CN107625596B - Medical six-degree-of-freedom treatment bed - Google Patents
Medical six-degree-of-freedom treatment bed Download PDFInfo
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- CN107625596B CN107625596B CN201710890134.9A CN201710890134A CN107625596B CN 107625596 B CN107625596 B CN 107625596B CN 201710890134 A CN201710890134 A CN 201710890134A CN 107625596 B CN107625596 B CN 107625596B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses a medical six-degree-of-freedom therapeutic bed which comprises a sliding sleeve base and a hollow upright post movably penetrating through the sliding sleeve base, wherein a supporting plate, a C-axis rotating plate, an X-axis moving plate, a supporting base, a double-layer Y-axis moving plate, a bed plate supporting plate and a bed plate are sequentially arranged at the upper end of the hollow upright post upwards. The Z direction adopts a hollow single-upright sliding sleeve type structure, and can bear relatively large unbalanced load. And the linear guide rail is adopted for supporting in the X direction, so that the structure is compact, and the maximization of the movement stroke is realized in a shorter length range. And the Y direction is supported by linear guide rails which are arranged in the same plane in the inner cavity, and the linear guide rails are respectively driven and controlled. The maximization of the movement travel is achieved over a short support length. The C-axis rotation is horizontally supported by adopting an arc guide rail, and the stroke in the Z-axis direction is small. The rotation of the B axis is supported by adopting arc guide rails at two vertical sides, and only the movement clearance space is occupied in the Z axis direction. The rotation of the axis A adopts the lever principle, the required moment is small, and the space occupied by the whole axis A in the direction of the axis Z is small.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a medical six-degree-of-freedom treatment bed.
Background
Currently, the existing medical six-degree-of-freedom treatment couch mainly refers to three directions of X, Y, Z and three directions of A, B, C rotating around three X, Y, Z axes. Due to the requirements of practical clinical use, transportation, installation and the like, the whole structure of the treatment bed is required to be compact, and the operation of rigidity and precision is required to be stable and reliable. In clinical application, due to the diversity of patients and different diseased positions, the development concept of accurate treatment is more challenging, and the design difficulty of a compact mechanical structure of a treatment bed, the design comprehensiveness and the like are more difficult.
Disclosure of Invention
The invention solves the defects of the prior art, provides the medical six-degree-of-freedom treatment bed with a compact structure, meets the required six-direction degrees of freedom in a compact space, further improves the rigidity and the precision of the whole structure, meets the long-term reliable and stable operation of equipment, and lays a foundation for the development of accurate treatment.
The technical scheme adopted by the invention is as follows: the medical six-degree-of-freedom treatment bed comprises a sliding sleeve base and a hollow upright post movably penetrating through the sliding sleeve base, wherein a supporting plate, a C-axis rotating plate, an X-axis moving plate, a supporting base, a double-layer Y-axis moving plate, a bed plate supporting plate and a bed plate are sequentially arranged at the upper end of the hollow upright post upwards, the X-axis moving plate is sleeved on the C-axis rotating plate, and the supporting base is sleeved on the X-axis moving plate; a Z-axis driving rack is arranged on one side of the hollow upright post, and the Z-axis driving rack is meshed with a Z-axis driving gear arranged on the sliding sleeve base to drive the hollow upright post to do linear motion in the Z direction; a C-axis supporting circular arc guide rail is arranged between the supporting plate and the C-axis rotating plate, and the supporting plate rotates along the C-axis supporting circular arc guide rail in the C direction; an X-axis supporting guide rail is arranged between the C-axis rotating plate and the X-axis moving plate, and the X-axis moving plate moves linearly along the X-axis supporting guide rail in the X direction; a B-axis arc support guide rail is arranged between the X-axis moving plate and the support base, and the support base rotates along the B-axis arc support guide rail in the B direction; a Y-axis supporting guide rail is arranged in the inner cavity of the supporting base, and the double-layer Y-axis moving plate moves linearly along the Y-axis supporting guide rail in the Y direction; one end of the double-layer Y-axis moving plate is provided with an A-axis hinge seat, the other end of the double-layer Y-axis moving plate is provided with an A-axis driving screw rod, one end of the bed plate supporting plate is hinged with the double-layer Y-axis moving plate through a hinged rotating shaft in the A-axis hinge seat, the other end of the bed plate supporting plate is connected with the double-layer Y-axis moving plate through a rotating shaft in an axial manner, and the bed plate supporting plate is driven by the A-axis driving screw rod to do rotary motion in the A direction around the hinged rotating shaft.
