Inverse solution engineering and trajectory planning algorithm for five-axis treatment table

Abstract

The invention discloses an inverse solution engineering and trajectory planning algorithm for a five-axis treatment table. The algorithm comprises three parts including nidus space coordinate positioning, treatment table kinematics inverse solution and efficient trajectory planning. According to the nidus space coordinate positioning method, three-dimensional coordinates, relative to the head topof a patient, of the position of a tumor are determined through imaging equipment, and in combination with relative positioning of the treatment table and the limbs of the patient, the position, relative to the treatment table, of the tumor is determined. The tumor needs to be placed on a treatment instrument target area, and through treatment table kinematics inverse solution, the positions of all joints in a target state are obtained. In order to relieve the nervous mood of the patient, the five-axis treatment table needs to keep stable operation during motion, complex motion is avoided, andthrough efficient trajectory planning, interpolation trajectory planning of a linear dead zone and linear trajectory planning of the exterior of the dead zone can be achieved. According to the algorithm, the tumor is precisely placed in the target area through the nidus space coordinate positioning method and the treatment table kinematics inverse solution algorithm, the mood control work beforetreatment is guaranteed, and the treatment effect is improved.

Description

technical field [0001] The invention relates to the field of motion control algorithms of a mechanical arm, in particular to an inverse engineering and trajectory planning algorithm of a five-axis treatment bed. Background technique [0002] Before large-scale radiotherapy equipment performs radiotherapy, it is necessary to use a five-axis treatment bed to move the tumor to the center of the target area of ​​the radiotherapy equipment and achieve precise positioning. The above positioning process needs to meet the real-time requirements. Since the solution of inverse kinematics is relatively complicated, and there may be multiple solutions or no solutions, it is urgent to develop an efficient inverse kinematics algorithm for the treatment bed to accurately locate the tumor in the Target area, and relying on efficient trajectory planning algorithm to optimize the movement process and provide patients with a more comfortable treatment experience. Contents of the invention ...

AI Technical Summary

Problems solved by technology

The above positioning process needs to meet the real-time requirements. Since the solution of inverse kinematics is relatively complicated, and there may be multiple solutions or no solutions, it is urgent to develop an efficient inverse kinematics algorithm for the treatment bed to accurately locate the tumor in the Target area, and relying on efficient trajectory planning algorithm to optimize the movement process and provide patients with a more comfortable treatment experience

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