CN108525145A - The more bed board positioning systems of one proton heavy ion - Google Patents
The more bed board positioning systems of one proton heavy ion Download PDFInfo
- Publication number
- CN108525145A CN108525145A CN201810453206.8A CN201810453206A CN108525145A CN 108525145 A CN108525145 A CN 108525145A CN 201810453206 A CN201810453206 A CN 201810453206A CN 108525145 A CN108525145 A CN 108525145A
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- male connector
- bed
- positioning
- trolley
- female
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- 230000004807 localization Effects 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims description 42
- 239000010959 steel Substances 0.000 claims description 42
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 3
- 238000001959 radiotherapy Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 3
- 238000002560 therapeutic procedure Methods 0.000 abstract description 3
- 230000003252 repetitive effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000001225 therapeutic effect Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000002727 particle therapy Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1085—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy characterised by the type of particles applied to the patient
- A61N2005/1087—Ions; Protons
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The invention discloses the more bed board positioning systems of a proton heavy ion, which is characterized in that more bed board positioning devices are arranged on trolley；Bed panel is inserted into more bed board positioning devices；Trolley positioning device is arranged in the lower section of trolley；It is formed and is positioned with ground；Robot localization bed apparatus includes that positioning male connector is arranged in the lower section of bed panel；Female is positioned to be arranged above robot arm；It is mosaic texture simultaneously；Location bed locking device is arranged in the side of positioning female and locking；High repetitive positioning accuracy is kept by detent mechanism.During to make Internal Transfer of the bed panel in the more bed board positioning systems of proton heavy ion and therapeutic process, i.e., ensure to be accurately positioned in taking x-rays and Patients During Radiotherapy.It avoids because patient to be moved needs the process repositioned to patient；The problem of solving multiple taking x-rays, repeatedly repositioning.
Description
Technical field
The present invention relates to Medical Devices more particularly to the more bed board positioning systems of a proton heavy ion.
Background technology
Among existing proton and heavy particle therapy project, the positioning tumor position by the way of figure calibration.Doctor exists
After formulating treatment plan, treatment flow is for example as shown in Fig. 11, and the image in x-ray image and treatment plan is shot in preliminary examination room
It is registrated, further determines that therapeutic scheme.After scheme to be treated determines, real radiotherapy is carried out into therapeutic room.This
In the case of, patient gets off from the sick bed of preliminary examination room, and the position relationship of he and treatment system just disappears.Equipment patient originally
Get off from the bed panel of preliminary examination room after shooting check image, he and bed panel relevant position are just lost, next time he again on
Another piece of bed panel is just not necessarily lain on identical position.And system is that the position of patient is determined according to the position of bed panel
It sets.The relative position of he and system is just lost, and system need to again position patient.Before clapping check image every time all
Patient is fixed in bed panel, his position is calibrated.It is each primary in preliminary examination room and therapeutic room, 25 minutes or so every time.It needs
X-ray is re-shoot in therapeutic room, repositioned.Both it had allowed patient repeatedly to shoot x-ray image, and had repeated taking x-rays for suffering from
Person's body damages, and wastes time again, increases the unnecessary expense of patient.
Invention content
The purpose of the present invention is according in place of above-mentioned the deficiencies in the prior art, the object of the invention realizes a proton heavy ion
More bed board positioning systems, which is characterized in that including bed panel, more bed board positioning devices, trolley, trolley positioning dress
It sets, robot localization bed apparatus, location bed locking device；More bed board positioning devices are arranged on trolley；It is described
Bed panel be inserted into more bed board positioning devices；The trolley positioning device is arranged in the trolley
Lower section；It is formed and is positioned with ground；The robot localization bed apparatus includes positioning male connector, positioning female；Positioning male connector is set
It sets in the lower section of the bed panel；Female is positioned to be arranged above robot arm；Positioning male connector, positioning female are to inlay knot
Structure；The mosaic texture lock that in the side of positioning female, will be positioned male connector, position female is arranged in the location bed locking device
It is fixed.
Further, more bed board positioning devices further include fixed block, the first electromagnetism push rod, the first axis pin, guide groove with
And the pressure sensor in the trolley side is set；Fixed block is fixed on the trolley, and fixed block is horizontal
To the guide groove for being opened in perforation fixed block, the first electromagnetism push rod is arranged in the side of fixed block, and the is connected on the first electromagnetism push rod
In the first guide hole that the first axis pin is arranged on fixed block, a guide plate is arranged in one axis pin in the bed panel；It is set on guide plate
The second guide hole is set, the first axis pin runs through the first guide hole and the second guide hole.