Preferably, the double-layer Y-axis moving plate comprises a middle sliding plate and a Y-axis moving plate arranged on the middle sliding plate, the Y-axis supporting guide rail comprises a first Y-axis supporting guide rail and a second Y-axis supporting guide rail which are arranged on the same horizontal plane in an inner cavity of the supporting base, the middle sliding plate is connected with the supporting base through the first Y-axis supporting guide rail, and the middle sliding plate is connected with the Y-axis moving plate through the second Y-axis supporting guide rail.
More preferably, a guide key is arranged on the inner wall of the sliding sleeve base, one side of the guide key is fixedly connected with the inner wall of the sliding sleeve base, and the other side of the guide key is in sliding connection with the outer wall of the hollow upright post.
Further preferably, the support plate, the C-axis rotating plate, the X-axis moving plate, the support base, the middle slide plate, the Y-axis moving plate, and the bed plate support plate are driven by racks and gears engaged with each other, respectively.
Still more preferably, the bedplate support plate and one end are provided with a containing cavity with L-shaped cross section, and the bedplate and one end are embedded in the containing cavity.
Compared with the prior art, the invention has the following beneficial effects: the Z direction adopts a hollow single-upright sliding sleeve type structure, has good integral rigidity and can bear larger unbalanced load. The large-span crossed roller linear guide rail is adopted for supporting in the X direction, the structure is compact, and the maximization of the movement stroke is realized in a shorter length range. And the Y direction is supported by adopting a crossed roller linear guide rail which is arranged in the same plane and is double-layered in the inner cavity, and the Y direction is respectively driven and controlled. The maximization of the movement travel is achieved over a short support length. The C-axis rotation is horizontally supported by adopting an arc guide rail, and the stroke in the Z-axis direction is small. The rotation of the axis B adopts arc guide rails to support at two vertical sides, and only occupies the space of a movement gap in the direction of the axis Z, so that the stroke of the axis Z is basically not influenced. The rotation of the A shaft adopts the lever principle, the hinge is connected, the ball screw on the side surface of the far end is driven, the required moment is small, and the space occupied by the whole Z shaft direction is small.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic side view of fig. 1.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The utility model provides a medical six degrees of freedom treatment bed, referring to fig. 1 and 2, including sliding sleeve base 1 and activity wear to locate the cavity stand 2 on the sliding sleeve base 1, sliding sleeve base 1 adopts the fixed of cavity formula single-column sliding sleeve with cavity stand 2 in Z direction, this simple structure, and whole rigidity is good moreover, can bear great unbalanced load. The sliding sleeve base 1 is in clearance fit with the hollow upright post 2, and the lifting support of the whole structure is controlled through the fit contact length and the fit clearance amount, so that the rigidity of the foundation is ensured. The upper end of the hollow upright post 2 is provided with a supporting plate 3, a C-axis rotating plate 4, an X-axis moving plate 5, a supporting base 6, a double-layer Y-axis moving plate 7, a bed plate supporting plate 8 and a bed plate 9 in turn, wherein the X-axis moving plate 5 is sleeved on the C-axis rotating plate 4, and the supporting base 6 is sleeved on the X-axis moving plate 5.
In this embodiment, the movement of the hollow upright 2 in the Z direction is achieved in the following manner, one side of the hollow upright 2 is provided with a Z-axis driving rack 21, and the Z-axis driving rack 21 is in meshed connection with a Z-axis driving gear 22 arranged on the sliding sleeve base 1 to drive the hollow upright 2 to do linear movement in the Z direction, that is, the hollow upright 2 is driven by the driving gear 22 to do reciprocating movement in the Z direction.
