CN104116517A - Intraoperative X-ray image system based on cooperation of double mechanical arms - Google Patents
Intraoperative X-ray image system based on cooperation of double mechanical arms Download PDFInfo
- Publication number
- CN104116517A CN104116517A CN201410342888.7A CN201410342888A CN104116517A CN 104116517 A CN104116517 A CN 104116517A CN 201410342888 A CN201410342888 A CN 201410342888A CN 104116517 A CN104116517 A CN 104116517A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- receiving terminal
- terminal mechanical
- emission source
- transmitting terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention discloses an intraoperative X-ray image system based on cooperation of double mechanical arms. Hardware equipment comprises the transmitting terminal mechanical arm, the receiving terminal mechanical arm, a PC upper computer, a digital tablet computer and an X-ray emission source. The double mechanical arms flexible in position adjustment are used to replace a fixed C-shaped structure in an existing C-shaped arm intraoperative X-ray image system, the transmitting terminal and the digital tablet computer are positioned relative to a patient during an operation, an operator can input coordinate parameters in a remote control mode or directly drag the X-ray emission source to an estimated photographing position in a manual mode, the system will automatically calculate the spatial position corresponding to the receiving terminal mechanical arm so that photographing requirements can be met, and the receiving terminal mechanical arm is controlled to reach the photographing position and complete the photographing process. The intraoperative X-ray image system based on cooperation of the double mechanical arms can realize quick and accurate intraoperative fluoroscopy, and is convenient to operate, high in robustness, and good in using value and popularization value.
Description
Technical field
The present invention relates to the fields such as medical treatment, manufacture, machinery.More particularly relate to a kind of based on X-ray image system in the collaborative art of double mechanical arms
Background technology
X-ray image system is the usual way of Intraoperative position, is widely used in orthopaedics, gynecological and surgery and plants in intervene operation.C type arm fluoroscopy system is as X-ray image system in traditional art, the relative position relation of self and operation table cannot be provided, therefore user cannot accurately be controlled position and the angle that fluoroscopy during operation is taken, and causes making repeated attempts and to adjust, and has increased operating time and perspective dosage; Simultaneously because C type arm configuration is huge, therefore can interfere with the occurrence positions such as operation table, affect operation technique.The present invention is by introducing two six degree of freedom mechanical arms, replace C type arm configuration part in X-ray image system, realize flexibly accurate fluoroscopy during operation position and angle adjustment, reduced the access times of fluoroscopy during operation, solved traditional C type arm simultaneously and excessively take the problem in space in art.
Summary of the invention
The invention provides a kind of based on X-ray image system in the collaborative art of double mechanical arms, it is characterized in that: use double mechanical arms to replace C type arm configuration to realize transmitting terminal, patient's relative localization in digital flat panel and art, thereby complete x-ray fluoroscopy imaging, hardware device comprises: transmitting terminal mechanical arm (1), receiving terminal mechanical arm (2), PC host computer (3), digital flat panel (4), X ray emission source (5), handle (6), position sensor (7), wherein transmitting terminal mechanical arm (1) is two six degree of freedom mechanical arms with receiving terminal mechanical arm (2), be arranged on operation table (8) both sides and can slide along bed, mechanical arm pedestal is equipped with position sensor (7), ensure that transmitting terminal mechanical arm (1) and receiving terminal mechanical arm (2) are with respect to operation table (8) location aware, the end posture information of transmitting terminal mechanical arm (1) and receiving terminal mechanical arm (2), base position information can transfer to PC host computer (3), transmitting terminal mechanical arm (1) end is provided with X ray emission source (5), and handle (6) is equipped with in X ray emission source (5) side, allows operator grasping, receiving terminal mechanical arm (2) end is provided with digital flat panel (4), operator is by can directly pulling by position and the attitude parameter that under remote control mode, input is taken or the handle (6) that grasps X ray emission source (5) side under manual mode, control the perspective position that X ray emission source (5) arrives expection, the corresponding locus of calculating receiving terminal mechanical arm (2) and digital flat panel (4) by location algorithm after determining, control receiving terminal mechanical arm (2) and reach position, ensure X ray emission source (5) and digital flat panel (4) dead in line, distance meets imaging requirements, realizes x-ray fluoroscopy imaging.
