CN112043410A - Non-isocentric C-shaped arm imaging system of G-shaped arm simulation and operation method of non-isocentric C-shaped arm imaging system - Google Patents

Non-isocentric C-shaped arm imaging system of G-shaped arm simulation and operation method of non-isocentric C-shaped arm imaging system Download PDF

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CN112043410A
CN112043410A CN202011072380.1A CN202011072380A CN112043410A CN 112043410 A CN112043410 A CN 112043410A CN 202011072380 A CN202011072380 A CN 202011072380A CN 112043410 A CN112043410 A CN 112043410A
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arm
shaped arm
isocentric
imaging system
lifting upright
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CN112043410B (en
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邓露珍
陈毅
白佳
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Shanghai Youyiji Medical Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]

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Abstract

The invention discloses a non-isocentric C-shaped arm imaging system of an imitated G-shaped arm, which comprises an imaging device and a control device, wherein the imaging device comprises a chassis part, a mainframe box, a lifting upright post, a horizontal sliding assembly and a C-shaped arm, the mainframe box is arranged at the top of the chassis part, the lifting upright post is arranged at the top of the chassis part, part of the top of the lifting upright post extends out of the top of the mainframe box, the horizontal sliding assembly is arranged at the top of the lifting upright post, the C-shaped arm is arranged at one end of the horizontal sliding assembly, detectors and ray sources are respectively arranged on the inner sides of two ends of the C-shaped arm, and deviation angles exist among the rotation centers of the detectors, the ray; the control device comprises an upper computer and a lower computer which are connected to the mainframe box, a signal sending end of the upper computer is connected to a signal receiving end of the lower computer, and the lower computer is respectively in control connection with the lifting upright post, the horizontal sliding assembly, the C-shaped arm, the detector and the ray source.

Description

Non-isocentric C-shaped arm imaging system of G-shaped arm simulation and operation method of non-isocentric C-shaped arm imaging system
Technical Field
The invention relates to the field of imaging systems, in particular to a G-shaped arm-simulated non-isocentric C-shaped arm imaging system and an operation method thereof.
Background
The CT in the operation is widely used in the operation process and before the operation is finished, and is an imaging tool for powerfully assisting a doctor in positioning and judging, at present, the most commonly used image products in the operation are C-arm and G-arm equipment, the C-arm equipment is divided into non-isocentric and isocentric C-arm equipment, the non-isocentric and isocentric C-arm equipment is equal in diameter but larger in radian, and perspective views with more angles can be provided; most C-arm equipment on the market obtains perspective views at different angles by manually rotating a C arm, the operation is relatively complex, and compared with the C-arm equipment, G-arm equipment can simultaneously provide a right side perspective view, so that the operation of a doctor is facilitated, and meanwhile, the shooting time is saved, however, the G-arm is formed by combining two ray sources and two detectors at 90 degrees, the opening is small, the operation of the doctor is inconvenient, and the rotatable angle is narrow relative to the C-arm and is not flexible enough;
therefore, the invention needs to invent a non-isocentric C-arm imaging system of a simulated G-arm, which can automatically provide a positive side position or a perspective view with any angle while keeping the advantages of a larger opening and a wider rotation angle of the C-arm.
Disclosure of Invention
The invention provides a non-isocentric C-shaped arm imaging system of a G-shaped arm, which can automatically obtain images at a positive side position or any angle at any placing angle, adopts a three-axis linkage mode of forward and reverse rotation of a C arm, up and down movement of a lifting upright post and control of a horizontal sliding assembly to move left and right to realize the function of the G-shaped arm while keeping a larger opening and a wider rotation angle of the non-isocentric C-shaped arm, has a simple structure and is convenient to use, and is used for solving the defects caused by the prior art.
The invention also provides an operation method of the G-shaped arm imitating non-isocentric C-shaped arm imaging system.
In order to solve the technical problems, the invention provides the following technical scheme:
in a first aspect, the non-isocentric C-shaped arm imaging system of the G-shaped arm comprises an imaging device and a control device, wherein the imaging device comprises a chassis part, a mainframe box, a lifting upright post, a horizontal sliding assembly and a C-shaped arm, the mainframe box is installed at the top of the chassis part, the lifting upright post is installed at the top of the chassis part, part of the top of the lifting upright post extends out of the top of the mainframe box, the horizontal sliding assembly is installed at the top of the lifting upright post, the C-shaped arm is installed at one end of the horizontal sliding assembly, detectors and ray sources are installed on the inner sides of two ends of the C-shaped arm respectively, and deviation angles exist among the detectors, the ray sources and the rotation center of the C-shaped arm;
the control device comprises an upper computer and a lower computer which are connected with the mainframe box, a signal sending end of the upper computer is connected with a signal receiving end of the lower computer, and the lower computer is respectively in control connection with the lifting upright post, the horizontal sliding assembly, the C-shaped arm, the detector and the ray source.