Be equipped with C axle support circular arc guide rail 11 between backup pad 3 and the C axle rotor plate 4, C axle support circular arc guide rail 11 supports and connects backup pad 3 and C axle rotor plate 4, and backup pad 3 is at C to the rotary motion along C axle support circular arc guide rail 11, and this realization process occupies Z axle direction stroke little. In this embodiment, the C-axis supporting circular arc guide rails 11 are provided in two pairs, and the two pairs of C-axis supporting circular arc guide rails 11 are disposed so as to span widely. The arc rack is driven to do C-axis rotation movement through a driving gear arranged on the C-axis.
An X-axis supporting rail 12 is disposed between the C-axis rotating plate 4 and the X-axis moving plate 5, and the X-axis moving plate 5 reciprocates in the X-direction along the X-axis supporting rail 12, in this embodiment, the X-axis supporting rail 12 is preferably a large-span crossed roller linear rail, which is compact in structure and can maximize the movement stroke in a shorter length range.
A B-axis arc support guide rail 13 is arranged between the X-axis moving plate 5 and the support base 6, and the support base 6 rotates along the B-axis arc support guide rail 13 in the B direction; the support base 6 is supported on the two vertical sides of the B-axis arc support guide rail 13, and the support base 6 drives the arc rack to do B-axis rotation through a drive gear arranged on the B-axis. Only the movement clearance space is occupied in the Z-axis direction, and the Z-axis stroke is basically not influenced.
A Y-axis supporting guide rail 14 is arranged in the inner cavity of the supporting base 6, and the double-layer Y-axis moving plate 7 moves linearly along the Y-axis supporting guide rail 14 in the Y direction;
one end of the double-layer Y-axis moving plate 7 is provided with an A-axis hinge seat 10, the other end of the double-layer Y-axis moving plate is provided with an A-axis driving screw rod 15, one end of the bed plate supporting plate 8 is hinged with the double-layer Y-axis moving plate 7 through a hinged rotating shaft 101 in the A-axis hinge seat 10, the other end of the double-layer Y-axis moving plate is connected with the double-layer Y-axis moving plate 7 through a rotating shaft 17, and the bed plate supporting plate 8 is driven by the A-axis driving screw rod 15 to do rotary motion in the A direction around the hinged rotating shaft 101. The rotation in the A direction adopts the lever principle, the hinge is connected, the A shaft assembled at the far end of the double-layer Y shaft moving plate 7 drives the screw rod 15, the moment requirement is small, and the space occupied by the whole Z shaft direction is small.
With continued reference to fig. 2, the double-layer Y-axis moving plate 7 includes a middle slide plate 71 and a Y-axis moving plate 72 disposed on the middle slide plate 71, the Y-axis supporting rail 14 includes a first Y-axis supporting rail 141 and a second Y-axis supporting rail 142 disposed on the same horizontal plane in the inner cavity of the supporting base 6, the middle slide plate 71 is connected with the supporting base 6 through the first Y-axis supporting rail 141, i.e. the middle slide plate 71 reciprocates linearly in the Y-direction along the first Y-axis supporting rail 141, the middle slide plate 71 is connected with the Y-axis moving plate 72 through the second Y-axis supporting rail 142, i.e. the Y-axis moving plate 72 reciprocates linearly in the Y-direction along the second Y-axis supporting rail 142, in this embodiment, the first Y-axis supporting rail 141 and the second Y-axis supporting rail 142 are all crossed roller linear rails, and the middle slide plate 71 and the Y-axis moving plate 72 are driven by driving racks and gears respectively in meshed connection, so as to maximize the movement stroke in the short supporting length.
With continued reference to fig. 1, in order to prevent the hollow upright 2 from rotating in the Z-direction movement, a guide key 16 is provided on the inner wall of the sliding sleeve base 1, one side of the guide key 16 is fixedly connected with the inner wall of the sliding sleeve base 1, and the other side is slidably connected with the outer wall of the hollow upright 2.
The support plate 3, the C-axis rotating plate 4, the X-axis moving plate 5, the support base 6, the middle slide plate 71, and the Y-axis moving plate 72 are driven by racks and gears engaged with each other. The racks and gears are not labeled in fig. 1 and 2.
Wherein, the C axis and the B axis are provided with arc racks correspondingly.