Described in the present invention based on X-ray image system in the collaborative art of double mechanical arms, its location algorithm is characterised in that: definition emission source coordinate system, taking X ray emission source (5) center as initial point O, X-axis is parallel with transmitting terminal mechanical arm (1) end coordinate system X-axis, and Z axis is X ray emission source (5) central axis; Definition receiving terminal coordinate system, taking digital flat panel (4) center as initial point O ', X ' axle is parallel with receiving terminal mechanical arm (2) end coordinate system X-axis, and Z ' axle overlaps with digital flat panel (4) plane normal direction; The position that the input of transmitting terminal mechanical arm (1) foundation is taken and attitude parameter move or follow operator and pull behind motion arrival camera site, end posture information X, Y, Z, Rx, Ry, Rz reach PC host computer (3), control software based on C++ environment, utilize transformation matrix of coordinates to complete " transmitting terminal mechanical arm-operation table-receiving terminal mechanical arm " Coordinate Conversion; According to shooting demand, transmitting terminal mechanical arm (1) should ensure that with receiving terminal mechanical arm (2) end its emission source coordinate system overlaps with X ' axle with receiving terminal coordinate system X-axis, Y-axis oppositely overlaps with Z ' axle with Y ' axle, Z axis, and between two coordinate systems, initial point distance is fixed as focal length L, see accompanying drawing 2, calculate theoretical spatial pose X, Y, Z, Rx, Ry, the Rz of receiving terminal mechanical arm (2) with this, control receiving terminal manipulator motion by PC host computer (3), complete shooting; In process, operation table (8) and locus, patient place are defined as deathtrap, when in the scope that the pose coordinate X of transmitting terminal mechanical arm (1), receiving terminal mechanical arm (2), Y, Z are setting, system by terminations campaign also prompting operation person likely bump.
The present invention design based on X-ray image system in the collaborative art of double mechanical arms, its advantage comprises:
1, can be according to operator under remote control station-keeping mode the photographing request to ad-hoc location special angle, accurately arrive and take pose and realize x-ray fluoroscopy in art
2, lower of manual positioning pattern need pull X ray emission source gently, light more flexibly compared with C type arm location.
3, complete folding the packing up of the rear mechanical arm of perspective, reduce operative space and take.
4,, by recording pose parameter, position and the angle of perspective before can getting back to, accurately realize the perspective reproduction under same pose.
5, the present invention is easy to operate and have stronger robustness, has good value for applications.
Brief description of the drawings
Fig. 1 is hardware configuration schematic diagram of the present invention.
In Fig. 1, transmitting terminal mechanical arm (1), receiving terminal mechanical arm (2), PC host computer (3), digital flat panel (4), X ray emission source (5), handle (6), position sensor (7), operation table (8).
Fig. 2 is the collaborative schematic diagram that regulates of double mechanical arms of the present invention.
Detailed description of the invention
As shown in Figure 1, the present invention proposes a kind of based on X-ray image system in the collaborative art of double mechanical arms, its hardware components comprises: transmitting terminal mechanical arm (1), receiving terminal mechanical arm (2), PC host computer (3), digital flat panel (4), X ray emission source (5), handle (6), position sensor (7), wherein transmitting terminal mechanical arm (1) is two six degree of freedom mechanical arms with receiving terminal mechanical arm (2), be arranged on operation table (8) both sides and can slide along bed, mechanical arm pedestal is equipped with position sensor (7), ensure that transmitting terminal mechanical arm (1) and receiving terminal mechanical arm (2) are with respect to operation table (8) location aware, the end posture information of transmitting terminal mechanical arm (1) and receiving terminal mechanical arm (2), base position information can transfer to PC host computer (3), transmitting terminal mechanical arm (1) end is provided with X ray emission source (5), and handle (6) is equipped with in X ray emission source (5) side, allows operator grasping, receiving terminal mechanical arm (2) end is provided with digital flat panel (4), definition emission source coordinate system, taking X ray emission source (5) center as initial point, X-axis is parallel with transmitting terminal mechanical arm (1) end coordinate system X-axis, and Z axis is X ray emission source (5) central axis, definition receiving terminal coordinate system, taking digital flat panel (4) center as initial point O ', X ' axle is parallel with receiving terminal mechanical arm (2) end coordinate system X-axis, and Z ' axle overlaps with digital flat panel (4) plane normal direction,
Complete after hardware connection, startup system, system completes after self-inspection can regioselective pattern: under remote control station-keeping mode, operator is required to input the positional information based on operation table of having planned in advance (as guide rail position X, shooting distance Y, take centre-height Z, coronalplane angle Rx, horizontal plane angle Ry etc.), when parameter X, Y, Z be not during at the dangerous interval value of setting, transmitting terminal mechanical arm is realized X-ray transmitting terminal by autonomic movement slowly to the pose of having planned and is located; Under manual positioning pattern, transmitting terminal mechanical arm becomes can drag state, and operator pulls X ray emission source side handle, can be moved to suitable camera site.
