铰接，横梁两端均与边框连接为一体，且前端横梁中心部位连接有蜗轮B，该蜗轮B与蜗杆B啮合，且蜗杆B与横向摇动伺服电机同轴，三段式床板自身通过床板铰链铰接为一体，三段式床板前后两端通过摇臂支架与边框铰接，前后两个床板铰链中部分别设有与纵向主梁铰接的电动升降螺杆，三段式床板的各分段分别设有可调节长度的约束固定带，其中的水平旋转伺服电机，纵向摇动伺服电机，横向摇动伺服电机，和电动升降螺杆等电动部件均通过控制导线与智能控制器连接。The purpose of the present invention is achieved through the following technical solutions: a U-shaped beam three-dimensional mobile positioning bed suitable for radiotherapy, consisting of a base, a horizontal rotation servo motor, a U-shaped beam, a longitudinal shaking servo motor, a worm A, a worm wheel A , longitudinal rocking shaft, longitudinal main beam, lateral rocking shaft, beam, frame, lateral rocking servo motor, worm B, worm gear B, three-section bed plate, rocker arm bracket, electric lifting screw, bed plate hinge, restraint fixing belt and intelligent control It is composed of 20 parts such as the device, among which, the horizontal rotation servo motor is set on the base, and the motor shaft is connected with the lower end of the U-shaped beam, the upper end of the U-shaped beam is hinged with the longitudinal main beam through the longitudinal rocking shaft and the worm gear A, and the worm gear A is hinged to the longitudinal main beam. The upper end is connected with the longitudinal main beam as a whole, and the upwardly tilted ends of the longitudinal main beam are provided with lateral rocking shafts. The central part of the beam is connected with a worm gear B, which meshes with the worm B, and the worm B is coaxial with the lateral shaking servo motor. Hinged with the frame, the middle of the front and rear bedboard hinges are respectively provided with electric lifting screws that are hinged with the longitudinal main beam, and each section of the three-section bedboard is respectively provided with a length-adjustable restraint fixing belt, wherein the horizontal rotation servo motor, longitudinal The electric components such as the shaking servo motor, the lateral shaking servo motor, and the electric lifting screw are all connected with the intelligent controller through the control wire.
所述的U型梁是外观呈侧卧状U型的金属空心结构件，下端水平部分末端与水平旋转伺服电机主轴连接，并通过水平旋转伺服电机与底座连接，上端水平部分末端通过纵向摇动轴及蜗轮A及与之啮合的螺杆A与纵向摇动伺服电机连接，从而使三段式床板即可实现中心定位的水平旋转，又可以纵向摇动轴为圆心，实现一定角度范围的纵向摇动。The U-shaped beam is a metal hollow structure with a lateral U-shaped appearance. The lower end of the horizontal part is connected to the main shaft of the horizontal rotation servo motor, and is connected to the base through the horizontal rotation servo motor. The worm gear A and the screw A meshing with it are connected with the longitudinal shaking servo motor, so that the three-section bed plate can realize the horizontal rotation of the center positioning, and the longitudinal shaking axis can be the center of the circle to realize the longitudinal shaking within a certain angle range.
所述的纵向主梁即沿着三段式床板长度方向设置的断面为U形的金属结构件，该结构件两端分别设有向上竖起的立板，该立板中心设有通孔，该通孔与横向摇动轴及横梁配合，实现三段式床板的横向摇动。The longitudinal main beam is a metal structural member with a U-shaped cross-section arranged along the length direction of the three-section bed plate. The two ends of the structural member are respectively provided with upright vertical plates, and the center of the vertical plate is provided with a through hole. The through hole cooperates with the lateral rocking shaft and the beam to realize the lateral rocking of the three-section bed plate.
所述的蜗轮A及蜗杆A是一组相互啮合的蜗轮蜗杆减速器，蜗杆A与纵向摇动伺服电机同轴且连接为一体，蜗轮A与纵向摇动轴同轴且与纵向主梁连接为一体，当纵向伺服电机按照一定旋转圈数的正转或反转时，蜗轮A带动与之连接的纵向主梁，以纵向摇动轴为圆心作一定倾角的俯仰摇动。The worm gear A and the worm A are a group of intermeshing worm gear reducers, the worm A is coaxial with the longitudinal shaking servo motor and is connected as a whole, and the worm gear A is coaxial with the longitudinal shaking shaft and is integrally connected with the longitudinal main beam, When the longitudinal servo motor rotates forward or reverse according to a certain number of rotations, the worm gear A drives the longitudinal main beam connected to it, and takes the longitudinal rocking axis as the center to make a certain tilt angle.