With continued reference to fig. 1, in order to further make the therapeutic bed compact in structure, one end of the bed board support plate 8 is provided with a cavity 81 with an L-shaped cross section, and one end of the bed board 9 is inlaid in the cavity 81.
When a clinical patient is lying on a couch for treatment, a load is mainly caused to the whole support structure downwards along the Z-axis. For the entire system, an off-center load is created. The whole system is connected with the hollow upright post 2 in a supporting way through the sliding sleeve base 1, and the large-span back-to-back supporting way of the crossed roller linear guide rail is connected, so that the rigidity of the whole system is improved. The Y-axis is arranged in the inner cavity of the parallel back-to-back support base through two sets of crossed roller linear guide rails, and the influence of the whole system caused by unbalanced load is minimized on the premise of basically not occupying the Z-axis travel. C. The rotation of the B shaft is supported by a large-span arc guide rail, and the gear and the rack are driven, so that the structure is compact and the rigidity is good. The rotation of the A shaft adopts the lever principle, so that the minimum driving moment is utilized, the use requirement is met, and the aim of compact overall structure is fulfilled.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent modifications made by the appended claims shall be included in the scope of the present invention.
Claims (5)
1. The medical six-degree-of-freedom treatment bed comprises a sliding sleeve base (1) and a hollow upright post (2) movably penetrating through the sliding sleeve base (1), and is characterized in that a supporting plate (3), a C-axis rotating plate (4), an X-axis moving plate (5), a supporting base (6), a double-layer Y-axis moving plate (7), a bed plate supporting plate (8) and a bed plate (9) are sequentially arranged at the upper end of the hollow upright post (2), the X-axis moving plate (5) is sleeved on the C-axis rotating plate (4), and the supporting base (6) is sleeved on the X-axis moving plate (5);
a Z-axis driving rack (21) is arranged on one side of the hollow upright post (2), and the Z-axis driving rack (21) is meshed and connected with a Z-axis driving gear (22) arranged on the sliding sleeve base (1) to drive the hollow upright post (2) to do linear motion in the Z direction;
a C-axis supporting circular arc guide rail (11) is arranged between the supporting plate (3) and the C-axis rotating plate (4), and the supporting plate (3) rotates along the C-axis supporting circular arc guide rail (11) in the C direction;
an X-axis supporting guide rail (12) is arranged between the C-axis rotating plate (4) and the X-axis moving plate (5), and the X-axis moving plate (5) moves linearly along the X-axis supporting guide rail (12) in the X direction;
a B-axis arc support guide rail (13) is arranged between the X-axis moving plate (5) and the support base (6), and the support base (6) rotates along the B-axis arc support guide rail (13) in the B direction;
a Y-axis supporting guide rail (14) is arranged in the inner cavity of the supporting base (6), and the double-layer Y-axis moving plate (7) moves linearly along the Y-axis supporting guide rail (14) in the Y direction;
one end of the double-layer Y-axis moving plate (7) is provided with an A-axis hinge seat (10), the other end of the double-layer Y-axis moving plate is provided with an A-axis driving screw rod (15), one end of the bed board supporting plate (8) is hinged with the double-layer Y-axis moving plate (7) through a hinged rotating shaft (101) in the A-axis hinge seat (10), the other end of the double-layer Y-axis moving plate is connected with the double-layer Y-axis moving plate (7) through a rotating shaft (17) in an axial manner, and the bed board supporting plate (8) is driven by the A-axis driving screw rod (15) to rotate around the hinged rotating shaft (101) in the A direction.
2. The medical six-degree-of-freedom treatment couch of claim 1 wherein the double-layer Y-axis moving plate (7) comprises a middle slide plate (71) and a Y-axis moving plate (72) arranged on the middle slide plate (71), the Y-axis supporting guide rail (14) comprises a first Y-axis supporting guide rail (141) and a second Y-axis supporting guide rail (142) arranged on the same horizontal plane in the inner cavity of the supporting base (6), the middle slide plate (71) is connected with the supporting base (6) through the first Y-axis supporting guide rail (141), and the middle slide plate (71) is connected with the Y-axis moving plate (72) through the second Y-axis supporting guide rail (142).
