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WO2018082139A1 - Chaise de traitement mécanique et son système de commande - Google Patents

Chaise de traitement mécanique et son système de commande Download PDF

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Publication number
WO2018082139A1
WO2018082139A1 PCT/CN2016/107400 CN2016107400W WO2018082139A1 WO 2018082139 A1 WO2018082139 A1 WO 2018082139A1 CN 2016107400 W CN2016107400 W CN 2016107400W WO 2018082139 A1 WO2018082139 A1 WO 2018082139A1
Authority
WO
WIPO (PCT)
Prior art keywords
treatment chair
platform
mechanical treatment
connecting member
chair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/107400
Other languages
English (en)
Chinese (zh)
Inventor
周荣
许纹健
李磊
孙熙杉
薛会
吕凌俊
王敏
刘飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Supersense Instruments Co Ltd
Original Assignee
Jiangsu Supersense Instruments Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Supersense Instruments Co Ltd filed Critical Jiangsu Supersense Instruments Co Ltd
Publication of WO2018082139A1 publication Critical patent/WO2018082139A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • the present invention relates to a chair, and more particularly to a mechanical treatment chair.
  • proton heavy ion radiotherapy Due to its superior radiophysical and radiobiological properties, proton heavy ion radiotherapy has a greater advantage than conventional photon radiotherapy.
  • Proton heavy ions have a "Prague peak" energy release trajectory throughout the range, which can be used for tumors. The cells are accurately killed, and the damage to surrounding normal tissues is significantly reduced, but there is a high precision requirement for tumor localization.
  • the existing proton heavy ion therapy uses a treatment bed, which is not suitable for the treatment of head and neck cancer.
  • Traditional mechanical treatment chairs are usually only used as tools for carrying patients, lacking positioning functions, and can not meet the needs of precision radiotherapy.
  • a mechanical treatment chair includes a treatment chair, a slide rail, a slide plate, a rotation platform and a six-degree-of-freedom platform, the slide plate is slidably mounted on the slide rail, and the rotation platform is rotatably mounted on the slide plate.
  • the six degree of freedom platform is fixed to the rotating platform, and the treatment chair is fixed to the rotating platform.
  • the six-degree-of-freedom platform includes six adjusting devices, each of which includes an electric cylinder, a first connecting member and a second connecting member, and the first connecting member and the second connecting member respectively It is fixed at both ends of the electric cylinder.
  • the treatment chair comprises a movement platform and a chair body fixed to the movement platform, the first connection member is fixedly connected with the movement platform, and the electric cylinder is passed through the first connection member
  • the motion platform is rotatably connected.
  • the first connecting member is a hook hinge.
  • the second connecting member is fixedly connected to the rotating platform, and the electric cylinder is rotatably connected to the rotating platform through the second connecting member.
  • the second connecting member is a ball joint.
  • the treatment chair is made of carbon steel or an aluminum alloy.
  • a control system for a mechanical treatment chair includes a workstation, a main controller and a plurality of servo controllers, the workstation being remotely connected to the main controller, the main controller being connected to the plurality of servo controllers, each The servo controller respectively controls the six-degree-of-freedom platform, and the main controller converts an instruction issued by the workstation into an input instruction and transmits the input instruction to the plurality of servo controllers, A number of servo controllers control the six degree of freedom platform motion to accurately position the chair.
  • the mechanical treatment chair of the invention realizes the precise positioning of the treatment chair through the slide rail, the rotating platform and the six-degree-of-freedom platform, so that the patient can be positioned for the treatment in the case of proton heavy ion radiotherapy.
  • Figure 1 is an exploded view of the mechanical treatment chair of the present invention.
  • FIG. 2 is another perspective exploded view of the mechanical treatment chair of FIG. 1.
  • FIG. 3 is an assembled view of the mechanical treatment chair of FIG. 2.
  • FIG. 4 is a schematic view showing a state of use of the mechanical treatment chair of FIG. 3.
  • Figure 5 is a block diagram of the mechanical treatment chair control system of the present invention.
  • 100 mechanical treatment chair; 10, slide rail; 20, skateboard; 30, rotating platform; 40, six degrees of freedom platform; 41, adjusting device; 42, first connecting member; 44, electric cylinder; Two connectors; 48, motor; 50, treatment chair; 52, chair body; 54, exercise platform; 60, workstation; 70, main controller; 80, servo controller; 200, patient.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • a mechanical treatment chair 100 includes a slide rail 10 , a slide plate 20 , a rotating platform 30 , a six-degree-of-freedom platform 40 , and a treatment chair 50 .
  • the six degree of freedom platform 40 includes six adjustment devices 41.
  • Each of the adjusting devices 41 includes a first connecting member 42 , an electric cylinder 44 , a second connecting member 46 , and a motor 48 .
  • the motor 48 is fixedly coupled to the electric cylinder 44.
  • the first connecting member 42 and the second connecting member 46 are respectively fixed to both ends of the electric cylinder 44.
  • the first connecting member 42 is a hook hinge
  • the second connecting member 46 is a ball joint.
  • the chair 50 includes a chair body 52 and a motion platform 54.
  • the chair body 52 is fixed to the motion platform 54.
  • the chair body 52 is fixed to the motion platform 54.
  • the chair body 52 is made of carbon steel or an aluminum alloy.
  • the slide plate 20 is slidably mounted to the slide rail 10.
  • the rotating platform 30 is rotatably mounted to the sliding plate 20.
  • the second connecting member 46 is fixed to the rotating platform 30 to rotatably connect the electric cylinder 44 with the rotating platform 30.
  • the first connecting member 42 is fixedly coupled to the moving platform 54 to rotatably connect the electric cylinder 44 with the moving platform 54.
  • the present invention also relates to a control system for the mechanical treatment chair 100, the control system including a workstation 60, a main controller 70 remotely coupled to the workstation 60, and a plurality of The controller 70 is connected to the servo controller 80.
  • the main controller 70 receives the command and converts the command into an input command and transmits the input command to the plurality of servo controllers 80, each of the servo controls
  • the controller 80 controls a motor 48 to expand and contract the electric cylinder 44 to drive the chair body 52 to translate and rotate in three dimensions of x, y, and z in a certain range.
  • the chair body 52 can also realize a wide range of movement and rotation through the sliding plate 20 and the rotating flat 30, so as to adjust the position of the chair body 52 to align the patient's lesion with the radiation.

