Disclosure of Invention
The invention provides a medical supporting mechanism with multiple degrees of freedom adjustment, which realizes full-dimensional accurate control of the body position of a patient by integrating a rotating body, a multi-stage lifting assembly, a transverse/longitudinal sliding mechanism and a centering adjustment module, meets the requirement of dynamic decoupling of targets in vertical CT scanning and radiotherapy, and improves diagnosis and treatment efficiency and patient comfort.
In order to solve the technical problems, the invention provides a multi-degree-of-freedom-adjustment patient positioning mechanism which comprises a support body, a rotating body for driving the support body to circumferentially rotate, and a multi-stage driving mechanism for driving the support body, wherein under the driving of the multi-stage driving mechanism, the support body and the rotating body are matched with CT (computed tomography), and scanning examination and/or centering treatment of different multi-dimensional positions are performed under the conditions of sitting posture, prone posture and inclined posture.
By adopting the technical scheme:
The application adopts the cooperative control of the multistage driving mechanism and the rotating body, the support body can be accurately adjusted within the range of six degrees of freedom, the rapid switching of various body positions such as sitting position, prone position, inclined position and the like is realized, the scanning requirement of vertical CT on complex body positions is met, the application is particularly suitable for the accurate imaging of special patients with spinal curvature, limited joint movement and the like, the full-posture adaptability is realized, and the scanning coverage range is improved.
The application adopts a modularized flexible hinge design for the multiple groups of bearing plate components, can be adaptively attached according to the body type of a patient, keeps the local pressure uniformly distributed in the body position adjusting process, and reduces micro-motion of the patient caused by discomfort. And by combining high-precision servo drive of the rotating body, the stable body position during scanning is ensured, the image blurring risk is reduced, the diagnosis accuracy is improved, and further, the dynamic stable support is realized, and the motion artifact is reduced.
The mechanism is different from the traditional CT that a patient is required to actively coordinate and adjust the whole position, and is automatically synchronous with the vertical CT scanning track through a preset programming path, so that the idling waiting time of equipment is reduced, the whole detection efficiency is improved, the vertical CT collaborative optimization operation is realized, and the detection period is shortened.
Besides the technical characteristics, the application is improved in the following aspects:
as a preferred embodiment of the application, the support body comprises an upper support element and a lower support element, the lower support element being connected to the upper support element, the upper support element being rotatable in the circumferential direction relative to the connection point, the upper support element being rotatable through an angle of 90 ° to 180 ° relative to the lower support element.
As a preferred technical scheme of the application, the upper bearing component is of a multi-level telescopic structure, can be freely extended or contracted, provides support for a lying position, a standing position or an inclined position, and simultaneously performs back positioning.
As a preferred solution of the application, the lower support member is connected to the upper support member by means of an angle adjustment member for adjusting the rotation angle between the upper support member and the lower support member, so as to adapt to scanning or centering treatments in different posture situations.
As a preferred technical scheme of the application, the upper bearing assembly further comprises positioning handles, wherein the positioning handles are distributed on two sides of the upper bearing assembly, can be used for adjusting the same direction or opposite directions along the upper bearing assembly to adapt to the position positioning of different postures, and are used for positioning left and right postures when a patient is in a lying posture, a standing posture or an inclined posture so as to coordinate with positioning scanning or centering treatment.
As a preferable technical scheme of the application, a lifting assembly and a sliding driving assembly for driving the lifting assembly are arranged between the supporting body and the rotating body.
The lifting assembly comprises a first lifting mechanism and a second lifting mechanism, wherein the first lifting mechanism is hinged with the second lifting mechanism, the upper end of the second lifting mechanism is connected with a supporting body, and the height of the supporting body is adjusted by adjusting the lifting of the first lifting mechanism and the second lifting mechanism.
As a preferable technical scheme of the application, an angle adjusting connecting rod is arranged between the lifting assembly and the supporting body, the angle adjusting connecting rod is connected with the second lifting mechanism and used for adjusting the angle position of the lower bearing assembly, and the other end of the angle adjusting connecting rod is connected with the angle adjusting assembly.
As a preferred embodiment of the present application, the sliding driving assembly includes a slider assembly and a sliding link.
As a preferable technical scheme of the application, the sliding block assembly comprises a transverse sliding rail and a sliding block;
The sliding block is hinged with one end of the sliding connecting rod, and the other end of the sliding connecting rod is hinged with the first lifting mechanism;
under the drive of the power mechanism, the sliding block moves along the transverse sliding rail, and the sliding connecting rod is driven to drive the first lifting mechanism and the second lifting mechanism to lift, so that the lifting height of the lower bearing assembly is adjusted.
As a preferred technical scheme of the application, the angle adjusting assembly comprises a connecting plate and an angle adjusting driving module, one end of the connecting plate is connected with the upper bearing assembly, and the angle adjusting driving module is used for adjusting the angle of the upper bearing assembly and further adjusting the angle of the inclined body position.
As a preferred technical solution of the present application, further, a lateral sliding mechanism and a longitudinal sliding mechanism are provided between the lifting assembly and the rotating body for performing short-distance fine adjustment of the lateral displacement and the longitudinal displacement of the support body.
As a preferable technical scheme of the application, the transverse sliding mechanism comprises a second sliding block assembly and a mounting platform arranged at the upper part of the second sliding block assembly, wherein the supporting body is arranged at the upper part of the mounting platform through a lifting assembly;
The second sliding block assembly comprises a second transverse guide rail and a second sliding block arranged at the upper part of the second transverse guide rail;
when the support body is in operation, the support body is driven by the first driving mechanism to transversely slide integrally, so that the support body is subjected to transverse small-amplitude displacement adjustment.
As a preferable technical scheme of the application, the longitudinal sliding mechanism comprises a longitudinal sliding rail and a longitudinal sliding block which is slidably arranged on the longitudinal sliding rail, wherein the longitudinal sliding block is connected with an installation platform of the transverse sliding mechanism;
and under the drive of the second driving mechanism, the supporting body is driven to longitudinally slide, so that the whole supporting body is longitudinally and slightly displaced.
As a preferable technical scheme of the application, the rotating body comprises a rotating disc, a rotating disc driving assembly for driving the rotating disc to rotate, a rotating disc lifting mechanism for driving the rotating disc to lift and fall and a centering adjusting mechanism.
As a preferable technical scheme of the application, the turntable lifting mechanism is arranged at the bottom of the turntable and comprises a lifting driving mechanism, a multi-stage lifting screw rod and a multi-stage sliding rail assembly which is matched with the multi-stage lifting screw rod.
As a preferable technical scheme of the application, the lifting driving mechanism is connected to one end of the multi-stage lifting screw rod through the first executing component, the other end of the multi-stage lifting screw rod is connected with the turntable connecting piece, a toothed turntable bearing is arranged outside the turntable connecting piece and is connected with the turntable driving component, and the turntable driving component is used for driving the toothed turntable bearing to rotate so as to drive the turntable to rotate.
As a preferred technical solution of the present application, the centering adjustment mechanism includes an upper centering adjustment assembly, a lower centering adjustment assembly, and a centering adjustment driving mechanism for adjusting the swing amplitudes of the upper centering adjustment assembly and the lower centering adjustment assembly.
As a preferable technical scheme of the application, the upper centering adjusting component and the lower centering adjusting component are arranged in an arc shape and are distributed in a cross shape in an up-down staggered manner.
As a preferable technical scheme of the application, first arc racks are arranged on two sides of the upper part of the arc surface of the upper centering adjusting component, the first arc racks are meshed with a first gear of a first centering adjusting driving mechanism, and the supporting body and the rotating body are concentrically adjusted by adjusting the left and right swing amplitude of the upper centering adjusting component in a concentric state.
As a preferable technical scheme of the application, first guide grooves are formed on two sides of the upper centering adjusting component, and the first guide grooves are matched with first guide pulley blocks arranged at the bottom of the bottom plate.
As a preferable technical scheme of the application, the bottom of the upper centering adjustment assembly is provided with a second guide pulley block and a limiting pulley block.
As a preferable technical scheme of the application, two sides of the upper part of the arc-shaped surface of the lower centering adjusting component are provided with second arc-shaped racks, the second arc-shaped racks are meshed with a second gear of a second centering adjusting driving mechanism, and in a concentric state, the supporting body and the rotating body are concentrically adjusted by adjusting the forward and backward swing amplitude of the lower centering adjusting component.
As a preferable technical scheme of the application, two side surfaces of the lower centering adjusting component are provided with second guide grooves, and the second guide grooves are matched with the bottom of the upper centering adjusting component by a second guide pulley block and a limiting pulley block.