Further, track walking robot is set in the side of the lower section of the trolley；In track running machine
Run trace route is arranged in the lower section of people；The side setting of the walking robot trolley positioning device in track；Institute
The trolley positioning device stated further includes the second electromagnetism push rod, the second axis pin, positioning device；Second electromagnetism push rod is fixed on institute
On the trolley stated；Second axis pin connects the second electromagnetism push rod；Form stretching structure；One end of second axis pin is inserted into setting and exists
Inside positioning device on ground.
Further, the positioning male connector further include male connector fixed block, male connector supporting block, steel ball retainer, male connector sliding block,
Steel ball；The positioning female further includes female sliding block, female fixed block；It is arranged on male connector fixed block and steel ball retainer logical
Hole, bolt-through male connector fixed block and steel ball retainer, male connector fixed block and steel ball retainer are fixed in the bed panel,
Male connector sliding block, which is arranged on the inside of steel ball retainer, male connector sliding block, is arranged a groove, and the centre of steel ball retainer is in hollow form,
One screw through-hole is set on steel ball retainer, and screw passes through screw through-hole and the male connector being arranged above steel ball retainer to support
Block is fixed, and male connector supporting block is similarly disposed at the inside of male connector fixed block, and male connector supporting block is fixed with steel ball retainer in male connector
Slide construction is gone to upper and lower inside block, steel ball is arranged inside the circular hole on steel ball retainer；Female fixed block is fixed on robot
Arm on, female sliding block is arranged in the inside of female fixed block；Two protrusions are symmetrical arranged above female sliding block.
Further, the location bed locking device further include the rack being arranged on male connector sliding block, gear, motor shaft,
Braking motor；Rack and pinion forms gear engagement structure；Gear is arranged on motor shaft；Electricity is braked by motor axis connection
Machine, braking motor are fixed on robot arm.
Further, a button is set on the trolley；For controlling manual and automatic switching.
Further, which is characterized in that 2-5 bed panel and 2-5 is arranged in the more bed board positioning systems of the proton heavy ion
A trolley.
Patent of the present invention has technical effect that, uses the more bed board positioning systems of the present invention-proton heavy ion, realizes
There are multiple bed panels in system, a bed panel and patient are bound together, high resetting is kept by detent mechanism
Precision.During to make Internal Transfer of the bed panel in the more bed board positioning systems of proton heavy ion and therapeutic process, i.e.,
Ensure to be accurately positioned in taking x-rays and Patients During Radiotherapy.It avoids because patient to be moved needs the mistake repositioned to patient
Journey；The problem of solving multiple taking x-rays, repeatedly repositioning.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of the present invention.
Fig. 2 is the trolley schematic diagram of the present invention.
Fig. 3 is the bed panel schematic diagram of the present invention.
Fig. 4 is more bed board positioning device enlarged diagrams of the present invention.
Fig. 5 is the schematic diagram of the trolley movement locus of the present invention.
Fig. 6 is the trolley positioning device schematic diagram of the present invention.
Fig. 7 is the schematic diagram of the robot localization bed apparatus of the present invention.
Fig. 8 is the robot localization bed apparatus cooperation schematic diagram of the present invention.
Fig. 9 is the robot localization bed apparatus decomposition diagram of the present invention
Figure 10 is the location bed locking device schematic diagram of the present invention.
Figure 11 is the flow chart in existing proton and heavy particle therapy in the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In the present embodiment, in conjunction with shown in attached drawing 1- attached drawings 10, more of a proton heavy ion is disclosed in the present embodiment
Plate positioning system, including bed panel 1, more bed board positioning devices 2, trolley 3, trolley positioning device 4, robot localization
Bed apparatus 5, location bed locking device 6；More bed board positioning devices 2 are arranged on trolley 3；Bed panel 1 is inserted into more bed boards
Positioning device 2；Trolley positioning device 4 is arranged in the lower section of trolley 3；It is formed and is positioned with ground；Robot localization bed
Device 5 includes positioning male connector 51, positioning female 52；Positioning male connector 51 is arranged in the lower section of bed panel 1；The setting of female 52 is positioned to exist
7 top of robot arm；Position male connector 51, positioning female 52 is mosaic texture；Location bed locking device setting 6 is in positioning female
52 side, the mosaic texture locking that male connector 51 will be positioned, position female 52.More bed board positioning devices are utilized in the present embodiment
2 realize that the precise positioning between bed panel 1 and trolley 3, the error of positioning accuracy are no more than 0.1mm；It is small using moving
Vehicle positioning device 4 realizes the positioning between trolley 3 and ground；The high-precision position relationship to ground is obtained, positioning misses
Difference is no more than 0.1mm；The precise positioning of bed panel 1 and robot arm 7 is realized using robot localization bed apparatus 5, ensures bed
The site error of panel 1 and robot arm 7 is within 0.08mm；Thus by the site error of whole system within 0.4mm；
To keep high repetitive positioning accuracy by detent mechanism.To make bed panel the more bed board positioning systems of proton heavy ion with
And during the Internal Transfer in therapeutic process, i.e., ensure to be accurately positioned in taking x-rays and Patients During Radiotherapy.It avoids because wanting
Mobile patient needs the process repositioned to patient；The problem of solving multiple taking x-rays, repeatedly repositioning.