Landscapes

  • 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)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

La présente invention concerne une chaise de traitement mécanique (100), comprenant une chaise de traitement (50), un rail coulissant (10), une plaque coulissante (20), une plateforme rotative (30) et une plateforme présentant six degrés de liberté (40). La plaque coulissante (20) est montée coulissante sur le rail coulissant (10). La plateforme rotative (30) est montée rotative sur la plaque coulissante (20). La plateforme présentant six degrés de liberté (40) est fixée à la plateforme rotative (30). La chaise de traitement (50) est fixée à la plateforme rotative (30). Selon la chaise de traitement mécanique (100), un positionnement précis de la chaise de traitement est réalisé à l'aide du rail coulissant (10), de la plateforme rotative (30) et de la plateforme présentant six degrés de liberté (40) pour faciliter le traitement. La présente invention concerne en outre un système de commande d'une chaise de traitement mécanique.
PCT/CN2016/107400 2016-11-02 2016-11-28 Chaise de traitement mécanique et son système de commande Ceased WO2018082139A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610946083.2 2016-11-02
CN201610946083 2016-11-02

Publications (1)

Publication Number Publication Date
WO2018082139A1 true WO2018082139A1 (fr) 2018-05-11

Family

ID=62075490

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/107400 Ceased WO2018082139A1 (fr) 2016-11-02 2016-11-28 Chaise de traitement mécanique et son système de commande

Country Status (1)

