Today's clinical cancer treatment uses radiation therapy for patients who are locally advanced, cannot be surgically removed, and want to preserve organs, and have certain curative effects. Radiation therapy uses radiation to kill cancer cells and shrink tumors. It can be performed through distant radiotherapy outside the body or brachytherapy inside the body. During radiation therapy, cancer patients may shift the location where radiation is concentrated due to factors such as spontaneous organ movement such as breathing, discomfort caused by fixation devices, and other factors. Not only does the treatment fail to withstand the preset dose and the effect is not as expected, there may even be side effects. At present, conformal radiotherapy has been widely accepted. However, the computer tomography design when performing conformal radiotherapy is purely based on the beam eye generated by digital image reconstruction as the only basis for radiotherapy. It is not a real-time reconstruction of the image before treatment. verification. Therefore, it is difficult to determine whether the target in beam therapy can be completely concentrated within the beam range during the treatment session.
In order to improve the shortcomings of the current radiotherapy system, this invention makes use of a multi-degree-of-freedom robotic arm with a six-axis force sensor to integrate a real-time image capture device, visual servo and force control system, image alignment system, and radiotherapy The combination of equipment enables real-time monitoring and confirmation of whether the radiation target position is covered by the beam eye at each radiation angle, and the irradiation parameters can be adjusted at any time, which can greatly improve the uncertainty of clinical use of radiation therapy for tumors. Therefore, the location of the tumor can be monitored more accurately. In the radiotherapy plan, the range of irradiation reserved due to movement or other uncertain factors on the periphery of the tumor can be reduced, thereby reducing the damage of radiotherapy to surrounding normal tissues. After confirming that the tumor has been covered previously When planning the beam range, in addition to increasing the accuracy of treatment and improving the efficacy, it can also narrow the scope of radiation therapy and improve the safety of radiation therapy.
Features / strengths
1. Robotic arm with six-axis force sensor and multiple degrees of freedom
2. Integrate real-time image capturer
3. Visual servo and force control system
4. Image alignment system
Specification in detail
Seek of partners for business cooperation