所述的横梁即是两端与边框连接，中心部位通过横向摇动轴与纵向主梁铰接的金属结构件，分别设于纵向主梁的两端，其中前端的横梁通过横向摇动轴与蜗轮B连接为一体，且该横向摇动轴与蜗轮轴为同轴结构，横向伺服电机通过其同轴的蜗杆B与蜗轮B啮合，当横向伺服电机按照一定旋转圈数的正转或反转时，蜗轮B带动与之连接的横梁以及边框和三段式床板，以纵向主梁两端的横向摇动轴为圆心，作一定倾角的横向往返摇动。The said beam is a metal structure whose two ends are connected to the frame, and the central part is hinged with the longitudinal main beam through the lateral rocking shaft, and is respectively arranged at both ends of the longitudinal main beam, wherein the front beam is connected with the worm gear B through the lateral rocking shaft. It is integrated, and the lateral rocking shaft and the worm gear shaft are coaxial structures. The lateral servo motor meshes with the worm gear B through its coaxial worm B. When the lateral servo motor rotates forward or reverse according to a certain number of rotations, the worm gear B The beam, the frame and the three-segment bed plate connected to it are driven, and the horizontal rocking axis at both ends of the longitudinal main beam is taken as the center of the circle, and the horizontal reciprocating rocking is performed at a certain inclination angle.
所述的三段式床板是以人体的上半身、臀部至膝盖、以及小腿长度为参照尺寸的分段可变形床板结构，床板中部两条接缝由床板铰链铰接，三段式床板的前后两端分别由摇臂支架与边框铰接，两条床板铰链的中心部位下端，分别设有与纵向主梁铰接的电动升降螺杆，在三段式床板的各分段中均设有可调节长度的约束固定带。The three-section bed board is a segmented deformable bed board structure with the upper body, hips to knees, and calf lengths of the human body as reference dimensions. The two seams in the middle of the bed board are hinged by the bed board hinges. They are hinged to the frame by the rocker bracket respectively. The lower ends of the central parts of the two bed hinges are respectively provided with electric lifting screws that are hinged with the longitudinal main beam, and each segment of the three-section bed is provided with adjustable length restraints. bring.
所述的智能控制器是通过专门逻辑电路实现的可根据治疗要求对各电动部件提供工作电源及反馈位移控制信号，从而实现特定患者治疗所需的各种位移、定位和轨迹扫描动作的智能控制开关系统。The intelligent controller is realized by a special logic circuit, which can provide working power and feedback displacement control signals to each electric component according to the treatment requirements, so as to realize the intelligent control of various displacement, positioning and trajectory scanning actions required for the treatment of specific patients. switch system.
本发明使用时，接通智能控制器工作电源，预调三段式床板的曲面，将患者安置并用约束固定带固定在三段式床板上，根据特定患者的照射治疗需求预设好运行轨迹控制程序并启动运行开关，该U型梁三维移动定位床便可根据程序设定实现不同轨迹的扫描运动或完成对不同照射部位的定位操作，具有设计合理、结构紧凑，使用方便等优点。When the present invention is in use, the working power of the intelligent controller is turned on, the curved surface of the three-segment bed is pre-adjusted, the patient is placed and fixed on the three-segment bed by the restraint and fixing belt, and the running track control is preset according to the radiation therapy requirements of the specific patient. Program and start the running switch, the U-beam three-dimensional mobile positioning bed can realize the scanning movement of different trajectories or complete the positioning operation of different irradiation parts according to the program settings, and has the advantages of reasonable design, compact structure and convenient use.
附图说明Description of drawings
附图为本发明的结构示意图。The accompanying drawing is a schematic diagram of the structure of the present invention.
其中：1、底座，2、水平旋转伺服电机，3、U型梁，4、纵向摇动伺服电机，5、蜗杆A，6、蜗轮A，7，纵向摇动轴，8、纵向主梁，9、横向摇动轴，10、横梁，11、边框，12、横向摇动伺服电机，13、蜗杆B，14、蜗轮B，15、三段式床板，16，摇臂支架，17、电动升降螺杆A，18、床板铰链，19、约束固定带，20、智能控制器。Among them: 1. Base, 2. Horizontal rotation servo motor, 3. U-shaped beam, 4. Longitudinal shaking servo motor, 5. Worm A, 6. Worm gear A, 7. Longitudinal shaking shaft, 8. Longitudinal main beam, 9. Lateral rocking shaft, 10, beam, 11, frame, 12, lateral rocking servo motor, 13, worm B, 14, worm gear B, 15, three-stage bed plate, 16, rocker arm bracket, 17, electric lifting screw A, 18 , Bed hinges, 19, restraint straps, 20, intelligent controller.