In the present embodiment, in conjunction with shown in attached drawing 3, attached drawing 4, attached drawing 5, more bed board positioning devices 2 further include fixed block 21,
First electromagnetism push rod 22, the first axis pin 23, guide groove 24 and pressure sensor 31 in 3 side of trolley is set；Fixed block
21 are fixed on trolley 3, and fixed block 21 is laterally opened in the guide groove 24 of perforation fixed block 21, the side setting of fixed block 21
First electromagnetism push rod 22, connects the first axis pin 23 on the first electromagnetism push rod 22, and the first axis pin 23 is arranged on fixed block 21
In first guide hole 25, a guide plate 27 is set in bed panel 1；Second guide hole 26 is set on guide plate, and the first axis pin 23 runs through first
Guide hole 25 and the second guide hole 26.Such more bed board positioning devices 2 solve accurate fixed between bed panel 1 and trolley 3
Position；When trolley 3 pushes bed panel 1 to, 1 guide plate 27 of bed panel is inserted into the guide groove 24 of trolley, advances to bed
1 front end of panel contacts that 31. pressure sensor 31 of pressure sensor perceives bed panel 1 to correct position.Robot sends out signal
Trolley 3 controls electromagnetism push rod 22；It allows electromagnetism push rod 22 that the first axis pin 23 is pushed to be inserted into guide plate 27 and the first of guide groove 24 to lead
In hole 25 and the second guide hole 2 so that the first axis pin 23 runs through the first guide hole 25 and the second guide hole 26, realizes positioning；To ensure
The precision of positioning.
Shown in attached drawing 1, attached drawing 5, in order to realize the more bed board positioning systems of proton heavy ion under auto state
Operation；Need the side in the lower section of trolley 3 that track walking robot 32 is set；The lower section of walking robot 32 in track
Run trace route 33 is set；The side setting trolley positioning device 4 of walking robot 32 in track；The movement is small
Vehicle positioning device 4 further includes the second electromagnetism push rod 41, the second axis pin 42, positioning device 43；Second electromagnetism push rod 41 is fixed on fortune
On dynamic trolley 3；Second axis pin 42 connects the second electromagnetism push rod 41；Form stretching structure；Setting is inserted into one end of second axis pin 42
Inside positioning device 43 on the ground；When operation under auto state, track walking robot 32 is according to set walking
Path 33；When in-position；Control the stretching of the second electromagnetism push rod 41；Second axis pin 42 enters the positioning dress buried on the ground
It sets in 43.Thus accurately obtain the position relationship to ground；Form the positioning between trolley 3 and ground；Between
Connect the positioning formd for patient.In order to realize the switching under auto state and manual mode；It is arranged one on trolley 3
Button 34；For controlling manual and automatic switching；Material is thus formed the switchings of the operating status of two kinds of systems, are ensureing essence
Spend it is identical in the case of, realize trolley 3 flexible motion.