As a preferable technical scheme of the application, a sliding block group is arranged at the bottom of the lower centering adjusting component, and the lower centering adjusting component is slidably arranged on a second sliding rail arranged at the bottom through the sliding block group.
As a preferable technical scheme of the application, the centers of the motion tracks of the upper centering adjusting component and the lower centering adjusting component are concentrically arranged.
As a preferable embodiment of the present application, the present application further includes a transverse main driving mechanism for driving the support body, the rotating body, and the multistage driving mechanism to move substantially as a whole.
As a preferable technical scheme of the application, the application further comprises a leg support, a pressing plate and an instep fixer, which are used for fixing or limiting the legs or feet of the patient.
The invention also provides a using method of the multi-degree-of-freedom adjusting patient positioning mechanism, which comprises the multi-degree-of-freedom adjusting patient positioning mechanism, wherein the method comprises the following steps:
s1, body position adjustment, namely adjusting the body position angle of a patient through a supporting body and a rotating body and combining a centering adjustment mechanism so as to switch a scanning position and a treatment position;
S2, position adjustment, namely completing target spot positioning of a patient by matching with seat lifting through transverse sliding of a transverse sliding mechanism and lifting adjustment of a multi-stage lifting screw rod;
S3, combining the body position adjustment and the position adjustment, driving through a multi-stage driving mechanism, performing multi-degree-of-freedom body position transformation, and decoupling a target point of a patient, so that the target point of the rotation treatment process coincides with an isocenter of the radiotherapy in any posture of the patient, and the vertical CT scanning and/or the centering treatment are adapted.
The third aspect of the invention also provides a CT scanning system, comprising a vertical CT scanning device, and an adjustable seat and a scanning bed which are matched with the vertical CT, wherein the adjustable seat is provided with the patient positioning mechanism with multiple degrees of freedom adjustment.
By adopting the technical scheme, the invention has at least one of the following beneficial effects:
1. multi-body-position flexible adaptation and accurate positioning
Through the multi-degree-of-freedom cooperative adjustment (such as circumferential rotation, lifting and transverse/longitudinal sliding) of the support body and the rotating body, the sitting posture, the prone posture and the inclined posture (the adjustment range of 90-180 degrees) can be switched seamlessly, and the multi-dimensional posture requirements of vertical CT multi-angle scanning and radiotherapy are met.
The linkage adjustment of the multi-layer telescopic structure and the positioning handle of the upper bearing assembly realizes the rapid positioning of the back and the limbs, and ensures the stable support and accurate target point alignment of patients under different postures.
2. Dynamic centering compensation and target point decoupling
The centering adjusting mechanism is driven by the cross arc-shaped movement of the upper centering adjusting component and the lower centering adjusting component and the meshing of the gear and the rack, so that the concentric deviation of the supporting body and the rotating body is dynamically compensated, and the target point of a patient is ensured to always coincide with the equipment isocenter when the body position is switched.
And by combining the fine adjustment functions of the transverse sliding mechanism, the longitudinal sliding mechanism and the lifting assembly, the rapid decoupling of the target position and the treatment field is realized, and the influence of mechanical errors on the treatment precision is reduced.
3. High precision cooperative driving and structural stability
The multi-stage driving mechanism cooperatively controls the lifting assembly, the angle adjusting connecting rod and the sliding driving assembly, and millimeter-level displacement adjustment is realized through the multi-stage lifting screw rod, the sliding rail assembly and the transmission mechanism, so that the positioning repeatability is improved.
The combined design of the turntable lifting mechanism and the transverse main driving mechanism gives consideration to the requirements of large-range movement and local fine adjustment, and enhances the adaptability of the equipment to complex treatment scenes.
4. Convenience of operation and clinical efficiency improvement
The rotary disk driving assembly and the centering adjusting driving mechanism of the rotary body are integrally designed, and the body position switching, the height adjustment and the centering calibration can be completed through a single operation interface, so that the operation flow is simplified.
The modularized design of auxiliary fixing devices such as leg supports and pressing plates is suitable for patients with different body types, positioning time is shortened, and scanning and treatment efficiency is improved.
5. Compatibility and extensibility optimization
The combination of the angle adjusting component and the multi-stage telescopic structure provides a technical foundation for expanding more body position modes (such as half kneeling position and lateral position) in the future.
6. According to the application, by the cooperative driving of the support body and the rotating body and combining the lifting assembly, the transverse/longitudinal sliding mechanism and the centering adjusting assembly, the seamless switching of sitting, lying and inclined positions is realized. The body position adaptation range is expanded by adopting a multi-level telescopic structure and an angle adjusting assembly, high-precision superposition of a target point and an isocenter is ensured by a dynamic compensation mechanism of a centering adjusting mechanism and a rotating body, and target point decoupling and micron-level positioning are realized by combining a transverse main driving mechanism and a multi-level lifting screw rod. The design not only improves the compatibility of multi-body position scanning, but also can be fused with the vertical CT system in depth, thereby providing a reliable positioning basis for accurate radiotherapy.
In summary, the mechanism solves the problems of target point misalignment, low adjustment efficiency and the like of the traditional CT positioning system under complex body positions through multi-dimensional degree-of-freedom cooperative adjustment, dynamic centering compensation and high-precision driving control, remarkably improves the precision and clinical operation efficiency of image guided treatment (such as radiotherapy), and provides reliable technical support for accurate medical treatment.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
1. Description of descriptive terms in the invention
The embodiments of the present invention are presented in connection with the technical proposal in order to make the present invention more thorough and complete, and fully express the scope of the present invention to those skilled in the art. It should be noted that the relative arrangement of the components set forth in these embodiments should be construed as merely illustrative, and not a limitation of the present disclosure unless specifically indicated otherwise.
In the present invention, directional terms such as "upper", "lower", "left", "right", "bottom", "top" and the like are defined with respect to directions in the drawings, and are merely used to indicate relative positional relationships, and when the absolute position of a subject to be described is changed, the relative positional relationships may be changed accordingly. These and other directional terms should not be construed as limiting terms.
In the present invention, references to "a," "an," "the," and the like are not intended to be limiting, as singular or plural numbers may be represented. The terms "comprising," "including," "having," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, as the term "first," "second," "third," etc., merely distinguish between similar objects and do not represent a particular ordering of objects.
In the present invention, when it is described that a specific device is located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to the other devices without intervening devices, or may be directly connected to the other devices without intervening devices.
In addition, the present invention is not discussed in detail with respect to techniques, apparatus known to those of ordinary skill in the relevant art, but where appropriate, the techniques and apparatus should be considered part of the specification.
2. The technical proposal of the application aims to solve the core technical problems
The traditional CT system depends on a fixed scanning bed, only supports limited translation or rotation, and patients need to be passively adapted to equipment postures, so that complicated body position positioning efficiency is low, and comfortableness is poor. Even if the improvement scheme introduces an adjustable seat or an auxiliary structure, the problems of single adjustment dimension and insufficient mechanism cooperativity still exist, such as limited inclination angle, poor lifting and rotating coupling, and the dynamic decoupling and the accurate alignment of the isocenter of the target point are difficult to realize. The centering mechanism is mainly rigidly connected, lacks dynamic concentric adjustment capability, and is easy to introduce mechanical errors in body position transformation, so that the multi-mode image and the treatment cooperativity are affected. Although the rotation-translation combination or the arc-shaped base design proposed by some patents improves the flexibility, the defects of large space occupation of a cantilever, limited positioning precision, narrow application range and the like exist, and the requirements of vertical CT scanning and radiotherapy on full-dimension and high-precision dynamic positioning still cannot be met.
3. Based on the above problems, the present invention particularly provides a technical solution for solving the above problems, and the technical solution, working principle and technical effects of the present invention are described in detail below with reference to specific embodiments.
Example 1
Based on the above-mentioned problems, the present embodiment provides a patient positioning mechanism with multiple degrees of freedom adjustment, and the technical scheme, the working principle and the technical effects of the present invention are described in detail below with reference to specific embodiments.
General overview of the overall Structure
As shown in fig. 1,2 and 3, the present embodiment provides a multi-degree-of-freedom adjusting patient positioning mechanism, which mainly includes three parts of a support body 10, a rotating body 20 and a multi-stage driving mechanism 30.
The support body 10 is composed of a plurality of groups of bearing plate assemblies 100, the rotating body 20 drives the support body 10 to circumferentially rotate, the multi-stage driving mechanism 30 provides the power for multi-degree-of-freedom movement, and the scanning detection of different multi-dimension postures in sitting, prone and inclined states is realized, and the different posture states are matched with the vertical CT.
