Shock wave device having a source self aligning with an X-ray device
A shock wave and/or ultrasound therapy system includes an ultra-sound and/or shockwave source suspended on a hexapod drive and an X-ray system. A system controller configured to generate control signals for the hexapod drive to align the ultrasound and/or shockwave source with the X-ray system based on the displacement of a known object between two images taken at different tilt angles of the X-ray system.
1. A device comprising:
a source configured to generate at least one of shockwaves and ultrasound, and
a base,
wherein the source is suspended on a hexapod drive, the hexapod drive including six linear actuators,
wherein the six linear actuators are attached in pairs to three mounting positions at the base and in pairs to three mounting positions at the source,
wherein:
a first end of every other linear actuator of the six linear actuators is attached to a different of the three mounting positions at the base, and
a second end of said every other linear actuator of the six linear actuators is attached to a different of the three mounting positions at the source.
2. The device according to claim 1 ,
wherein each connection of a linear actuator to a component of the device includes a mechanical joint.
3. The device according to claim 1 , wherein the hexapod drive is configured to provide a movement with at least five degrees of freedom including a displacement along three orthogonal axes and at least two degrees of tilt.
4. The device according to claim 1 , wherein the device is arranged in a cartesian coordinate system with a y-axis being a longitudinal axis through a center of a patient table, an x-axis being orthogonal to the y-axis and in a plane of a surface of the patient table, and a z-axis being orthogonal to the plane of the surface of the patient table and orthogonal to the x-axis and the y-axis and in a direction upward from the patient table.
5. The device according to claim 1 , wherein the source is configured to generate the shockwaves that propagate in a direction towards a patient table located above the source and that have a focal volume above the patient table.
6. The device according to claim 1 , wherein the hexapod drive is coupled to a movement sensor and configured to effectuate a tilting movement as a function of a movement sensor signal from the movement sensor.
7. The device according to claim 6 , wherein the movement sensor comprises at least one of a respiration sensor, a camera, and a heart pulse sensor.
8. The device according to claim 1 , wherein the hexapod drive is configured to provide a first movement in a direction of a center axis of the source and concurrently a second movement to avoid and/or remove air bubbles at an exterior surface of a cushion covering the source.
9. The device according to claim 1 , wherein the hexapod drive is configured to provide a spiral movement in a plane orthogonal to a center axis combined with a translation in a direction of the center axis.
10. The device according to claim 1 ,
wherein linear actuators of the six linear actuators include at least one of a hydraulic jack and a pneumatic jack and electric linear actuators.