In the non-isocentric C-shaped arm imaging system of the G-shaped arm, a dragging and seating mechanism is installed between the C-shaped arm and the horizontal sliding assembly.
The non-isocentric C-shaped arm imaging system of the G-shaped arm is characterized in that a direct-current motor gear box is arranged inside the dragging seat mechanism, the direct-current motor gear box is connected with a transmission assembly in a driving mode, the transmission assembly is meshed with a synchronous belt inside the C-shaped arm through a synchronous belt wheel, and the lower computer is connected with the direct-current motor gear box in a control mode.
The non-isocentric C-shaped arm imaging system of the G-shaped arm is characterized in that the upper computer and the lower computer are arranged in the mainframe box.
The non-isocentric C-shaped arm imaging system of the G-shaped arm is characterized in that a handle mechanism is connected to the mainframe box.
The non-isocentric C-shaped arm imaging system of the G-shaped arm is characterized in that a traveling wheel is mounted at the bottom of the chassis component.
The non-isocentric C-shaped arm imaging system of the G-shaped arm is characterized in that two pairs of walking wheels are arranged.
The non-isocentric C-shaped arm imaging system of the G-shaped arm is characterized in that a rotating and swinging mechanism is installed between the lifting upright post and the horizontal sliding assembly, the lower computer is connected with the rotating and swinging mechanism in a control mode, and the rotating and swinging mechanism is a Z-direction rotating and swinging mechanism.
In a second aspect, a method for operating a non-isocentric C-arm imaging system of a G-arm, specifically comprises the following steps:
step 1: the walking wheels at the bottom of the chassis component are adjusted through the handle mechanism, the rotating and swinging mechanism is adjusted, and the whole imaging device is moved to a pre-shooting position;
step 2: according to the height of the detection part, the lifting upright column is controlled to lift through the control device so as to adjust the C-shaped arm to a specified height position;
and step 3: according to the detection position, the horizontal sliding assembly is controlled by the control device to adjust the C-shaped arm to any area;
and 4, step 4: selecting a shooting mode or setting a pre-shooting angle;
and 5: shooting a first perspective view to acquire current position data;
step 6: the control device judges the rotation direction and the angle data;
and 7: the control device calculates the horizontal and vertical position coordinates of the center of the target C arm according to the non-isocentric deviation data of the C arm, the current position data, the rotating direction and the angle data;
and 8: the control device controls the C-shaped arm to rotate clockwise and anticlockwise, controls the lifting upright post to move up and down, controls the horizontal sliding assembly to move left and right, realizes three-axis linkage, enables the C-shaped arm to be adjusted to a target position, and shoots a second perspective view.
The above operation method for the non-isocentric C-arm imitating a G-arm, wherein the formula for obtaining the coordinates of the horizontal and vertical positions of the center of the target C-arm in step 7 is as follows:
xi＝x0+sqrt(ISx2+ISy2)*(cos(atan(ISy/ISx)+θ0)-cos(atan(ISy/ISx)+θi))
yi＝y0+sqrt(ISx2+ISy2)*(sin(atan(ISy/ISx)+θ0)-sin(atan(ISy/ISx)+θi))
wherein x is0And y0Respectively horizontal and vertical position coordinates in the initial state, and the rotation angle is theta0The rotation zero degree is the initial swing position of the C-shaped arm and is clockwiseThe needle is positive and the counter-clockwise is negative;
xiand yiRespectively the horizontal and vertical position coordinates of the target, the rotation angle of which is thetai；
ISx is the ISO deviation, namely the distance from the geometric center of the C-shaped arm to the connecting line of the detector and the radiation source, ISy is the difference between the SOD and the ISO height, namely the vertical deviation from the geometric center of the C-shaped arm to the focus point, the SOD is the distance from the source to the focus point, and the ISO is the distance from the geometric center of the C-shaped arm to the radiation source.