Pose data X, Y, Z, Rx, Ry, Rz that station-keeping mode finishes rear transmitting terminal mechanical arm transfer to host computer, be multiplied by " transmitting terminal mechanical arm-operation table-receiving terminal mechanical arm " transition matrix, and calculate the theoretical pose X of receiving terminal mechanical arm, Y, Z, Rx, Ry, Rz, emission source coordinate system is overlapped with X ' axle with the X-axis of receiving terminal coordinate system, Y-axis oppositely overlaps with Z ' axle with Y ' axle, Z axis, as shown in Figure 2, initial point distance is fixed as L.When parameter X, Y, Z be not during at the dangerous interval value of setting, transmitting terminal mechanical arm is realized digital flat panel by autonomic movement slowly to the pose of having planned and is located.Prompting operation person behind location, carries out x-ray fluoroscopy shooting after confirmation.
Claims (2)
1. one kind based on X-ray image system in the collaborative art of double mechanical arms, it is characterized in that: use double mechanical arms to replace C type arm configuration to realize transmitting terminal, patient's relative localization in digital flat panel and art, thereby complete x-ray fluoroscopy imaging, hardware device comprises: transmitting terminal mechanical arm (1), receiving terminal mechanical arm (2), PC host computer (3), digital flat panel (4), X ray emission source (5), handle (6), position sensor (7), wherein transmitting terminal mechanical arm (1) is two six degree of freedom mechanical arms with receiving terminal mechanical arm (2), be arranged on operation table (8) both sides and can slide along bed, mechanical arm pedestal is equipped with position sensor (7), ensure that transmitting terminal mechanical arm (1) and receiving terminal mechanical arm (2) are with respect to operation table (8) location aware, the end posture information of transmitting terminal mechanical arm (1) and receiving terminal mechanical arm (2), base position information can transfer to PC host computer (3), transmitting terminal mechanical arm (1) end is provided with X ray emission source (5), and handle (6) is equipped with in X ray emission source (5) side, allows operator grasping, receiving terminal mechanical arm (2) end is provided with digital flat panel (4), operator is by can directly pulling by position and the attitude parameter that under remote control mode, input is taken or the handle (6) that grasps X ray emission source (5) side under manual mode, control the perspective position that X ray emission source (5) arrives expection, the corresponding locus of calculating receiving terminal mechanical arm (2) and digital flat panel (4) by location algorithm after determining, control receiving terminal mechanical arm (2) and reach position, ensure X ray emission source (5) and digital flat panel (4) dead in line, distance meets imaging requirements, realizes x-ray fluoroscopy imaging.