具体实施方式Detailed ways
实施例：结构如附图所示，由底座1，水平旋转伺服电机2，U型梁3，纵向摇动伺服电机4，蜗杆A5，蜗轮A6，纵向摇动轴7，纵向主梁8，横向摇动轴9，横梁10，边框11，横向摇动伺服电机12，蜗杆B13，蜗轮B14，三段式床板15，摇臂支架16，电动升降螺杆17，床板铰链18，约束固定带19和智能控制器20等20个零件组成，其中，水平旋转伺服电机2设于底座1上，且该电机轴与U形梁3的下端连接，U型梁3的上端通过纵向摇动轴7和蜗轮A6与纵向主梁8铰接，且蜗轮A的上端与纵向主梁8连接为一体，纵向主梁8的向上翘起的两端均设有横向摇动轴9，该横向摇动轴9分别与前后两端的横梁10铰接，横梁10的两端均与边框11连接为一体，且前端横梁中心部位连接有蜗轮B14，该蜗轮B14与蜗杆B13啮合，且蜗杆B13与横向摇动伺服电机12同轴，三段式床板15自身通过床板铰链18铰接为一体，三段式床板15前后两端通过摇臂支架16与边框11铰接，前后两个床板铰链18的中部分别设有与纵向主梁8铰接的电动升降螺杆17，三段式床板15的各分段分别设有可调节长度的约束固定带19，其中的水平旋转伺服电机2，纵向摇动伺服电机4，横向摇动伺服电机12，和电动升降螺杆17等电动部件均通过控制导线与智能控制器20连接。Example: The structure is as shown in the attached drawings, consisting of a base 1, a horizontal rotation servo motor 2, a U-shaped beam 3, a longitudinal rocking servo motor 4, a worm A5, a worm wheel A6, a longitudinal rocking axis 7, a longitudinal main beam 8, and a lateral rocking axis. 9. Cross beam 10, frame 11, horizontal shaking servo motor 12, worm B13, worm gear B14, three-stage bed 15, rocker arm bracket 16, electric lifting screw 17, bed hinge 18, restraint fixing belt 19 and intelligent controller 20, etc. It consists of 20 parts, among which, the horizontal rotation servo motor 2 is arranged on the base 1, and the motor shaft is connected with the lower end of the U-shaped beam 3, and the upper end of the U-shaped beam 3 is connected to the longitudinal main beam 8 through the longitudinal rocking shaft 7 and the worm gear A6. Hinged, and the upper end of the worm gear A is connected with the longitudinal main beam 8 as a whole, and the upwardly tilted ends of the longitudinal main beam 8 are provided with a lateral rocking shaft 9, and the lateral rocking shaft 9 is hinged with the beams 10 at the front and rear ends, respectively. Both ends of 10 are connected with the frame 11 as a whole, and the central part of the front end beam is connected with a worm gear B14, the worm gear B14 is engaged with the worm B13, and the worm B13 is coaxial with the lateral shaking servo motor 12, and the three-section bed plate 15 itself passes through the bed plate. The hinge 18 is hinged as a whole, the front and rear ends of the three-segment bed panel 15 are hinged to the frame 11 through the rocker bracket 16, and the middle of the front and rear bed panel hinges 18 are respectively provided with an electric lift screw 17 hinged to the longitudinal main beam 8. The three-segment type Each section of the bed board 15 is respectively provided with a length-adjustable restraining and fixing belt 19, wherein the horizontal rotation servo motor 2, the longitudinal shaking servo motor 4, the lateral shaking servo motor 12, and the electric lifting screw 17 and other electric components pass through the control wire. Connect with the intelligent controller 20.
使用时，接通智能控制器工作电源，预调三段式床板的曲面，将患者安置并用约束固定带固定在三段式床板上，根据特定患者的照射治疗需求预设好运行轨迹控制程序并启动运行开关，该U型梁三维移动定位床便可根据程序设定实现不同轨迹的扫描运动或完成对不同照射部位的定位操作，具有设计合理、结构紧凑，使用方便等优点。When in use, turn on the working power of the intelligent controller, pre-adjust the curved surface of the three-segment bed, place the patient and fix it on the three-segment bed with a restraint strap, and pre-set the running trajectory control program according to the specific patient's radiation therapy needs and When the running switch is activated, the U-shaped beam three-dimensional mobile positioning bed can realize the scanning movement of different trajectories or complete the positioning operation of different irradiation parts according to the program settings, and has the advantages of reasonable design, compact structure and convenient use.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610648067.5ACN106178288B (en) | 2016-08-09 | 2016-08-09 | A kind of U-shaped beam three-dimensional running fix bed suitable for radiotherapy |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610648067.5ACN106178288B (en) | 2016-08-09 | 2016-08-09 | A kind of U-shaped beam three-dimensional running fix bed suitable for radiotherapy |
| Publication Number | Publication Date |
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| CN106178288A CN106178288A (en) | 2016-12-07 |
| CN106178288Btrue CN106178288B (en) | 2019-07-23 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610648067.5AExpired - Fee RelatedCN106178288B (en) | 2016-08-09 | 2016-08-09 | A kind of U-shaped beam three-dimensional running fix bed suitable for radiotherapy |
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