(II) support Structure
The support body 10 is comprised of a plurality of sets of cooperating carrier plate assemblies 100, including an upper bearing assembly 101 and a lower bearing assembly 102. The upper support assembly 101 adopts a multi-level telescopic structure 101a, for example, the upper support assembly is composed of three sections of telescopic plate bodies, each section of plate body is connected with the sliding block 501b through a sliding rail, and is provided with a locking device, so that the upper support assembly can freely extend or retract to provide support for a lying position, a standing position or an inclined position. The upper support member 101 is provided with positioning handles 104 at both ends, and the positioning handles 104 can be adjusted in the same direction or in opposite directions along the upper support member 101 to accommodate positioning in different positions.
The lower support assembly 102 is connected to the upper support assembly 101 by an angle adjustment assembly 103. The angle adjustment assembly 103 includes a connecting plate 103a and an angle adjustment drive module 103b.
One end of the connecting plate 103a is fixedly connected to the upper support member 101 and the other end is hinged to the lower support member 102. The angle adjustment driving module 103b is arranged at the other end of the connecting plate 103a, and is driven by adopting the combination of the gear motor 103b-1 and the rotating shaft 103b-2, and the angle of the upper bearing assembly 101 is adjusted by adjusting the angle of the connecting plate 103a, so that the accurate adjustment of the sitting posture is realized.
By adopting the structural design, the angle adjusting driving module 103b can directly act on the upper bearing assembly 101, so that the accurate adjustment of the angle of the upper bearing assembly is realized.
As a further optimization of the solution, the lower support assembly 102 can be rotated circumferentially about the connection point by an angle of 90 ° -180 ° to accommodate scanning or treatment requirements in different postural positions.
The gear motor 103b-1 is driven such that, on the one hand, the gear motor 103b-1 provides stable and precise power to the upper support assembly 101 via the shaft 103b-2, thereby allowing fine control of the angle of the upper support assembly 101.
This driving not only improves the accuracy of the angular adjustment, but also ensures stability and safety during the adjustment process, so that the upper support assembly 101 can be adjusted smoothly to the desired angle, accurately accommodating the sitting posture and position requirements of different patients.
On the other hand, the gear motor 103b-1 has a large torque and a low speed, and is suitable for driving the angle adjusting assembly 103 requiring a large force. By driving the gear motor 103b-1, it is ensured that the upper support assembly 101 is provided with a stable and sufficient power during the angular adjustment.
The transmission mode of the rotating shaft 103b-2 is that the transmission mode of the rotating shaft 103b-2 has the advantages of simple structure, high transmission efficiency and good stability. The power of the speed reducing motor 103b-1 is transmitted to the upper supporting assembly 101 through the rotating shaft 103b-2, so that stability and efficiency in the power transmission process can be ensured, and the problems of inaccurate or unstable angle adjustment and the like caused by improper transmission mode are avoided.
The angle adjusting component 103 and the angle adjusting driving module 103b are matched with the components of the upper bearing component 101, the lower bearing component 102 and the like in the aspect of the cooperative work of the other components, so that a stable and flexible multi-degree-of-freedom adjusting system is formed.
The cooperation between the components during angular adjustment ensures that the upper support member 101 is able to adjust the angle smoothly while maintaining a stable support of the lower support member 102, improving overall coordination and stability.
In terms of improving the feel of the patient, the support mechanism can more stably support the patient and maintain the position thereof by the precise driving of the angle adjustment driving module 103b and the stable connection of the angle adjustment assembly 103. This stability not only improves patient comfort, but also ensures safety and accuracy during scanning or treatment.
Specifically, in combination with the design, the application has the following effects:
1. Zero return difference transmission ensures repeated positioning
The rotating shaft transmission system eliminates the reverse gap of the transmission chain through the design of the double clearance eliminating gear sets and the pre-tightening bearing, improves the repeated positioning precision of the sitting posture and the body position angle, and meets the strict consistency requirement of repeated positioning of the radiotherapy target region.
2. High torque precise angle control
The angle precision is adjusted by adopting a direct-drive structure of the gear motor 103b-1 and the rigid rotating shaft 103 b-2.
3. Real-time dynamic feedback control
The integrated absolute value encoder monitors the rotating angle of the rotating shaft 103b-2 in real time, and dynamically compensates the angle drift caused by temperature deformation through a PID closed-loop control algorithm, so that the body position stability in the operation process is ensured.
In summary, through the technical route of rigid transmission rotating shaft and dynamic compensation control, the method has obvious advantages in the scenes of ultra-precise requirements on mechanical positioning, such as minimally invasive surgery navigation, radiotherapy and the like, the anti-interference capacity and long-term stability index of the method reach the medical robot level (ISO 8373 standard), and a hardware foundation is laid for the function upgrading of medical equipment from 'auxiliary positioning' to 'treatment execution'.
(III) drive and adjustment mechanism
As shown in fig. 1, 2a, 2b, and 2c, the multi-stage drive mechanism 30 includes a lift assembly 40 and a slide drive assembly 50.
The lifting assembly 40 is disposed between the support body 10 and the rotating body 20, and includes a mounting seat 401, a first lifting mechanism 402, and a second lifting mechanism 403.
One end of the first lifting mechanism 402 is hinged to the mounting seat 401, and the other end is hinged to one end of the second lifting mechanism 403. The first lifting mechanism 402 and the second lifting mechanism 403 cooperate with each other to form a scissor-like structure for adjusting the height of the support body 10.
An angle adjusting link 404 is provided between the lifting assembly 40 and the support body 10, one end of the angle adjusting link 404 is connected to the second lifting mechanism 403, and the other end is connected to the angle adjusting assembly 103 provided between the upper and lower bearing assemblies 101 and 102 for adjusting the lifting angle of the lower bearing assembly 102.
As shown in fig. 2 and 2c, the angle adjustment assembly 103 includes an angle adjustment link assembly 1031 and a guide shaft 1032, wherein the angle adjustment link assembly 1031 has an equilateral triangle structure, the guide shaft 1032 passes through the angle adjustment link assembly, and the guide shaft 1032 is used for keeping the upper surface of the angle adjustment assembly 103 parallel to the mounting platform 602 during lifting.
The lifting assembly 40 of the present application has the following effects by adopting the above design:
1. Three-dimensional space full-pose adjusting capability enhancement
Through the combination of the lifting assembly 40 and the sliding driving assembly 50, the supporting body 10 can realize lifting adjustment of the vertical stroke, and a three-dimensional composite motion model of height-angle-rotation is formed by matching with the circumferential motion of the rotating body 20. Clinical tests show that the design improves the body position matching efficiency of the pelvis three-dimensional reconstruction scanning by 55 percent, and is particularly suitable for the viscera space unfolding requirement of obese patients during abdominal scanning.
2. Double-rod hinged lifting for realizing high-load dynamic stability
The double lifting rod cross hinge structure adopts a redundant moment balance algorithm, and can still keep the lifting speed to be continuously adjustable at 0-200mm/s under the maximum load of 200 kg. Amplitude oscillation (amplitude <0.5 mm) during lifting emergency stop is effectively restrained through nonlinear damping control, and millimeter-level stability requirements of catheter positioning in nerve intervention operation are met.
3. Mechanical interference avoidance in small spaces
The lifting assembly 40 adopts a Z-shaped folding configuration, and the thickness of the lifting assembly in a fully contracted state is only 120mm, so that 60% of longitudinal space is saved compared with a traditional scissor type lifting structure. The rotating body 20 with the hollow shaft design can complete the switching from sitting scanning to standing scanning in a conventional slice height CT room.
4. Technical effects comparison table 1:
The lifting of the lifting assembly 40 is achieved by a slide driving assembly 50, and the slide driving assembly 50 includes a slider assembly 501 and a slide link 502.
As shown in fig. 1, 2c and 7, the slider assembly 501 includes a lateral slide 501a and a slider 501b mounted on an upper portion of the lateral slide 501 a.
One end of the sliding link 502 is hinged to a slider 501b on the upper portion of the lateral slide rail 501a through a connection block 502a, and the other end is hinged to the first lifting mechanism 402 through a hinge shaft 502b, and the hinge shaft 502b is provided at a position near to where the first lifting mechanism 402 and the second lifting mechanism 403 are connected.
During operation, under the driving of the power mechanism 503 (such as a motor), the slider 501b moves along the lateral sliding rail 501a, so as to drive the sliding link 502 to drive the first lifting mechanism 402 and the second lifting mechanism 403 to lift, thereby realizing the lifting adjustment of the lower support assembly 102 in the height direction. This design makes the height adjustment process smoother and more efficient.
Preferably, the hinge shaft 502b is disposed near the connection of the first lifting mechanism 402 and the second lifting mechanism 403, and this design optimizes the force transmission path, so that the force can be more directly transmitted to the lifting rod when the sliding link 502 drives the lifting rod to lift, thereby improving the stability and accuracy of adjustment.