2. a kind of based on X-ray image system in the collaborative art of double mechanical arms as claimed in claim 1, its location algorithm is characterised in that: definition emission source coordinate system, taking X ray emission source (5) center as initial point O, X-axis is parallel with transmitting terminal mechanical arm (1) end coordinate system X-axis, and Z axis is X ray emission source (5) central axis; Definition receiving terminal coordinate system, taking digital flat panel (4) center as initial point O ', X ' axle is parallel with receiving terminal mechanical arm (2) end coordinate system X-axis, and Z ' axle overlaps with digital flat panel (4) plane normal direction; The position that the input of transmitting terminal mechanical arm (1) foundation is taken and attitude parameter move or follow operator and pull behind motion arrival camera site, end posture information X, Y, Z, Rx, Ry, Rz reach PC host computer (3), control software based on C++ environment, utilize transformation matrix of coordinates to complete " transmitting terminal mechanical arm-operation table-receiving terminal mechanical arm " Coordinate Conversion; According to shooting demand, transmitting terminal mechanical arm (1) should ensure that with receiving terminal mechanical arm (2) end its emission source coordinate system overlaps with X ' axle with receiving terminal coordinate system X-axis, Y-axis oppositely overlaps with Z ' axle with Y ' axle, Z axis, and between two coordinate systems, initial point distance is fixed as focal length L, see accompanying drawing 2, calculate theoretical spatial pose X, Y, Z, Rx, Ry, the Rz of receiving terminal mechanical arm (2) with this, control receiving terminal manipulator motion by PC host computer (3), complete shooting; In process, operation table (8) and locus, patient place are defined as deathtrap, when in the scope that the pose coordinate X of transmitting terminal mechanical arm (1), receiving terminal mechanical arm (2), Y, Z are setting, system by terminations campaign also prompting operation person likely bump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410342888.7A CN104116517A (en) | 2014-07-18 | 2014-07-18 | Intraoperative X-ray image system based on cooperation of double mechanical arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410342888.7A CN104116517A (en) | 2014-07-18 | 2014-07-18 | Intraoperative X-ray image system based on cooperation of double mechanical arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104116517A true CN104116517A (en) | 2014-10-29 |
Family
ID=51762305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410342888.7A Pending CN104116517A (en) | 2014-07-18 | 2014-07-18 | Intraoperative X-ray image system based on cooperation of double mechanical arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104116517A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107115120A (en) * | 2017-06-09 | 2017-09-01 | 浙江大学 | A kind of multiple degrees of freedom animal cone-beam CT imaging system |
| CN108095748A (en) * | 2018-01-31 | 2018-06-01 | 邦盛医疗装备（天津）股份有限公司 | X-ray DR robot systems and its detection method |
| CN109223012A (en) * | 2018-07-18 | 2019-01-18 | 江苏影医疗设备有限公司 | Imaging device |
| CN110090036A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Multi-functional radiation tomography device and control method |
| CN110090033A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Intelligent radiation tomography device and control method |
| CN113367707A (en) * | 2020-02-25 | 2021-09-10 | 南京普爱医疗设备股份有限公司 | Medical X-ray image system based on double robots and control method |
| TWI768980B (en) * | 2021-06-22 | 2022-06-21 | 長庚醫療財團法人台北長庚紀念醫院 | Intraoral photography intelligent assisting apparatus |
| WO2022218387A1 (en) * | 2021-04-17 | 2022-10-20 | 诺创智能医疗科技(杭州)有限公司 | X-ray machine control method and apparatus, and x-ray machine and readable storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4144457A (en) * | 1976-04-05 | 1979-03-13 | Albert Richard D | Tomographic X-ray scanning system |
| US20020051517A1 (en) * | 2000-10-06 | 2002-05-02 | Horst-Hartwig Schwieker | X-ray system |
| CN101015723A (en) * | 2006-02-09 | 2007-08-15 | 吴大怡 | Robot radiation therapy system |
| DE102006059500A1 (en) * | 2006-12-15 | 2008-07-03 | Siemens Ag | X-ray examination device for examining thorax region of patient, has two joint arms holding source or detector, where arms are individually fixed at stand with shoulder-sided ends and independently tiltable in each of its degrees of freedom |
| CN101217913A (en) * | 2005-05-13 | 2008-07-09 | 艾可瑞公司 | Robotic arm for patient positioning assembly |
| US7810996B1 (en) * | 2007-01-29 | 2010-10-12 | Steadman Philippon Research Institute | Dual fluoroscopy systems and methods |
| DE102010020782A1 (en) * | 2010-05-18 | 2011-11-24 | Siemens Aktiengesellschaft | X-ray device e.g. C-arm rotation angiography device, for e.g. three-dimensional imaging of patient, has determination units connected with X-ray source and detector to determine movement and/or position of source and detector, respectively |