Country Link
WO (1) WO2018082139A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112008694A (zh) * 2020-07-22 2020-12-01 西安方元明科技股份有限公司 一种基于电动缸的全电化重载六自由度平台及其电控系统
CN114851167A (zh) * 2022-05-10 2022-08-05 南京雅可比机器人科技有限公司 一种开源的基于总线控制的六自由度并联机器人平台
CN115105354A (zh) * 2022-07-18 2022-09-27 中国人民解放军空军军医大学 一种晕动病习服训练设备
CN115230524A (zh) * 2022-08-18 2022-10-25 奥莱特汽车科技有限公司 一种五自由度运动平台
CN115256353A (zh) * 2022-09-05 2022-11-01 中国科学院光电技术研究所 一种外满秩、冗余多平台复合型串并联闭环式运动机构
CN115373343A (zh) * 2022-04-30 2022-11-22 江苏普旭科技股份有限公司 并联式六自由度运动平台控制系统与控制方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080212738A1 (en) * 2006-12-13 2008-09-04 Oraya Therapeutics, Inc. Orthovoltage radiotherapy
CN202908243U (zh) * 2012-11-19 2013-05-01 上海恒润数码影像科技有限公司 三自由度底座及应用其的4d座椅
CN104307113A (zh) * 2014-10-20 2015-01-28 苏州大学张家港工业技术研究院 放射治疗系统
CN105327458A (zh) * 2015-12-04 2016-02-17 深圳先进技术研究院 多自由度放射治疗床
CN105411619A (zh) * 2014-08-22 2016-03-23 苏州雷泰医疗科技有限公司 一种患者定位设备及放射医疗设备
CN105534676A (zh) * 2016-03-01 2016-05-04 陈刚 一种机器人治疗椅
CN106512235A (zh) * 2016-11-23 2017-03-22 江苏超敏仪器有限公司 机械治疗椅及其控制系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080212738A1 (en) * 2006-12-13 2008-09-04 Oraya Therapeutics, Inc. Orthovoltage radiotherapy
CN202908243U (zh) * 2012-11-19 2013-05-01 上海恒润数码影像科技有限公司 三自由度底座及应用其的4d座椅
CN105411619A (zh) * 2014-08-22 2016-03-23 苏州雷泰医疗科技有限公司 一种患者定位设备及放射医疗设备
CN104307113A (zh) * 2014-10-20 2015-01-28 苏州大学张家港工业技术研究院 放射治疗系统
CN105327458A (zh) * 2015-12-04 2016-02-17 深圳先进技术研究院 多自由度放射治疗床
CN105534676A (zh) * 2016-03-01 2016-05-04 陈刚 一种机器人治疗椅
CN106512235A (zh) * 2016-11-23 2017-03-22 江苏超敏仪器有限公司 机械治疗椅及其控制系统

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112008694A (zh) * 2020-07-22 2020-12-01 西安方元明科技股份有限公司 一种基于电动缸的全电化重载六自由度平台及其电控系统
CN115373343A (zh) * 2022-04-30 2022-11-22 江苏普旭科技股份有限公司 并联式六自由度运动平台控制系统与控制方法
CN115373343B (zh) * 2022-04-30 2024-05-14 江苏普旭科技股份有限公司 并联式六自由度运动平台控制系统与控制方法
CN114851167A (zh) * 2022-05-10 2022-08-05 南京雅可比机器人科技有限公司 一种开源的基于总线控制的六自由度并联机器人平台
CN115105354A (zh) * 2022-07-18 2022-09-27 中国人民解放军空军军医大学 一种晕动病习服训练设备
CN115230524A (zh) * 2022-08-18 2022-10-25 奥莱特汽车科技有限公司 一种五自由度运动平台
CN115230524B (zh) * 2022-08-18 2023-06-20 奥莱特汽车科技有限公司 一种五自由度运动平台
CN115256353A (zh) * 2022-09-05 2022-11-01 中国科学院光电技术研究所 一种外满秩、冗余多平台复合型串并联闭环式运动机构

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