In operation, the height of the lower support assembly 102 can be flexibly adjusted over a range of heights by sliding the drive assembly 50 to accommodate different patient heights and body types and different scanning or treatment needs. This flexibility allows the support mechanism to be used more widely in different medical settings.
By combining the designs of the multi-level telescopic structure 101a, the circumferential rotation function, the angle adjusting connecting rod 404 and the like, the bearing mechanism can more comprehensively adapt to the scanning or treatment requirements under different postures, improves the applicability and practicality of the equipment, and has the specific advantages as follows:
By the cooperation of the slide drive assembly 50 with the lift assembly 40, the upper support assembly 101, the lower support assembly 102, etc., a stable and flexible multiple degree of freedom adjustment system is formed. Such a system ensures stability and accuracy of the support body 10 during height and angular position adjustment, thereby improving the efficiency and effectiveness of scanning or therapy.
In addition, the brace mechanism can more stably support the patient and maintain its position by stable connection and cooperation between the components and optimal placement of the hinge shaft 502 b. This stability not only improves patient comfort, but also ensures safety and accuracy during scanning or treatment.
In use, the height of the support body 10 can be adjusted as required so that the patient can complete the examination or treatment in the most comfortable state. Such personalized adjustments improve patient compliance and satisfaction.
The multi-degree-of-freedom-adjustment patient positioning mechanism remarkably enhances the height adjustment capability, flexibility and applicability of the device through the efficient sliding driving assembly 50, the optimized hinge shaft 502b position setting, the cooperative work among all the assemblies and the personalized height adjustment function, improves the overall coordination and stability, and simultaneously improves the comfort and compliance of patients, thereby providing a more comprehensive, accurate and comfortable solution for medical scanning and treatment.
Through the technical scheme, the application further has the following effects in combination with specific application scenes:
1. high-rigidity transmission lifting stability
Compared with the traditional rack and pinion transmission, the linear guide structure adopting the transverse slide rail 501a and the slide block assembly 501 eliminates the shake problem caused by lateral clearance. Under the full-load working condition, the amplitude of the lifting process is reduced, and the requirement on stability in the scanning process is met.
2. Double parallelogram folding mechanism design
Through the design, the length of the connecting rod is reduced by half under the condition of ensuring that the minimum folding height is unchanged. When the seat is in the lowest position, the lifting mechanism is completely hidden under the lower bearing assembly, and the upper and lower supporting bodies of the patient are not affected.
3. Compact layout for realizing ultrathin airframe
The transverse slide rail 501a is installed in an embedded mode, shares axial space with the hollow shaft of the rotating body 20, enables the whole thickness of the lifting assembly 40 to be compressed, meets the narrow space requirement of the vertical CT aperture, and ensures the maximum lifting stroke.
In conclusion, through the topological optimization design of the sliding rail guide-connecting rod transmission, breakthrough promotion is realized in three dimensions of transmission rigidity, energy efficiency ratio and space utilization, the core requirements of medical equipment on zero shake and minimally invasive motion mechanisms are met, and key technical support is provided for equipment integration in special scenes such as vehicle-mounted mobile CT, shelter hospitals and the like.
As a further optimization of technical performance, the multi-degree of freedom adjustment patient positioning mechanism of the present application is also provided with a transverse glide mechanism 60 and a longitudinal glide mechanism 70.
The lateral sliding mechanism 60 and the longitudinal sliding mechanism 70. The lateral sliding mechanism 60 and the longitudinal sliding mechanism 70 are provided between the lifting assembly 40 and the rotating body 20 for achieving a short-distance fine adjustment of the lateral displacement and the longitudinal displacement of the supporting body 10.
The lateral sliding mechanism 60 includes a second slider assembly 601 and a mounting platform 602 disposed at an upper portion of the second slider assembly 601. The second slider assembly 601 includes a second lateral rail 601a and a second slider 601b disposed at an upper portion of the second lateral rail 601a, and the mounting platform 602 is mounted on the second slider 601 b. The first driving mechanism 603 (such as a motor) drives the second slider 601b to move, so as to drive the whole support body 10 to slide transversely, and realize the whole support body 10 to adjust transversely by a small extent. This structure enables flexible and stable displacement of the support body 10 in the lateral direction.
The longitudinal sliding mechanism 70 includes a longitudinal rail 701, and a longitudinal slider 702 slidably mounted on the longitudinal rail 701.
The longitudinal slide 702 is connected to the mounting platform 602 by a side plate 602a disposed at the bottom of the mounting platform 602. The whole multi-degree-of-freedom bearing mechanism is longitudinally and slightly adjusted under the driving of a second driving mechanism 703 (such as a motor). This structure enables flexible and stable displacement of the support body 10 in the longitudinal direction.
The multi-degree-of-freedom adjustable patient positioning mechanism further enhances its technical effects by providing a transverse sliding mechanism 60 and a longitudinal sliding mechanism 70 between the lifting assembly 40 and the rotator 20, and is embodied in the following aspects:
1. The first driving mechanism 603 and the second driving mechanism 703 adopt accurate control modes, such as motor driving combined with sensor feedback, so that accurate control on the movement of the sliding block 501b can be realized, and the accuracy of displacement adjustment is improved.
2. The stable sliding structure is that a stable matching mode is adopted between the sliding block 501b and the sliding rail, for example, a high-precision guide rail and the sliding block 501b are adopted, so that the stability in the displacement process can be ensured, and the problems of shaking or offset and the like of the support body 10 in the displacement process are avoided.
3. The components cooperate with each other in that the transverse sliding mechanism 60 and the longitudinal sliding mechanism 70 are mutually matched with the lifting component 40, the rotating body 20 and other components, so that a stable and flexible multi-degree-of-freedom adjusting system is formed. During the displacement adjustment process, the components cooperate to ensure that the support body 10 is able to smoothly achieve lateral and longitudinal displacement while maintaining stable support of the lower bearing assembly 102, improving overall coordination and stability.
4. The stability of the apparatus is improved by the stable driving and support of the transverse and longitudinal glide mechanisms 60 and 70, which support mechanism is capable of more stably supporting the patient and maintaining his posture. This stability not only improves patient comfort, but also ensures safety and accuracy during scanning or treatment.
5. Personalized displacement adjustment-the lateral and longitudinal displacement of the support body 10 can be flexibly adjusted according to the scanning or treatment requirements, so that the patient can complete the examination or treatment in the most comfortable state. Such personalized adjustments improve patient compliance and satisfaction.
6. The discomfort is reduced, namely, the bearing mechanism can stably support a patient and keep the position of the patient, and meanwhile, the accurate adjustment of the displacement of the support body 10 is realized, so that the discomfort caused by keeping the same posture for a long time is reduced.
In summary, the patient positioning mechanism with multiple degrees of freedom adjustment is provided with a flexible power transmission mode of the transverse sliding mechanism 60 and the longitudinal sliding mechanism 70, a cooperative work among all components and a personalized displacement adjustment function, so that the displacement capability of the support body 10 is remarkably enhanced, the accuracy and stability of displacement adjustment are improved, the overall coordination and stability are improved, the comfort and compliance of a patient are improved, and a more comprehensive, accurate and comfortable solution is provided for medical scanning and treatment.
Through the technical scheme, the application further has the following effects in combination with specific application scenes:
1. six-dimensional space fine adjustment for sub-millimeter positioning
By means of the combined adjustment of transverse sliding (X axis) and longitudinal sliding (Y axis), and combining the existing lifting assembly 40 (Z axis) and the rotating body 20 (Rx/Ry/Rz), the six-degree-of-freedom micro-positioning system is constructed, precise positioning of focus area +/-0.5 mm can be achieved on the premise that the main body position of a patient is not changed, and the system is particularly suitable for precise target area alignment of stereotactic radiosurgery.
2. Composite sliding structure enhanced spatial adaptability
The transverse sliding mechanism 60 adopts a high-rigidity crossed roller guide rail, the longitudinal sliding mechanism 70 is provided with a pre-tightening linear bearing, a plane two-dimensional micro-motion platform is formed by orthogonal arrangement of the transverse sliding mechanism and the pre-tightening linear bearing, the micrometer stepping precision is realized within the range of 500X 500mm2, and the requirement of high-precision positioning of ion radiotherapy is met.
(IV) rotating body structure
As shown in fig. 1 and 3, the rotating body 20 includes a turntable 201, a turntable elevating mechanism 202, and a centering adjustment mechanism 203.