In the present embodiment, as shown in attached drawing 6 to attached drawing 9；Include positioning male connector 51, determine in robot localization bed apparatus 5
Position female 52 further includes male connector fixed block 510, male connector supporting block 511, steel ball retainer 512, male connector sliding block in positioning male connector 51
513, steel ball 514；It further includes female sliding block 521, female fixed block 522 to position female 52；Male connector fixed block 510 and steel ball are kept
Through-hole 515 is set on frame 512, and bolt 516 runs through male connector fixed block 510 and steel ball retainer 512, male connector fixed block 510 and steel
Pearl retainer 512 is fixed in bed panel 1, and male connector sliding block 513 is arranged in the inside of steel ball retainer 512；In male connector sliding block 513
One groove 5131 of upper setting；The centre of steel ball retainer 512 is in hollow form, and a screw through-hole is arranged on steel ball retainer 512
517, screw 518 passes through screw through-hole 517 and the male connector supporting block 511 being arranged above steel ball retainer 512 to fix, male connector branch
Bracer 511 is similarly disposed at the inside of male connector fixed block 510, and male connector supporting block 511 is with steel ball retainer 512 in male connector fixed block
Slide construction is gone to upper and lower inside 510, steel ball 519 is arranged inside the circular hole 520 on steel ball retainer 512；Female fixed block
522 are fixed on robot arm 7, and female sliding block 521 is arranged in the inside of female fixed block 522；Above female sliding block 512
It is symmetrical arranged two protrusions 523；When robot arm 7 rises to, male connector supporting block 511 and steel ball retainer 512 simultaneously to
On, it is fallen into the groove 5131 on male connector sliding block 513 after steel ball 519 crosses protrusion 523.In this way, working as 7 band of robot arm
When dynamic positioning female 52 is coordinated upwards with positioning male connector 51, male connector sliding block 513 starts and steel ball 519 contacts, male connector sliding block
513 move back upwards, until male connector sliding block 513 shifts onto after the bottom of 519 retainer 512 of steel ball, starting will be to 519 side of steel ball
It squeezes；When positioning female 52 and positioning male connector 51 continues to rise；Steel ball 519 falls on 512 top of female sliding block and is symmetrical arranged two
The rear of protrusion 523；Meanwhile it dropping into the groove 5131 being arranged on male connector sliding block 513；Material is thus formed positioning females 52
With the location structure of positioning male connector 51；Its positioning accuracy is within 0.08mm.Form patient, bed panel and robot
Form accurate positioning relation；To the unification positioned in ensureing successive patients from taking x-rays to Patients During Radiotherapy；Due to position
It sets and has been accurately positioned, the position of subsequent Patients During Radiotherapy will be controlled by robot, and above-mentioned positioning relation ensure that bat
Take the photograph being accurately positioned for X-ray and radiotherapy.The needs of taking x-rays can be repeated to avoid patient.
It is needed multipair in positioning by the positioning of above-mentioned positioning system in order to realize that robot carries out the process of radiotherapy
It is accurately kept, so the progress of location bed locking device 6 is needed to lock positioning system；Thus as in attached drawing 10
Shown in location bed locking device 6；Further include the rack 524 being arranged on male connector sliding block 513, gear 61, motor shaft 62, braking electricity
Machine 63；Rack 524 forms gear engagement structure with gear 61；Gear 61 is arranged on motor shaft 62；It is connected by motor shaft 62
Braking motor 63, braking motor 63 are fixed on robot arm 7.In this way after the positioning of robot localization bed apparatus 5 terminates；
After the energization of braking motor 63 so that braking motor 63 is lockable；To which location bed locking device 6 be locked；So that
Bed panel 1 and patient can all have robot to move；After end, by bed panel 1 be put back on trolley 3 with
Afterwards；To 63 dead electricity of braking motor；Locking contact in this way, so that it may be detached with positioning male connector 51 so that female 52 will be positioned；To
Into next cycle.
In order to keep the high efficiency of the more bed board positioning systems of the proton heavy ion more bed boards of proton heavy ion in the present embodiment
2-5 bed panel 1 and 2-5 trolley 3 is arranged in positioning system；It in this way can be during Patients Treated by Radiotherapy；Next bit patient
Work can be prepared.
As the preferred embodiment of the invention, it is obvious to a person skilled in the art that showing the present invention is not limited to above-mentioned
The details of exemplary embodiment, and without departing from the spirit or essential characteristics of the present invention, it can be with other specific
Form realizes the present invention and protection scope of the present invention.Therefore, in all respects, the embodiments should be taken as
It is exemplary, and be non-limiting, the scope of the invention being indicated by the appended claims rather than by the foregoing description, therefore purport
It is included within the present invention by all changes that come within the meaning and range of equivalency of the claims.Right should not be wanted
Any reference numeral in asking, which is considered as, to be limited the claims involved.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (7)
1. the more bed board positioning systems of a proton heavy ion, which is characterized in that including bed panel, more bed board positioning devices, movement
Trolley, trolley positioning device, robot localization bed apparatus, location bed locking device；More bed board positioning devices are set
It sets on trolley；The bed panel is inserted into more bed board positioning devices；The trolley positioning device
It is arranged in the lower section of the trolley；It is formed and is positioned with ground；The robot localization bed apparatus include positioning male connector,
Position female；Positioning male connector is arranged in the lower section of the bed panel；Female is positioned to be arranged above robot arm；Positioning is public
Head, positioning female are mosaic texture；The location bed locking device is arranged in the side of positioning female, by positioning male connector, determines
The mosaic texture locking of position female.
