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    Journals >High Power Laser and Particle Beams >Volume 35 >Issue 6 >Page 064002 > Article
    • High Power Laser and Particle Beams
    • Vol. 35, Issue 6, 064002 (2023)
    Coordinate unification between treatment room and the robot system of Heavy Ion Medical Machine
    Yongwei Gao1、2、3, Wenjun Chen1, Junjie Yao1, Xinlong Zhu1, Ning Zhao4, Xudong Zhang1, Wenfeng Zhang3, and Peng Ju3
    Author Affiliations
  • 1Institute of Modern Physics, Chinese Academy of Sciences, Lanzhou 730000, China
  • 2School of Nuclear Science and Technology, University of Chinese Academy of Sciences, Beijing 100000, China
  • 3Lanzhou Ion Therapy Co., Ltd. Lanzhou 730000, China
  • 4Konica Minolta Zaiqi Medical Products.Shanghai 201800,China
    • show less
    DOI: 10.11884/HPLPB202335.220313 Cite this Article
    Yongwei Gao, Wenjun Chen, Junjie Yao, Xinlong Zhu, Ning Zhao, Xudong Zhang, Wenfeng Zhang, Peng Ju. Coordinate unification between treatment room and the robot system of Heavy Ion Medical Machine[J]. High Power Laser and Particle Beams, 2023, 35(6): 064002 Copy Citation Text show less
    Treatment room robot and treatment bed
    Fig. 1. Treatment room robot and treatment bed
    Download full size | View in the Article
    Robot flange center coordinate system created
    Fig. 2. Robot flange center coordinate system created
    Download full size | View in the Article
    Error comparison before and after the conversion of the coordinate system
    Fig. 3. Error comparison before and after the conversion of the coordinate system
    Download full size | View in the Article
    No.x/mm y/mm z/mm A/(°) B/(°) C/(°)
    $ {P}_{{\rm{B}}}^{{\rm{E}}}1 $764.931378.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}2 $964.931378.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}3 $964.931578.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}4 $764.931578.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}5 $564.931578.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}6 $564.931378.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}7 $564.931178.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}8 $764.931178.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}9 $964.931178.01−2187.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}10 $964.931178.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}11 $964.931378.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}12 $964.931578.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}13 $764.931578.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}14 $564.931578.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}15 $564.931378.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}16 $564.931178.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}17 $764.931178.01−1987.06000
    $ {P}_{{\rm{B}}}^{{\rm{E}}}1 $8 764.931378.01−1987.06000
    Table 1. Center position parameters of the flange on the teach pendant
    No.x/mm y/mm z/mm
    $ {P}_{{\rm{ISO}}} $1 −817.51−638.78−485.96
    $ {P}_{{\rm{ISO}}} $2 −1017.28−639.84−485.32
    $ {P}_{{\rm{ISO}}} $3 −1016.9−640.17−285.34
    $ {P}_{{\rm{ISO}}} $4 −817.03−639.09−285.97
    $ {P}_{{\rm{ISO}}} $5 −617.22−637.97−286.48
    $ {P}_{{\rm{ISO}}} $6 −617.58−637.71−486.5
    $ {P}_{{\rm{ISO}}} $7 −617.95−637.39−686.42
    $ {P}_{{\rm{ISO}}} $8 −817.79−638.49−685.91
    $ {P}_{{\rm{ISO}}} $9 −1017.65−639.55−685.27
    $ {P}_{{\rm{ISO}}} $10 −1018.77−439.62−684.97
    $ {P}_{{\rm{ISO}}} $11 −1018.44−439.89−484.95
    $ {P}_{{\rm{ISO}}} $12 −1017.99−440.14−285.03
    $ {P}_{{\rm{ISO}}} $13 −818.09−439.06−285.59
    $ {P}_{{\rm{ISO}}} $14 −618.24−438.03−286.13
    $ {P}_{{\rm{ISO}}} $15 −618.62−437.72−486.17
    $ {P}_{{\rm{ISO}}} $16 −619−437.44−686.15
    $ {P}_{{\rm{ISO}}} $17 −818.92−438.51−685.54
    $ {P}_{{\rm{ISO}}} $18 −818.58−438.8−485.58
    Table 2. Coordinates of the calibration point in the ISO coordinate system of the treatment room
    No.x/mm y/mm z/mm
    $ {P}_{{\rm{B}}} $1 916.261122.57−1930.1
    $ {P}_{{\rm{B}}} $2 1116.261122.57−1930.1
    $ {P}_{{\rm{B}}} $3 1116.261322.57−1930.1
    $ {P}_{{\rm{B}}} $4 916.261322.57−1930.1
    $ {P}_{{\rm{B}}} $5 716.261322.57−1930.1
    $ {P}_{{\rm{B}}} $6 716.261122.57−1930.1
    $ {P}_{{\rm{B}}} $7 716.26922.57−1930.1
    $ {P}_{{\rm{B}}} $8 916.26922.57−1930.1
    $ {P}_{{\rm{B}}} $9 1116.26922.57−1930.1
    $ {P}_{{\rm{B}}} $10 1116.26922.57−1730.1
    $ {P}_{{\rm{B}}} $11 1116.261122.57−1730.1
    $ {P}_{{\rm{B}}} $12 1116.261322.57−1730.1
    $ {P}_{{\rm{B}}} $13 916.261322.57−1730.1
    $ {P}_{{\rm{B}}} $14 716.261322.57−1730.1
    $ {P}_{{\rm{B}}} $15 716.261122.57−1730.1
    $ {P}_{{\rm{B}}} $16 716.26922.57−1730.1
    $ {P}_{{\rm{B}}} $17 916.26922.57−1730.1
    $ {P}_{{\rm{B}}} $18 916.261122.57−1730.05
    Table 3. Coordinates of the calibration point under the robot base system
    Δxmax/mm δRMS-xΔymax/mm δRMS-yΔzmax/mm δRMS-zΔMag-max/mmΔRMS-mag/mm
    0.260.140.060.030.150.090.30.16
    Table 4. Coordinate conversion accuracy
    Abstract
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    Yongwei Gao, Wenjun Chen, Junjie Yao, Xinlong Zhu, Ning Zhao, Xudong Zhang, Wenfeng Zhang, Peng Ju. Coordinate unification between treatment room and the robot system of Heavy Ion Medical Machine[J]. High Power Laser and Particle Beams, 2023, 35(6): 064002
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