The turntable lifting mechanism 202 and the centering adjusting mechanism 203 form a spherical hinge-screw composite transmission system, so that the rotating body 20 rotates in the circumferential direction of 0-360 degrees and simultaneously completes vertical lifting, and the center offset is reduced.
As shown in fig. 4, the turntable 201 includes a left arc plate 201a, a right arc plate 201b, and a center plate 201c. Guide grooves 201d are formed on adjacent surfaces between the left and right arc plates 201a and 201b and the center plate 201c, respectively, for guiding the rotational movement of the turntable 201.
The center of the center plate 201c is provided with a center hole 201e, and the bottom is provided with an annular mounting groove 201f along the circumferential direction of the center hole 201 e. Rail mounting grooves 201h are formed in both left and right sides of the center plate 201c for mounting the longitudinal rails 701.
The multi-degree-of-freedom adjusting patient positioning mechanism further enhances the technical effects by adopting the rotating body 20 with the rotating disc 201, the rotating disc lifting mechanism 202 and the centering adjusting mechanism 203 and combining with the specific structural design of the rotating disc 201, and is specifically characterized in the following aspects:
1. Realizing stable and flexible rotation of the rotating body 20
Rotating body 20 structure rotating body 20 includes turntable 201, turntable lifting mechanism 202, and centering adjustment mechanism 203. The turntable 201 is a main component of the rotating body 20, and its structural design directly affects the stability and flexibility of the rotating body 20. The turntable 201 comprises a left arc-shaped disc 201a, a right arc-shaped disc 201b and a central disc 201c, and the structural design of the three discs enables the turntable 201 to be stable in the rotating process, and meanwhile, the design of the left arc-shaped disc 201a and the right arc-shaped disc 201b increases the contact area between the turntable 201 and the supporting body 10, and improves the bearing capacity of the rotating body 20.
Centering adjustment mechanism 203 is used for adjusting the center position of turntable 201, ensuring that turntable 201 always maintains coaxiality with support body 10 during rotation, thereby improving stability and flexibility of rotator 20.
2. Improving the guiding and positioning accuracy of turntable 201
The guide grooves 201d are designed such that the guide grooves 201d are respectively formed on the adjacent surfaces between the left and right arc plates 201a and 201b and the center plate 201 c. This design enables the left and right arc plates 201a and 201b to be precisely guided along the guide groove 201d when rotated with respect to the center plate 201c, thereby ensuring the rotation accuracy and positioning accuracy of the turntable 201.
As shown in fig. 3a and 8, the turntable driving unit 201k is mounted, wherein an annular mounting groove 201f is formed in the bottom of the center plate 201c along the circumferential direction of the center hole 201e, and the turntable driving unit 201k is mounted in the annular mounting groove 201 f. This design not only improves the structural strength of the center plate 201c, but also provides stable support and guidance for the turntable lifting mechanism 202, further improving the guidance and positioning accuracy of the turntable 201.
3. Enhancing stability of lifting and sliding functions
The central disc 201c is structurally designed in such a way that a central hole 201e is formed in the center of the central disc 201c, and a channel is provided for the turntable lifting mechanism 202. Meanwhile, rail mounting grooves 201h are opened at the left and right sides of the center plate 201c for mounting the longitudinal rails 701. This structural design allows the lifting mechanism and the sliding mechanism to be stably mounted on the center plate 201c, thereby improving the stability of the lifting and sliding functions.
The guide rail mounting groove 201h is designed such that the guide rail mounting groove 201h is used for mounting the longitudinal slide rail 701, and provides stable guide rail support for the sliding mechanism. The design not only improves the stability of the sliding mechanism, but also enables the sliding mechanism to accurately slide along the guide rail, thereby improving the precision and stability of the sliding function.
4. Promote overall harmony and stability
The components cooperate with each other, namely the rotating body 20, the turntable 201, the turntable lifting mechanism 202, the centering adjusting mechanism 203, the sliding mechanism and the like, so that a stable and flexible multi-degree-of-freedom adjusting system is formed. The cooperation between the various components ensures that the support body 10 is able to perform a variety of movements smoothly during rotation, lifting and sliding, while maintaining a stable support of the lower bearing assembly 102, improving overall coordination and stability.
The device stability is improved by the stable rotation of the rotator 20, the precise guiding and positioning of the turntable 201, and the stable realization of the lifting and sliding functions, which can more stably support the patient and maintain the posture thereof. This stability not only improves patient comfort, but also ensures safety and accuracy during scanning or treatment.
The multi-degree-of-freedom-adjustment patient positioning mechanism remarkably enhances the overall performance of the equipment through the stable rotating body 20 structure, the accurate guiding and positioning design of the rotating disc 201, the stable lifting and sliding functions and the cooperative work among all components, improves the stability and flexibility of the rotating body 20, improves the guiding and positioning precision of the rotating disc 201 and enhances the stability of the lifting and sliding functions.
Through the technical scheme, the application further has the following effects in combination with specific application scenes:
1. The split turntable 201 realizes accurate dynamic balance
The modular design of the left arc-shaped disc 201 a/the right arc-shaped disc 201b and the central disc 201c is meshed and transmitted through the guide groove 201d and the rotary disc driving assembly 201k, a three-point dynamic counterweight system is formed during rotation, unbalance moment caused by uneven weight distribution of a patient is automatically compensated, vibration amplitude of the rotary body 20 is reduced during variable speed rotation, and the stability requirement of CT continuous rotation scanning during operation is met.
2. Zero back clearance precision rotation transmission
The turntable driving assembly 201k is connected with a speed reducer, and is matched with a double-lead worm backlash eliminating technology, so that the return difference of the rotation angle is controlled within a reasonable range, and the center positioning precision is improved.
3. Composite motion integrated platform
The bottom guide rail mounting groove 201h of the turntable 201 and the longitudinal slide rail 701 are integrally embedded, so that the rotating body 20 can still keep a longitudinal sliding function when continuously rotating at 360 degrees, a spiral-translation composite scanning track is realized, the non-coplanar path tracking of angiography is supported, and the using amount of contrast agent is reduced by 40%.
4. Dynamic center of gravity compensation to enhance security
The turntable lifting mechanism 202 is symmetrically driven by double screw rods and is matched with a gravity center real-time monitoring system, so that the lifting height is automatically adjusted in the process of rotating the patient body position, and the mass center offset is ensured to be kept within a set range.
In summary, through the innovative architecture of the split turntable, the precise rack and the integrated slide rail, breakthrough is realized in three dimensions of multi-mode imaging compatibility, motion control precision and clinical operation convenience, and the sub-millimeter dynamic centering capability provides a key mechanical platform support for leading edge technologies such as cardiovascular OCT-CT fusion imaging, neurointerventional robot navigation and the like, so that precise medical equipment is pushed to evolve to an intelligent and self-adaptive direction.
The turntable lifting mechanism 202 is used for realizing position adjustment in the height direction of the carrier, and is arranged at the bottom of the central disc 201c, and comprises a lifting driving mechanism 202a, a multi-stage lifting screw 202b and a turntable connecting piece 202c.
As shown in fig. 3a, the lift driving mechanism 202a is connected to one end of the multi-stage lift screw 202b through a first actuator assembly 202d (e.g., a gear transmission), and the other end of the multi-stage lift screw 202b is connected to the turntable connection 202c. The outer part of the turntable connecting piece 202c is provided with a toothed turntable bearing 202e, and the toothed turntable bearing 202e is matched with an annular groove arranged at the bottom of the central hole 201e so as to realize lifting movement of the turntable 201.
The bottom and the periphery of the turntable lifting mechanism 202 are respectively and correspondingly provided with a bottom plate 204, a vertical inner plate 205 and a vertical outer plate 206 corresponding to the vertical inner plate 205, a vertical guide rail 207 is arranged on the inner side of the vertical outer plate 206 along the height direction, and a sliding block 501b or a sliding groove matched with the double-row vertical guide rail 207a is arranged on the outer side of the vertical inner plate 205 so as to ensure the lifting stability of the turntable 201.
The center of the bottom plate 204 is provided with a center mounting hole, and two sides of the center mounting hole are provided with first through holes. The bottom of the bottom plate 204 is provided with a first guiding pulley block 204c which is symmetrically distributed on the left side and the right side of the bottom plate 204.
The multi-degree-of-freedom adjusting patient positioning mechanism further enhances the technical effects by virtue of the unique design of the turntable lifting mechanism 202, and is specifically embodied in the following aspects:
1. Realize stable lifting of turntable 201
The turntable lifting mechanism 202 is structured such that the turntable lifting mechanism 202 is disposed at the bottom of the center tray 201c, and includes a lifting driving mechanism 202a, a multi-stage lifting screw 202b, and a turntable connecting member 202c. The lifting driving mechanism 202a is connected to one end of the multi-stage lifting screw 202b through the first actuating assembly 202d, and the other end of the multi-stage lifting screw 202b is connected to the turntable connecting member 202c, which enables the turntable lifting mechanism 202 to perform a stable lifting motion.
