质子治疗系统的治疗床路径规划  

Treatment Couch Path Planning for Proton Therapy Systems

作　　者：谢荣 邓建春[1] 马海[1] 杨志勇[2] XIE Rong;DENG Jianchun;MA Hai;YANG Zhiyong(School of Mechanical Science&Engineering,Huazhong University of Science&Technology,Wuhan,430074;Cancer Center,Union Hospital,Tongji Medical College,Huazhong University of Science&Technology,Wuhan,430022)

机构地区：[1]华中科技大学机械科学与工程学院,武汉市430074 [2]华中科技大学同济医学院附属协和医院肿瘤中心,武汉市430022

出　　处：《中国医疗器械杂志》2024年第6期595-602,共8页Chinese Journal of Medical Instrumentation

基　　金：科技部重点研发计划支持(2016YFC0105300)。

摘　　要：在质子放射治疗流程中,需要将患者固定在治疗床上进行移动。在该研究中,使用6R机器人治疗床作为患者的支撑定位系统(patient support system, PSS)进行患者的移动。该研究根据治疗室中治疗床和旋转机架的相对运动,建立了治疗室的简化三维模型,使用改进的D-H表示法对6R机器人治疗床进行了正逆运动学分析,由实际的治疗流程建立起碰撞干涉模型,并在MATLAB中使用改进人工势场法对治疗床的运动路径进行了避障规划与仿真。结果表明,机器人治疗床可以顺利地避开障碍物,到达目标点,符合质子治疗的安全需求。In the treatment process of proton radiation therapy,the patient needs to be positioned and immobilized before being moved into the treatment position.In this study,the patient was primarily positioned using the 6R robotic treatment couch as the patient support system(PSS).A simplified three-dimensional model of the treatment room was developed based on the relative motion within the treatment room.The forward and inverse kinematics of the 6R robotic treatment couch were analyzed using an improved Denavit-Hartenberg(D-H)representation.A collision interference model was created based on the actual treatment process.The motion path of the treatment couch was planned and simulated in MATLAB using an improved artificial potential field method for obstacle avoidance.The results indicate that the robotic treatment couch can smoothly navigate around obstacles to reach the target point,satisfying the positioning requirements for proton therapy.

关 键 词：质子治疗 机器人 路径规划 

分 类 号：R81[医药卫生—放射医学] TH774[医药卫生—临床医学]