2. the more bed board positioning systems of proton heavy ion as described in claim 1, which is characterized in that more bed boards are fixed
Position device further includes fixed block, the first electromagnetism push rod, the first axis pin, guide groove and pressure in the trolley side is arranged
Force snesor；Fixed block is fixed on the trolley, and fixed block is laterally opened in the guide groove of perforation fixed block, fixed block
Side be arranged the first electromagnetism push rod, the first axis pin is connected on the first electromagnetism push rod, the first axis pin is arranged on fixed block
In first guide hole, a guide plate is set in the bed panel；Second guide hole is set on guide plate, and the first axis pin runs through the first guide hole
With the second guide hole.
3. the more bed board positioning systems of proton heavy ion as described in claim 1, which is characterized in that small in the movement
Track walking robot is arranged in the side of the lower section of vehicle；In track, run trace route is arranged in the lower section of walking robot；It is in-orbit
Trolley positioning device described in the side setting of mark walking robot；The trolley positioning device further includes second
Electromagnetism push rod, the second axis pin, positioning device；Second electromagnetism push rod is fixed on the trolley；Second axis pin connection the
Two electromagnetism push rods；Form stretching structure；One end of second axis pin is inserted into inside the positioning device of setting on the ground.
4. the more bed board positioning systems of proton heavy ion as described in claim 1, which is characterized in that the positioning male connector
Further include male connector fixed block, male connector supporting block, steel ball retainer, male connector sliding block, steel ball；The positioning female further includes female
Sliding block, female fixed block；Through-hole is set on male connector fixed block and steel ball retainer, and bolt-through male connector fixed block and steel ball are kept
Frame, male connector fixed block and steel ball retainer are fixed in the bed panel, and male connector sliding block is arranged in the inside of steel ball retainer,
One groove is set on male connector sliding block, and the centre of steel ball retainer is in hollow form, and a screw through-hole, spiral shell are arranged on steel ball retainer
Silk is fixed across screw through-hole with the male connector supporting block being arranged above steel ball retainer, and male connector supporting block is similarly disposed at male connector
The inside of fixed block, male connector supporting block go to upper and lower slide construction with steel ball retainer inside male connector fixed block, and steel ball setting exists
Inside circular hole on steel ball retainer；Female fixed block is fixed on the arm of robot, and the setting of female sliding block is fixed in female
The inside of block；Two protrusions are symmetrical arranged above female sliding block.
5. the more bed board positioning systems of proton heavy ion as described in claim 1, which is characterized in that the location bed lock
It further includes the rack being arranged on male connector sliding block, gear, motor shaft, braking motor to determine device；Rack and pinion forms gear and nibbles
Close structure；Gear is arranged on motor shaft；By motor axis connection braking motor, braking motor is fixed on robot arm.
6. the more bed board positioning systems of proton heavy ion as claimed in claim 3, which is characterized in that the trolley
One button of upper setting；For controlling manual and automatic switching.
7. the more bed board positioning systems of any one proton heavy ion as described in claim 1-6, which is characterized in that described
2-5 bed panel and 2-5 trolley is arranged in the more bed board positioning systems of proton heavy ion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810453206.8A CN108525145A (en) | 2018-05-14 | 2018-05-14 | The more bed board positioning systems of one proton heavy ion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810453206.8A CN108525145A (en) | 2018-05-14 | 2018-05-14 | The more bed board positioning systems of one proton heavy ion |
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| Publication Number | Publication Date |
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| CN108525145A true CN108525145A (en) | 2018-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810453206.8A Pending CN108525145A (en) | 2018-05-14 | 2018-05-14 | The more bed board positioning systems of one proton heavy ion |
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|---|---|---|---|---|
| CN2846110Y (en) * | 2005-11-21 | 2006-12-13 | 天津市天锻压力机有限公司 | Positioning device for hydropress mold changing car |
| US20070169265A1 (en) * | 2006-01-24 | 2007-07-26 | Accuray Incorporated | Method and apparatus for patient loading and unloading |
| US20160073978A1 (en) * | 2007-09-13 | 2016-03-17 | Toby D. Henderson | Patient positioner system |
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