According to the technical scheme provided by the non-isocentric C-shaped arm imaging system imitating the G-shaped arm and the operation method thereof, the invention has the following technical effects:
the anti-G arm lifting device can automatically obtain images of a positive side position or any angle at any placing angle, the C-shaped arm rotates clockwise and anticlockwise while the opening of the non-isocentric C-shaped arm is large and the rotating angle is wide, the lifting upright column moves up and down, and the horizontal sliding assembly is controlled to move left and right in a three-axis linkage mode to achieve the function of imitating the G arm, and the anti-G arm lifting device is simple in structure and convenient to use.
Drawings
FIG. 1 is a schematic diagram of an imaging device in an G-arm-simulated non-isocentric C-arm imaging system according to the present invention;
FIG. 2 is a flow chart of a method of operation of a G-arm simulated non-isocentric C-arm imaging system of the present invention.
FIG. 3 is a schematic diagram of the structure of an imaging device in an iso-center C-arm imaging system of a G-arm simulation according to the present invention;
wherein the reference numbers are as follows:
c-arm 101, chassis component 102, lifting column 103, horizontal sliding component 104, detector 105, ray source 106, walking wheel 107, C-arm geometric center 108, focal point 109, SOD height 110, ISO height 111, ISO offset 112, main chassis 113, carriage mechanism 114, handle mechanism 115, and swing mechanism 116.
Detailed Description
In order to make the technical means, the inventive features, the objectives and the effects of the invention easily understood and appreciated, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific drawings, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
A preferred embodiment of the present invention provides a non-isocentric C-arm imaging system of a pseudo G-arm and an operating method thereof, which aims to automatically obtain an image at a positive position or at any angle at any placing angle, and realize the function of the pseudo G-arm by using a three-axis linkage manner of rotating the C-arm in the forward and reverse directions, moving the lifting column up and down, and controlling the horizontal sliding assembly to move left and right while keeping a large opening and a wide rotation angle of the non-isocentric C-arm, and is simple in structure and convenient to use.
As shown in fig. 1, in a first aspect, an imaging system of a non-isocentric C-arm 101 imitating a G-arm comprises an imaging device and a control device, wherein the imaging device comprises a chassis part 102, a main cabinet 113, a lifting column 103, a horizontal sliding assembly 104 and the C-arm 101, the main cabinet 113 is installed at the top of the chassis part 102, the lifting column 103 is installed at the top of the chassis part 102, a part of the top of the lifting column 103 extends out of the top of the main cabinet 113, the horizontal sliding assembly 104 is installed at the top of the lifting column 103, the C-arm 101 is installed at one end of the horizontal sliding assembly 104, a detector 105 and a radiation source 106 are respectively installed on the inner sides of two ends of the C-arm 101, and the rotation centers of the detector 105, the radiation source 106 and the C-arm 101 have a deviation;
the control device comprises an upper computer and a lower computer which are connected to the mainframe box 113, a signal sending end of the upper computer is connected to a signal receiving end of the lower computer, and the lower computer is respectively in control connection with the lifting upright post 103, the horizontal sliding assembly 104, the C-shaped arm 101, the detector 105 and the ray source 106.
The C-shaped arm 101 and the horizontal sliding assembly 104 are provided with a dragging seat mechanism 114 therebetween, a direct current motor gear box is arranged inside the dragging seat mechanism 114, the direct current motor gear box is in driving connection with a transmission assembly, the transmission assembly is meshed with a synchronous belt inside the C-shaped arm 101 through a synchronous belt wheel, a lower computer is in control connection with the direct current motor gear box, and the direct current motor gear box works to drive the C-shaped arm 101 to rotate.
The upper computer and the lower computer are arranged inside the main case 113, the main case 113 is connected with a handle mechanism 115, and the handle mechanism 115 is used for conveniently pushing the whole non-isocentric C-shaped arm 101 imaging system to move and control the direction.
Wherein, the bottom of chassis part 102 is installed with road wheel 107, and road wheel 107 is provided with two pairs.
Wherein, install between lift stand 103 and the horizontal slip subassembly 104 and change pendulum mechanism 116, the lower computer control is connected and is changeed pendulum mechanism 116, changes pendulum mechanism 116 and is the Z to change pendulum mechanism, and the lower computer control changes the pendulum mechanism 116 work and drives whole horizontal slip subassembly 104 and C shape arm 101 and rotate.