3. The medical six-degree-of-freedom treatment bed according to claim 2, wherein a guide key (16) is arranged on the inner wall of the sliding sleeve base (1), one side of the guide key (16) is fixedly connected with the inner wall of the sliding sleeve base (1), and the other side of the guide key is in sliding connection with the outer wall of the hollow upright post (2).
4. A medical six degree of freedom treatment couch according to claim 3 wherein the support plate (3), the C-axis rotation plate (4), the X-axis movement plate (5), the support base (6), the middle slide plate (71), the Y-axis movement plate (72) are driven by a rack and a gear in meshed connection, respectively.
5. The medical six-degree-of-freedom treatment bed according to claim 4, wherein one end of the bed board supporting plate (8) is provided with a containing cavity (81) with an L-shaped cross section, and one end of the bed board (9) is embedded in the containing cavity (81).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710890134.9A CN107625596B (en) | 2017-09-27 | 2017-09-27 | Medical six-degree-of-freedom treatment bed |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710890134.9A CN107625596B (en) | 2017-09-27 | 2017-09-27 | Medical six-degree-of-freedom treatment bed |
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| CN107625596A CN107625596A (en) | 2018-01-26 |
| CN107625596B true CN107625596B (en) | 2023-08-01 |
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| CN201710890134.9A Active CN107625596B (en) | 2017-09-27 | 2017-09-27 | Medical six-degree-of-freedom treatment bed |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969229A (en) * | 2018-06-27 | 2018-12-11 | 东莞唯度电子科技服务有限公司 | Internal medicine detects assistor |
| CN113023275B (en) * | 2020-12-10 | 2023-04-28 | 浙江同济科技职业学院 | 0 turning radius reversing device |
| CN114431926B (en) * | 2022-02-08 | 2024-05-28 | 索诺利(厦门)医疗科技有限公司 | Lithotripter treatment bed |
| CN116138974A (en) * | 2022-12-30 | 2023-05-23 | 北京大学 | Multi-degree-of-freedom diagnosis and treatment bed capable of being connected with peripheral equipment |
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| US6094760A (en) * | 1997-08-04 | 2000-08-01 | Sumitomo Heavy Industries, Ltd. | Bed system for radiation therapy |
| CN104812445A (en) * | 2014-09-22 | 2015-07-29 | 数码医疗集团 | Multi-angle motion treatment bed |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5917882A (en) * | 1996-11-29 | 1999-06-29 | Continental X-Ray Corporation | Radiographic/fluoroscopic imaging system with reduced patient dose and faster transitions between radiographic and fluoroscopic modes |
| EP0923922A3 (en) * | 1997-12-18 | 2000-02-09 | Stille-Beta, Inc. | Improved operating room table |
| DE20311153U1 (en) * | 2003-07-18 | 2004-12-02 | Kratzmaier, Erich | Treatment couch with headrest |
| CN104135983B (en) * | 2013-02-28 | 2015-12-30 | 深圳市奥沃医学新技术发展有限公司 | One can realize multi-direction exercise therapy bed |
| CN105334070A (en) * | 2015-11-26 | 2016-02-17 | 上海新跃仪表厂 | Vehicle-mounted six-degree-of-freedom platform |
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- 2017-09-27 CN CN201710890134.9A patent/CN107625596B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6094760A (en) * | 1997-08-04 | 2000-08-01 | Sumitomo Heavy Industries, Ltd. | Bed system for radiation therapy |
| CN104812445A (en) * | 2014-09-22 | 2015-07-29 | 数码医疗集团 | Multi-angle motion treatment bed |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
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| CN107625596A (en) | 2018-01-26 |
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Effective date of registration: 20240202 Address after: 710018 Room 10301, Unit 1, Unit 3, Floor 1, Building 28, Pioneer International City Business Center, 66 Fengcheng 12 Road, Xi'an Economic and Technological Development Zone, Shaanxi Province Patentee after: Xi'an Dayi Group Co.,Ltd. Country or region after: China Address before: No. 2, Gaoxin 1st Road, High tech Development Zone, Weibin District, Baoji City, Shaanxi Province 721006 Patentee before: BAOJI DAYI DIGITAL ROBOT CO.,LTD. Country or region before: China |
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