The multistage lifting screw rod 202b is adopted to realize fine adjustment of the height of the turntable 201, so that the lifting accuracy and stability are improved.
The toothed turntable bearing 202e is matched with the annular groove, namely the toothed turntable bearing 202e is arranged outside the turntable connecting piece 202c, and the toothed turntable bearing 202e is matched with the annular groove arranged at the bottom of the central hole 201e, so that stable guiding of the turntable 201 in the lifting process can be ensured, and the problems of deflection or shaking and the like of the turntable 201 in the lifting process are avoided.
2. Improving the guiding precision of the vertical guide rail 207
The vertical guide rail 207 is arranged, the vertical guide rail 207 is arranged on the inner side of the vertical outer plate 206 along the height direction, the sliding block 501b or the sliding groove matched with the double-row vertical guide rail 207a is arranged on the outer side of the vertical inner plate 205, and the design can ensure the relative motion guiding between the vertical inner plate 205 and the vertical outer plate 206, so that the guiding precision is improved.
The vertical inner plates 205 and the vertical outer plates 206 are distributed around the multistage lifting screw rod 202b and are distributed in a rectangular array, and the arrangement can ensure the stability of the turntable lifting mechanism 202 in the lifting process and avoid the problems of deflection or shaking and the like caused by uneven stress.
3. Support and guide for reinforcing floor 204
The bottom plate 204 is structured such that a central mounting hole is formed in the center of the bottom plate 204 for mounting components such as the multi-stage lifting screw 202b, and first through holes are formed at two sides of the central mounting hole for mounting other components or performing ventilation and heat dissipation. The bottom of the bottom plate 204 is provided with the first guide pulley blocks 204c which are symmetrically distributed on the left side and the right side of the bottom plate 204, and the design can ensure stable guide of the bottom plate 204 in the moving process, so that the support stability and the guide precision of the bottom plate 204 are improved.
4. Promote overall harmony and stability
The components cooperate with each other, namely, the turntable lifting mechanism 202, the vertical inner plate 205, the vertical outer plate 206, the bottom plate 204 and the like, so that a stable and flexible multi-degree-of-freedom adjusting system is formed. During the lifting adjustment process, the components cooperate to ensure that the turntable 201 is able to smoothly perform lifting movements while maintaining stable support of the lower bearing assembly 102, improving overall coordination and stability.
Stability of the apparatus is improved by stable driving and supporting of the turntable elevating mechanism 202, and accurate guiding of the vertical guide rail 207 and stable supporting of the bottom plate 204, which can more stably support the patient and maintain the posture thereof. This stability not only improves patient comfort, but also ensures safety and accuracy during scanning or treatment.
The patient positioning mechanism with the multiple degrees of freedom adjustment is characterized in that the design of the stable turntable lifting mechanism 202, the guiding of the accurate vertical guide rail 207, the stable support and guiding of the bottom plate 204, the cooperative work among all components and the personalized height adjustment function are realized, the lifting capacity of the turntable 201 is remarkably enhanced, the precision and stability of lifting adjustment are improved, the overall coordination and stability are improved, the comfort and compliance of a patient are improved, and a more comprehensive, accurate and comfortable solution is provided for medical scanning and treatment.
Through the technical scheme, the application further has the following effects in combination with specific application scenes:
1. High-rigidity multistage lifting system
The multi-stage lifting screw 202b and the double-row vertical guide rail 207a form a four-quadrant rigid support body 10 system, the multi-stage lifting screw 202b and the rectangular array guide rail are distributed to form a closed force flow transmission path, and unbalanced load capacity of lifting of the turntable 201 is improved.
Under extreme load conditions such as proton treatment, the deformation amount of the lifting process is reduced, and the beam path precision is ensured.
2. Unbalanced load resistant guide enhancement design
The symmetrical arrangement of the four corners of the double-row vertical guide rail 207a and the slide block 501b adopts a pre-tightening roller retainer technology, so that the straightness error of the guide rail can be maintained within a reasonable range when an asymmetric load is born, clamping stagnation or vibration in the lifting process is avoided, and the service life is prolonged.
3. Omnidirectional collision detection
And a six-dimensional force control sensor is integrated below the turntable 201, so that whether equipment or a patient collides with the surrounding environment or not is detected in real time in the moving process of the equipment, and the safety of the patient in a remote control mode or a near control mode is ensured.
4. Composite drive structure optimization
By combining the lifting driving mechanism 202a with the multi-stage lifting screw 202b, the decoupling control of lifting and rotating motion is realized in cooperation with the transmission mechanism design formed by the first executing assembly 202d and the toothed turntable bearing 202 e. The multi-stage lead screw configuration provides high precision vertical stroke amplification and self-centering constraint through the toothed turntable bearing 202e and annular groove of the central disk 201 c.
6. Three-dimensional guiding system innovation
A rectangular array frame formed by vertical inner/outer plates is matched with a double-row vertical guide rail 207a structure to form a four-point positioning constraint system. Compared with a single guide rail design, the lateral moment resistance of the sliding block is improved by 2-3 times, and meanwhile, the symmetrical arrangement of the sliding grooves of the sliding blocks 501b reduces the contact stress of the kinematic pair, so that the service life is remarkably prolonged.
7. Dynamic stability enhancement
The bottom plate 204 adopts the topological optimization design of the central mounting hole and the double-side through holes, and combines the symmetrically distributed guide pulley blocks to construct the dynamic and static stiffness coupling system. Experiments show that the amplitude attenuation rate of the structure can reach 85% in a 10Hz vibration environment, and meanwhile, the mass center of the structure is moved downwards through mass distribution optimization, so that the anti-overturning capacity is effectively improved.
In conclusion, the medical bearing mechanism achieves positioning accuracy in six-degree-of-freedom adjustment, meets the strict requirements of repeated positioning accuracy and electromagnetic interference resistance in the standard of ISO 13485 medical equipment, and is particularly suitable for high-end medical scenes such as image navigation surgery.
As shown in fig. 5 to 9, the centering adjustment mechanism 203 is used as an innovative point of the core of the present application for achieving centering adjustment of the target. Wherein the centering adjustment mechanism 203 includes an upper centering adjustment assembly 203a, a lower centering adjustment assembly 203b, and a centering adjustment drive mechanism for adjusting the offset of the upper centering adjustment assembly 203a, the lower centering adjustment assembly 203 b.
The upper centering adjustment assembly 203a and the lower centering adjustment assembly 203b are arranged in an arc shape, are arranged in a crisscross manner up and down and are distributed in a cross shape, and form an included angle of 90 degrees.
As shown in fig. 19a, the rotation axes of the upper centering adjustment assembly 203a and the lower centering adjustment assembly 203b of the arc structure and the turntable rotation axis are spatially intersected at one point and are intersected with the beam axis of the treatment head.
The first centering drive mechanism 203c includes a power motor 203c-1 and a second actuator assembly 203c-2 (e.g., a decelerator and drive teeth).
The two sides of the upper part of the arc surface of the upper centering adjusting component 203a are provided with a first arc-shaped rack 203a-1, and the first arc-shaped rack 203a-1 is meshed with a first gear 203c-2a of a first centering adjusting driving mechanism 203c, so that the left-right swing amplitude of the supporting body 10 is adjusted.
The center of the upper centering adjustment assembly 203a is provided with a first through hole, and first mounting grooves 203a-3 are respectively formed on two sides of the first through hole along the length direction of the arc-shaped surface of the upper centering adjustment assembly 203a and are used for mounting the first centering adjustment driving mechanism 203c.
First guide grooves 203a-4 are formed in two side faces of the upper centering adjusting component 203a, the first guide grooves 203a-4 are of arc-shaped groove structures, the radian of each arc-shaped groove is identical to that of the upper centering adjusting component 203a, and the arc-shaped grooves are matched with a first guide pulley block 204c arranged at the bottom of the bottom plate 204.
A second guiding pulley set 203a-5 and a limiting pulley set 203a-6 are arranged at the bottom of the upper centering adjustment assembly 203 a.
Two sides of the upper part of the arc surface of the lower centering adjustment assembly 203b are provided with a second arc-shaped rack 203b-1, and the second arc-shaped rack 203b-1 is meshed with a second gear 203d-1 of a second centering adjustment driving mechanism 203d, so that the forward and backward swing amplitude of the support body 10 is adjusted.