As shown in fig. 2, in a second aspect, a method for operating a non-isocentric C-arm 101 imaging system of a G-arm, specifically includes the following steps:
step 1: the walking wheels 107 at the bottom of the chassis component 102 are adjusted through the handle mechanism 115, the swinging mechanism 116 is adjusted, and the whole imaging device is moved to a pre-shooting position;
step 2: according to the height of the detection part, the C-shaped arm 101 is adjusted to a specified height position by controlling the lifting upright post 103 to lift through the control device;
and step 3: according to the detection position, the horizontal sliding assembly 104 is controlled by the control device to adjust the C-shaped arm 101 to any area;
and 4, step 4: selecting a shooting mode or setting a pre-shooting angle;
and 5: shooting a first perspective view to acquire current position data;
step 6: the control device judges the rotation direction and the angle data;
and 7: the control device calculates the horizontal and vertical position coordinates of the center of the target C arm according to the non-isocentric deviation data of the C arm, the current position data, the rotating direction and the angle data;
and 8: the control device controls the C-shaped arm to rotate clockwise and anticlockwise, controls the lifting upright post 103 to move up and down, controls the horizontal sliding assembly 104 to move left and right, realizes three-axis linkage, enables the C-shaped arm 101 to be adjusted to a target position, and shoots a second perspective view.
The above operation method of the non-isocentric C-arm 101 imitating a G-shaped arm, wherein the obtaining formula of the coordinates of the horizontal and vertical positions of the center of the target C-arm in step 7 is as follows:
xi＝x0+sqrt(ISx2+ISy2)*(cos(atan(ISy/ISx)+θ0)-cos(atan(ISy/ISx)+θi))
yi＝y0+sqrt(ISx2+ISy2)*(sin(atan(ISy/ISx)+θ0)-sin(atan(ISy/ISx)+θi))
wherein x is0And y0Respectively horizontal and vertical position coordinates in the initial state, and the rotation angle is theta0The rotation zero degree is the initial swing position of the C-shaped arm 101, clockwise is positive, and anticlockwise is negative;
xiand yiRespectively the horizontal and vertical position coordinates of the target, the rotation angle of which is thetai；
ISx is the ISO deviation 112, i.e. the distance from the C-arm geometric center 108 to the line connecting the detector 105 and the radiation source 106, ISy is the difference between the SOD height 110 and the ISO height 111, i.e. the perpendicular deviation from the C-arm geometric center 108 to the lesion point 109, SOD is the distance from the source to the lesion point 109, and ISO is the distance from the C-arm geometric center 108 to the radiation source 106.
As shown in fig. 3, a specific embodiment of the present invention is used to adjust the imaging device to a pre-shooting position, select a shooting mode to be a positive lateral position mode, start shooting, the upper computer sends a command, the lower computer sends a ray through the pulse control ray source 106, the detector 105 receives the ray passing through the object, and transmits the obtained first positive perspective view to the upper computer; the lower computer obtains the current angle of the C-shaped arm 101, sends back the angle of the C-shaped arm 101 to the upper computer, compares the angle with the rotation range of the C-shaped arm 101, and takes the direction with the larger rotation range as the rotation direction, when the rotation range is larger than 90 degrees, the target rotation angle is 90 degrees, and when the rotation range is smaller than 90 degrees, the maximum rotation range is taken as the target rotation angle of the next perspective view; the upper computer calculates the horizontal and vertical target positions of the geometric center 108 of the C-shaped arm through the calculated rotation angle and rotation direction, the command is sent to the lower computer to control the C-shaped arm 101 to rotate, the lifting upright post 103 and the horizontal sliding structure are controlled to move the C-shaped arm 101 up and down and left and right to achieve three-axis linkage, the C-shaped arm 101 reaches the target position, the system starts shooting, the upper computer sends out the command, the lower computer controls the radiation source 106 to send out rays through pulses, the detector 105 receives the rays passing through an object, and the rays are transmitted to the upper computer after a second side perspective view is obtained.
In conclusion, the non-isocentric C-shaped arm imaging system of the G-shaped arm imitation and the operation method thereof can automatically obtain images of a positive side position or any angle at any placing angle, and realize the G-arm imitation function by adopting a three-axis linkage mode of rotating the C arm in the clockwise and anticlockwise directions, moving the lifting upright post up and down and controlling the horizontal sliding assembly to move left and right while keeping a larger opening and a wider rotation angle of the non-isocentric C-shaped arm, and have simple structure and convenient use.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.