| CN103600351A (en) * | 2013-11-11 | 2014-02-26 | 北京航空航天大学 | Six-axis-force-torque transducer based six-freedom-degree robot operating system and control method thereof |
| CN103654820A (en) * | 2012-09-11 | 2014-03-26 | 上海联影医疗科技有限公司 | Simulator of X-ray chromatographic apparatus |
-
2014
- 2014-07-18 CN CN201410342888.7A patent/CN104116517A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4144457A (en) * | 1976-04-05 | 1979-03-13 | Albert Richard D | Tomographic X-ray scanning system |
| US20020051517A1 (en) * | 2000-10-06 | 2002-05-02 | Horst-Hartwig Schwieker | X-ray system |
| CN101217913A (en) * | 2005-05-13 | 2008-07-09 | 艾可瑞公司 | Robotic arm for patient positioning assembly |
| CN101015723A (en) * | 2006-02-09 | 2007-08-15 | 吴大怡 | Robot radiation therapy system |
| DE102006059500A1 (en) * | 2006-12-15 | 2008-07-03 | Siemens Ag | X-ray examination device for examining thorax region of patient, has two joint arms holding source or detector, where arms are individually fixed at stand with shoulder-sided ends and independently tiltable in each of its degrees of freedom |
| US7810996B1 (en) * | 2007-01-29 | 2010-10-12 | Steadman Philippon Research Institute | Dual fluoroscopy systems and methods |
| DE102010020782A1 (en) * | 2010-05-18 | 2011-11-24 | Siemens Aktiengesellschaft | X-ray device e.g. C-arm rotation angiography device, for e.g. three-dimensional imaging of patient, has determination units connected with X-ray source and detector to determine movement and/or position of source and detector, respectively |
| CN103654820A (en) * | 2012-09-11 | 2014-03-26 | 上海联影医疗科技有限公司 | Simulator of X-ray chromatographic apparatus |
| CN103600351A (en) * | 2013-11-11 | 2014-02-26 | 北京航空航天大学 | Six-axis-force-torque transducer based six-freedom-degree robot operating system and control method thereof |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107115120A (en) * | 2017-06-09 | 2017-09-01 | 浙江大学 | A kind of multiple degrees of freedom animal cone-beam CT imaging system |
| CN110090036A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Multi-functional radiation tomography device and control method |
| CN110090033A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Intelligent radiation tomography device and control method |
| CN108095748A (en) * | 2018-01-31 | 2018-06-01 | 邦盛医疗装备（天津）股份有限公司 | X-ray DR robot systems and its detection method |
| CN109223012A (en) * | 2018-07-18 | 2019-01-18 | 江苏影医疗设备有限公司 | Imaging device |
| CN113367707A (en) * | 2020-02-25 | 2021-09-10 | 南京普爱医疗设备股份有限公司 | Medical X-ray image system based on double robots and control method |
| WO2022218387A1 (en) * | 2021-04-17 | 2022-10-20 | 诺创智能医疗科技(杭州)有限公司 | X-ray machine control method and apparatus, and x-ray machine and readable storage medium |
| WO2022218388A1 (en) * | 2021-04-17 | 2022-10-20 | 诺创智能医疗科技(杭州)有限公司 | Method and apparatus for performing positioning by means of x-ray image, and x-ray machine and readable storage medium |
| TWI768980B (en) * | 2021-06-22 | 2022-06-21 | 長庚醫療財團法人台北長庚紀念醫院 | Intraoral photography intelligent assisting apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104116517A (en) | Intraoperative X-ray image system based on cooperation of double mechanical arms | |
| US11672618B2 (en) | System and method for integrated surgical table motion | |
| US11130231B2 (en) | System and method for instrument disturbance compensation | |
| CN107072727B (en) | Medical device with active brake release control | |
| CA3034314C (en) | Methods and systems for registration of virtual space with real space in an augmented reality system | |
| US10798339B2 (en) | Telepresence management | |
| JP2022068243A (en) | System and method for integrated surgical table | |
| US9107633B2 (en) | Medical work station | |
| JP5022868B2 (en) | Information processing apparatus and information processing method | |
| US10687771B2 (en) | X-ray diagnostic apparatus comprising a position specifying unit and a control unit | |
| JP2023022234A (en) | Tracking and guide device for surgical robot system and related method | |
| JP2016504077A5 (en) | ||
| CN109549706B (en) | Surgical operation auxiliary system and application method thereof | |
| KR20130072748A (en) | Device and method foruser interaction | |
| WO2022002155A1 (en) | Master-slave motion control method, robot system, device, and storage medium | |
| CN113271883B (en) | Hand-eye coordination system for robotic surgical system | |
| CN210947909U (en) | Operating room applying mixed reality technology | |
| JPH0430981A (en) | Control unit for television camera of remote control type robot | |
| CN203634184U (en) | DR (data recorder) system and control system thereof | |
| CN107340889B (en) | Positioning initialization method and device | |
| CN220741173U (en) | Clinical service robot of hospital | |
| US20230278222A1 (en) | Robotic system for remote operation of equipment in infectious environments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141029 |