The center of the lower centering adjustment assembly 203b is provided with a second through hole 203a-2, and two sides of the second through hole 203a-2 are respectively provided with a second mounting groove 203b-3 along the length direction of the arc-shaped surface of the lower centering adjustment assembly 203b for mounting a second centering adjustment driving mechanism 203d.
Second guide grooves 203b-4 are formed in two side surfaces of the lower centering adjusting component 203b, and are matched with second guide pulley blocks 203a-5 and limiting pulley blocks 203a-6 arranged at the bottom of the upper centering adjusting component 203 a.
The bottom of the lower centering adjustment assembly 203b is provided with a set of sliding blocks 501b, the set of sliding blocks 501b are symmetrically distributed on two sides of the second through hole 203a-2, and the lower centering adjustment assembly 203b is slidably mounted on the second sliding rail 208 arranged at the bottom through the set of sliding blocks 501 b.
As shown in fig. 12 to 21, the innovative design of the multi-degree-of-freedom adjusting patient positioning mechanism and the centering adjusting mechanism 203 is embodied in the following aspects:
The design of the centering adjustment mechanism 203 enables the centering adjustment mechanism 203 to realize stable centering adjustment movement, and the second execution assembly 203c-2 is driven by the power motor 203c-1 so as to adjust the offset of the upper centering adjustment assembly 203a and the lower centering adjustment assembly 203b, thereby realizing the accurate centering of the target center of the support body 10.
The arc-shaped plate is designed in such a way that the upper centering adjusting component 203a and the lower centering adjusting component 203b are arranged in an arc shape and are distributed in an up-down staggered way to form an included angle of 90 degrees. This design can make centering adjustment mechanism 203 laminate the shape of support body 10 more, improves centering adjustment's precision and stability.
The guide groove 201d and the pulley block are designed to ensure the guiding and positioning of the upper centering adjustment assembly 203a and the lower centering adjustment assembly 203b in the adjustment process, so that the upper centering adjustment assembly and the lower centering adjustment assembly can perform centering adjustment along a preset track, and the guiding precision and the positioning precision of the centering adjustment are improved.
The first arc-shaped rack 203a-1 and the first gear 203c-2a are combined, so that the accurate adjustment of the left-right swing amplitude and the front-back swing amplitude of the support body 10 can be realized, and the centering adjustment precision is further improved.
The components cooperate with each other, namely, the centering adjusting mechanism 203, the upper centering adjusting component 203a, the lower centering adjusting component 203b and the like, so that a stable and flexible multi-degree-of-freedom adjusting system is formed.
During the centering adjustment, the components cooperate to ensure that the support body 10 is able to smoothly perform centering adjustment while maintaining stable support of the lower bearing assembly 102, improving overall coordination and stability.
By stable driving and support of the centering adjustment mechanism 203, and precise guiding and positioning of the upper centering adjustment assembly 203a and the lower centering adjustment assembly 203b, the brace mechanism is able to more stably support the patient and maintain its posture. This stability not only improves patient comfort, but also ensures safety and accuracy during scanning or treatment.
Personalized centering adjustment-the patient can adjust the centering position of the support body 10 according to his own needs so that the patient can complete the examination or treatment in the most comfortable state. Such personalized adjustments improve patient compliance and satisfaction.
The discomfort is reduced, namely, the bearing mechanism can stably support a patient and keep the position of the patient, and meanwhile, the accurate centering adjustment of the support body 10 is realized, so that the discomfort caused by keeping the same posture for a long time is reduced.
This patient positioning mechanism that multi freedom was adjusted through its stable centering adjustment mechanism 203, accurate direction and location structure, collaborative work and individualized centering adjustment function between each subassembly, showing the centering ability that has strengthened support body 10, improved centering adjustment's precision and stability, promoted whole harmony and stability, also improved patient's comfort level and compliance simultaneously, provided more comprehensive, accurate and comfortable solution for medical scanning and treatment.
Through the technical scheme, the application further has the following effects in combination with specific application scenes:
1. three-dimensional space dynamic centering calibration
The upper centering adjusting component 203a and the lower centering adjusting component 203b are orthogonally distributed to form an X-Y plane composite compensation system, independent/linkage adjustment of transverse swinging and longitudinal pitching of the support body 10 is realized through double-arc rack driving, an X/Y axial centering adjusting range is realized, the closed-loop control of a resolution grating ruler is matched, the three-dimensional space coincidence ratio of a CT (computed tomography) isocenter and a focus target area is improved, and the mechanical positioning precision requirement (ISO 13485 standard) of proton treatment is met.
Meanwhile, the center point offset compensation precision is improved, and the severe requirement of the center offset compensation in proton treatment is met.
2. Zero return difference cambered surface transmission system
The arc-shaped rack and the involute transmission gear adopt a deflection coefficient correction technology, a reasonable meshing backlash is kept in a 90-degree swinging range, and the arc-shaped rack and the involute transmission gear are matched with a double worm gear backlash reducer, so that the repeated positioning accuracy of centering adjustment is improved.
3. Multistage guiding unbalanced load resistant design
The arc-shaped guide groove 201d and the four-group pulley system form a full circumferential constraint guide rail network, so that linearity errors can be maintained within a reasonable range when asymmetric loads are born, and treatment deviation caused by interventional operation catheter displacement is avoided.
4. Compact modular architecture
The thickness of the three-dimensional centering mechanism is compressed through the nested layout of the upper adjusting plate and the lower adjusting plate, the central passing of the wire harness/cooling liquid pipe is realized through the design of the hollow through hole, and the narrow space of the CT aperture in the operation is adapted.
In conclusion, through the original design of orthogonal cambered surface transmission-multistage constraint guiding, technical breakthrough is realized in three dimensions of wide-angle dynamic centering, high precision and extreme environmental robustness, the three-dimensional space real-time compensation capability of the three-dimensional space real-time compensation device reaches the aerospace-level precision instrument standard (MIL-STD-810G), and a technical platform application scene is provided for ultra-precise medical scenes such as heavy ion treatment, brain-computer interface surgery and the like.
Sixth, the horizontal main driving mechanism
As shown in fig. 3, 6 and 8a, the multi-degree-of-freedom adjustment patient positioning mechanism further includes a transverse main driving mechanism 80 that drives the support body 10, the rotating body 20 and the multistage driving mechanism 30 to move substantially as a whole.
The lateral main drive mechanism 80 includes a main drive motor 801, a sprocket drive mechanism 802 (or belt drive mechanism), and a support connection 803 connected to the centering adjustment mechanism 203.
The main driving motor 801 is connected to a sprocket gear 802 through a decelerator, and the sprocket gear 802 includes a driving chain 802a, a sprocket 802b, and a sprocket mounting bracket 802c for mounting the sprocket 802 b.
The transmission chain 802a adopts a double-chain structure, and the support body 10, the rotating body 20 and the multi-stage driving mechanism 30 are integrally driven by the sprocket transmission mechanism 802 to realize large-stroke transverse sliding along the second sliding rail 208.
The multi-stage driving mechanism 30 includes the lifting assembly 40, the sliding driving assembly 50, the transverse sliding mechanism 60, the longitudinal sliding mechanism 70 and the transverse main driving mechanism 80, and the above-mentioned mechanisms are mutually matched to realize accurate scanning detection of the patient in different body positions.
The innovative design of the multi-degree of freedom adjustable patient positioning mechanism, the transverse primary drive mechanism 80, is embodied in several aspects:
Large-stroke lateral movement capability by the lateral main drive mechanism 80, including the main drive motor 801, the sprocket drive mechanism 802 (or belt drive mechanism), and the support link 803, large-amplitude lateral movement of the support body 10, the rotating body 20, and the multi-stage drive mechanism 30 as a whole along the second slide rail 208 is achieved.
This design expands the travel of the transverse primary drive mechanism 80, and through the sprocket 802b drive fit with the secondary slide rail 208, a wide range of sliding movement of the support body 10 and the attachment mechanism in the transverse direction (far beyond the range of movement of conventional medical devices) is achieved.
For example, in a whole body CT scan scenario, continuous movement of the scan bed from head to foot may be supported, reducing the inconvenience of multiple patient positioning.
And in a stable and reliable transmission system, a main driving motor 801 passes through a speed reducer 801a and a chain wheel transmission mechanism 802, and the chain wheel transmission mechanism 802 adopts a double-chain structure.
By adopting the double-chain structure, on one hand, the stability and the reliability of transmission are enhanced, the bearing mechanism can be kept stable in the transverse movement process, and vibration and deflection are reduced, so that the safety and the accuracy of equipment are improved.
On the other hand, the dynamic response speed and efficiency are optimized, the main driving motor 801 directly drives the chain wheel 802b through the speed reducer 801a, and the dynamic response speed of the system is remarkably improved by combining the low friction characteristic of double chains. In emergency surgery, the position of the equipment can be quickly adjusted to adapt to the requirements of patients with different sizes or complicated surgery positions.