Claims (10)

1. A non-isocentric C-shaped arm imaging system of an imitated G-shaped arm is characterized by comprising an imaging device and a control device, wherein the imaging device comprises a chassis part, a mainframe box, a lifting upright, a horizontal sliding assembly and a C-shaped arm, the mainframe box is installed at the top of the chassis part, the lifting upright is installed at the top of the chassis part, part of the top of the lifting upright extends out of the top of the mainframe box, the horizontal sliding assembly is installed at the top of the lifting upright, the C-shaped arm is installed at one end of the horizontal sliding assembly, detectors and ray sources are installed on the inner sides of two ends of the C-shaped arm respectively, and deviation angles exist among the detectors, the ray sources and the rotation center of the C-shaped arm;
the control device comprises an upper computer and a lower computer which are connected with the mainframe box, a signal sending end of the upper computer is connected with a signal receiving end of the lower computer, and the lower computer is respectively in control connection with the lifting upright post, the horizontal sliding assembly, the C-shaped arm, the detector and the ray source.
2. The non-isocentric G-arm imaging system of claim 1, wherein a saddle mechanism is mounted between the C-arm and the horizontal slide assembly.
3. The non-isocentric C-arm imaging system of claim 2, wherein a direct current motor gear box is arranged in the dragging mechanism, the direct current motor gear box is in driving connection with a transmission assembly, the transmission assembly is meshed with a synchronous belt in the C-arm through a synchronous belt wheel, and the lower computer is in control connection with the direct current motor gear box.
4. The non-isocentric C-arm imaging system of claim 3, wherein the upper computer and the lower computer are arranged inside the main cabinet.
5. The non-isocentric C-arm imaging system of claim 4, wherein a handle mechanism is attached to the main housing.
6. The non-isocentric C-arm imaging system of claim 5, wherein road wheels are mounted at the bottom of the chassis component.
7. The non-isocentric C-arm imaging system of claim 6, wherein the road wheels are provided in two pairs.
8. The non-isocentric C-arm imaging system of an imitated G-arm according to any one of claims 1 to 7, wherein a swinging mechanism is installed between the lifting upright and the horizontal sliding assembly, and the lower computer is in control connection with the swinging mechanism.
9. An operation method of a non-isocentric C-arm imaging system of a G-shaped arm is characterized by comprising the following steps:
step 1: the walking wheels at the bottom of the chassis component are adjusted through the handle mechanism, the rotating and swinging mechanism is adjusted, and the whole imaging device is moved to a pre-shooting position;
step 2: according to the height of the detection part, the lifting upright column is controlled to lift through the control device so as to adjust the C-shaped arm to a specified height position;
and step 3: according to the detection position, the horizontal sliding assembly is controlled by the control device to adjust the C-shaped arm to any area;
and 4, step 4: selecting a shooting mode or setting a pre-shooting angle;
and 5: shooting a first perspective view to acquire current position data;
step 6: the control device judges the rotation direction and the angle data;
and 7: the control device calculates the horizontal and vertical position coordinates of the center of the target C arm according to the non-isocentric deviation data of the C arm, the current position data, the rotating direction and the angle data;
and 8: the control device controls the C-shaped arm to rotate clockwise and anticlockwise, controls the lifting upright post to move up and down, controls the horizontal sliding assembly to move left and right, realizes three-axis linkage, enables the C-shaped arm to be adjusted to a target position, and shoots a second perspective view.
10. The method of claim 9, wherein the coordinates of the horizontal and vertical positions of the center of the target C-arm are obtained in step 7 by the following formula:
xi＝x0+sqrt(ISx2+ISy2)*(cos(atan(ISy/ISx)+θ0)-cos(atan(ISy/ISx)+θi))
yi＝y0+sqrt(ISx2+ISy2)*(sin(atan(ISy/ISx)+θ0)-sin(atan(ISy/ISx)+θi))
wherein x is0And y0Respectively horizontal and vertical position coordinates in the initial state, and the rotation angle is theta0Clockwise is positive and counterclockwise is negative;
xiand yiRespectively the horizontal and vertical position coordinates of the target, the rotation angle of which is thetai；
ISx is the ISO deviation, namely the distance from the geometric center of the C-shaped arm to the connecting line of the detector and the radiation source, ISy is the difference between the SOD and the ISO height, namely the vertical deviation from the geometric center of the C-shaped arm to the focus point, the SOD is the distance from the source to the focus point, and the ISO is the distance from the geometric center of the C-shaped arm to the radiation source.
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