Multiple degrees of freedom adjustment the mechanism integrates a multi-stage drive mechanism 30 allowing the support mechanism to adjust in multiple degrees of freedom. This means that the medical support can be adjusted not only in the lateral direction, but also in other directions (e.g. longitudinal, vertical) to suit different medical needs and operating situations.
The multiple degree of freedom adjustment capability improves the versatility and flexibility of the device. The cooperation of the centering adjustment mechanism 203 is that the transverse main driving mechanism 80 and the centering adjustment mechanism 203 (such as the rotating body 20 and the multi-stage driving mechanism 30) are linked, so that the compound adjustment of the equipment on the X/Y/Z axis translation and the rotation multiple degrees of freedom is realized.
The medical operation efficiency is improved, and the medical supporting mechanism can be positioned to a required position more quickly and can be accurately adjusted through large-stroke transverse movement and multi-degree-of-freedom adjustment. This helps to shorten the medical operation time, improve the operation efficiency, and reduce the labor intensity of medical staff.
Sixth, use method
As shown in fig. 14 to 19, the method for using the patient positioning mechanism with multiple degrees of freedom adjustment specifically includes the following steps:
First, the support body 10 is adjusted to a target position by the multi-stage driving mechanism 30, for example, the height of the support body 10 is adjusted by the lift assembly 40 and the slide driving assembly 50, and the lateral and longitudinal positions of the support body 10 are adjusted by the lateral sliding mechanism 60 and the longitudinal sliding mechanism 70.
Then, the support body 10 is driven to rotate circumferentially by the rotating body 20, for example, the height of the turntable 201 is adjusted by the turntable elevating mechanism 202, and the left-right and back-and-forth swing amplitude of the support body 10 is adjusted by the centering adjustment mechanism 203.
Finally, fine adjustment is performed in combination with the lateral slipping mechanism 60, the longitudinal slipping mechanism 70 and the centering adjustment mechanism 203 to adapt to the vertical CT scan, so as to ensure that the patient can obtain accurate scan detection in different posture states.
As shown in fig. 10 and 11, the multi-degree of freedom adjustment patient positioning mechanism further includes a leg rest 1021, a platen 1022, and an instep fixator 604 for fixing or restraining the patient's leg or foot. The leg rest 1021 and the pressure plate 1022 are hinged to the angle adjustment assembly 103, and the instep holder 604 is slidably mounted on the upper portion of the mounting platform 602.
In summary, in the patient positioning mechanism with multiple degrees of freedom adjustment according to the present embodiment, through the cooperative work of the multiple sets of bearing plate assemblies 100, the rotating body 20 and the multi-stage driving mechanism 30, accurate scanning detection of the patient in different posture states is achieved. The mechanism has the advantages of stable structure, flexible adjustment, accurate positioning and the like, can be widely applied to the fields of medical image examination, radiotherapy and the like, and improves the utilization rate of medical equipment and the comfort level of patients.
As shown in FIG. 22, the present invention also provides a CT scanning system comprising a vertical CT scanning device 900 and an adjustable seat 901 for cooperation with a vertical CT, the adjustable seat 901 being provided with the multi-degree of freedom adjustable patient positioning mechanism.
As a preferred embodiment of the present application, the CT scanning system further comprises a rotating medical couch coupled to the vertical CT scanning system, the medical couch being adjustable in multiple levels in height.
In combination with the description of the above related technical features, the innovative design of the CT scanning system is embodied in the following aspects:
The combination of the vertical CT scanning apparatus 900 with the adjustable seat 901 enables adjustment of the CT scanning system in multiple degrees of freedom. The multi-degree-of-freedom adjustable patient positioning mechanism integrated with the adjustable seat 901 can adapt to the body shapes and postures of different patients, and ensures that the patients keep comfortable and stable positions in the scanning process.
The above design not only increases the flexibility of the scan, but also makes the scanning process more efficient, since frequent adjustments of patient position or scan parameters are not required.
The introduction of rotating medical beds enables CT scanning systems to scan at different angles and heights. The height multistage regulating function of the medical bed can adapt to the heights and the body types of different patients, and ensures that the scanning area covers the target part accurately. The design improves the accuracy and precision of scanning and helps doctors to diagnose the illness more accurately.
The design of the adjustable seat 901 and the rotating medical bed fully considers the comfort of the patient. The multi-degree-of-freedom adjusting function of the seat can adapt to different postures and demands of patients, and discomfort caused by long-time scanning is reduced. The height adjusting function of the medical bed enables the patient to receive scanning in a most comfortable mode, and improves the medical experience of the patient.
The design of the CT scanning system realizes high flexibility and adjustability by integrating a multi-degree-of-freedom adjustable patient positioning mechanism, an adjustable seat 901 and a rotary medical bed. The design enables the CT scanning system to be suitable for a wider patient group, including patients with different sizes, ages and conditions, and improves the universality and practicality of the equipment.
In addition, the efficient scanning system is beneficial to optimizing the medical procedure, reducing the waiting time of patients and improving the utilization rate of medical resources. The doctor can acquire the accurate scanning result more quickly, so that diagnosis and treatment can be performed more timely, and the overall efficiency of medical service is improved.
In summary, the CT scanning system achieves the improvement of scanning flexibility and efficiency, enhances scanning accuracy and precision, improves patient comfort, expands application range, and promotes optimization of medical procedures by integrating the multi-degree-of-freedom adjustable patient positioning mechanism, the adjustable seat 901, and the rotating medical bed.
By adopting the technical scheme, the application also has the following functions in combination with specific application scenes, and meanwhile, the following technical effects can be achieved:
1. full pose vertical scan compatibility
The vertical CT+multi-degree-of-freedom bearing mechanism combination breaks through the limitation of traditional horizontal CT scanning, supports special body position imaging such as sitting posture/standing/inversion (0-180 degrees), realizes innovative modes such as full-length vertical load scanning of the spine, dynamic motion imaging of joints and the like, and improves the focus detection rate.
2. Scanning-therapy integrated workflow
The multi-stage adjustment of the rotary medical bed is in seamless joint with the vertical CT portal frame, so that errors of the body positions of patients from transferring to scanning are reduced, and time consumption of pathological-image rechecking is reduced.
3. Multimodal imaging suitability
The adjustable seat 901 and the rotary medical bed are rapidly switched through an ISO 12052 standard interface, so that the adjustable seat is compatible with multi-mode equipment such as O-shaped arm CT, PET-CT, DSA and the like in operation, and the multi-dimensional image guiding requirement of tumor ablation operation is met.
4. Dynamic load balancing optimization
The system integrates a six-axis force sensing network, analyzes the gravity center distribution of a patient in real time, automatically adjusts the rigidity distribution of the bearing mechanism, and ensures the geometric fidelity of images.
The invention constructs a novel patient positioning device and an image platform of full posture/full mode/full scene through the deep integration of the vertical CT-multi-degree-of-freedom bearing body-intelligent workflow, and brings a brand new solution to the radiotherapy terminal.
Seventh, the operation flow of the CT scanning system is as follows:
step 1, patient position adjustment
The patient lies supine on the support, the upper support member 101 is extended, the lower support member 102 is rotated to the reclined position, and the positioning handles 104 automatically lock the shoulders and hips of the patient.
The lifting assembly 40 lifts the support to a suitable height to fit the aperture of the vertical CT scanning apparatus 900.
Step 2, circumferential scanning positioning
The rotator 20 drives the support body to rotate 90 ° clockwise to allow the patient to assume a lateral position.
The centering adjustment mechanism 203 fine-adjusts the support body angle to ensure that the spine is perpendicular to the CT rays.
Step 3, multiple degree of freedom fine tuning
The transverse glide mechanism 60 is moved and the longitudinal glide mechanism 70 is adjusted so that the focal region is precisely aligned with the CT detector.
The height of the turntable lifting mechanism 202 is finely adjusted to compensate for patient position errors.
Step 4, scanning and executing
The vertical CT scanner 900 is activated and the support remains dynamically fine-tuned to track patient position changes in real time, completing high resolution imaging.
The supporting mechanism can support the vertical CT to complete the whole body multi-position scanning in sitting, prone and inclined states, thereby improving the positioning accuracy and shortening the scanning time. Clinical tests show that the suitability of the medical instrument for complex postures (such as scoliosis correction positions) is improved.
Technical effects of conventional CT system and CT scanning system table 2:
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
In addition, the technical solutions of the embodiments can be combined with each other, but must be based on the realization of those of ordinary skill in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the protection scope of the invention.