CN110559002A - c-shaped arm and control method thereof - Google Patents
c-shaped arm and control method thereof Download PDFInfo
- Publication number
- CN110559002A CN110559002A CN201910859318.8A CN201910859318A CN110559002A CN 110559002 A CN110559002 A CN 110559002A CN 201910859318 A CN201910859318 A CN 201910859318A CN 110559002 A CN110559002 A CN 110559002A
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- China
- Prior art keywords
- arm
- control unit
- central control
- moving body
- locking
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4476—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating apparatus or devices for radiation diagnosis
- A61B6/589—Setting distance between source unit and patient
Abstract
The invention discloses a C-shaped arm and a control method thereof, wherein the C-shaped arm comprises: the C-arm is connected to the moving body and comprises a ray emitting device and a ray receiving device; the central control unit is arranged on the mobile body or the C-arm, records the mobile data of the mobile body when the mobile body moves from a first position to a second position, and restores the mobile body from the second position to the first position according to the mobile data. According to the technical scheme of the embodiment of the invention, the central control unit is arranged in the C-shaped arm to record the moving data of the whole C-shaped arm, and when exposure is carried out next time, the C-shaped arm can be restored according to the moving data, so that the time for repositioning is saved, the accuracy of position restoration is high, and the working efficiency of equipment is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of medical equipment, in particular to a C-shaped arm and a control method thereof.
Background
At present, the mobile C-shaped arm, also called as a small C or a small C-shaped arm, is a breakthrough of the X-ray diagnosis technology and is widely applied to the diagnosis and treatment of orthopedics and surgery.
during orthopedic surgery, multiple X-ray exposures are typically required. However, when not exposed, the mobile C-arm device needs to be removed to facilitate the procedure. Therefore, the manual positioning of the C-arm equipment is required to be carried out again during each exposure so as to ensure that the same part of the patient is shot, thereby effectively guiding the operation process. In the operation process of multiple exposure, the repeated positioning of the mobile C-shaped arm equipment is time-consuming, and the positioning accuracy cannot be guaranteed due to certain difference of manual positioning.
disclosure of Invention
The invention provides a C-shaped arm and a control method thereof, wherein the control method comprises a central control unit for recording the movement data of the whole movement process of the C-shaped arm, thereby effectively ensuring that the C-shaped arm can be quickly restored when being exposed next time so as to shoot images of the same part, improving the working efficiency and saving the time cost.
in one aspect, a technical solution of an embodiment of the present invention provides a C-shaped arm, including: the C-arm is connected to the moving body and comprises a ray emitting device and a ray receiving device; the central control unit is arranged on the mobile body or the C-arm, records the mobile data of the mobile body when the mobile body moves from a first position to a second position, and restores the mobile body from the second position to the first position according to the mobile data.
On the other hand, the technical solution of the embodiment of the present invention provides a C-arm control method, where the C-arm includes a moving body, a C-arm, and a central control unit, and the method is applied to the central control unit, and the method specifically includes:
When the mobile body moves from a first position to a second position, recording the movement data of the mobile body through a central control unit;
Restoring the moving body from the second position to the first position according to the movement data via a central control unit.
According to the technical scheme of the embodiment of the invention, the central control unit is arranged in the moving main body of the C-shaped arm, and the moving data of the whole C-shaped arm is recorded, so that the position of the C-shaped arm can be quickly restored according to the moving data in the operation process of multiple exposure without repeated repositioning, the time cost is saved, and the working efficiency of equipment is improved; and the position of the C-shaped arm is recovered through the central control unit, the control precision is high, the consistency is good before and after recovery, the same positions shot by the C-shaped arm are ensured, and a good foundation is provided for subsequent detection.
Drawings
FIG. 1 is a schematic structural diagram of a C-arm according to a first embodiment of the present invention;
In the figure: 110. a C-arm; 111. a flat panel detector or a ray receiving device; 112. a radiation emitting device; 120. a steering wheel; 130. a wheel; 140. a connecting portion; 150. a display; 160. a moving body; 161. and a central control unit.
FIG. 2 is a schematic structural diagram of a C-arm according to a second embodiment of the present invention;
Fig. 3 is a flowchart of a C-arm control method according to a third embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
the technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example one
Fig. 1 is a schematic structural diagram of a C-shaped arm according to an embodiment of the present invention, and as shown in fig. 1, a C-shaped arm 100 according to an embodiment of the present invention includes: the C-arm 110, the ray receiving device 111, the ray emitting device 112, the connecting portion 120, the display 130, the moving body 140, the base 141, the central control unit 142, the steering wheel 143, and the wheel 144. The ray receiving device 111 is generally a flat panel detector, the flat panel detector 111 and the ray emitting device 112 are disposed at two ends of the C-arm 110 and are disposed opposite to each other, the ray emitting device 112 is configured to emit rays, and the flat panel detector 111 is configured to receive rays and convert the rays into electrical signals for imaging; the moving body 140 is connected to the C-arm 110 through the connection part 120, for supporting the C-arm 110; the moving body 140 includes: a base 141, a central control unit 142, a steering wheel 143, and wheels 144; a central control unit 142, disposed on the mobile body 140, for recording data related to movement of the mobile body 140 when the mobile body 140 moves from a first position to a second position, and restoring the mobile body 140 from the second position to the first position at least according to the data related to movement; and a display 130 for displaying image information, angle information of the C-arm, movement-related data, and the like.
In this embodiment, the steering wheel 143 is exemplarily a universal wheel, and the number thereof may be one, two, three, four or more, and the wheel 144 may be a steering wheel or a common wheel, and the number thereof may be two or another number. The movement related data may comprise distance and/or angle information and/or position information etc. of the movement of the moving body.
optionally, the central control unit 142 may also be disposed at other positions of the C-arm 100, such as on the C-arm 110, the connecting portion 120, and the like.
The central control unit 142 may be disposed at any position in the mobile body 140, and may be in the form of an integrated chip or a circuit, or may be a processor or a host.
According to the technical scheme of the embodiment of the invention, the central control unit is arranged in the moving main body of the C-shaped arm, and the moving data of the whole C-shaped arm is recorded, so that in the operation process of multiple exposure, after the moving main body is moved to the operation position or the use position, the position of the C-shaped arm can be quickly restored again according to the moving data, repeated repositioning is not needed, the time cost is saved, and the working efficiency of equipment is improved; and the position of the C-shaped arm is recovered through the central control unit, the control precision is high, the consistency is good before and after recovery, the same positions shot by the C-shaped arm are ensured, and a good foundation is improved for subsequent detection.
Optionally, the steering wheel 143 further includes: and a locking member (not shown) for locking the direction of the steering wheel 143 so that the direction of the steering wheel 143 is fixed and can be rotated only in a set steering direction.
Specifically, the locking member serves to lock the direction of the steering wheel 143 when the moving body 140 moves from the first position to the second position, and when returning from the second position to the first position.
Optionally, the C-arm 100 may further include: a locking assistance device provided on the moving body 140 to control the direction in which the locking member locks the steering wheel 143 by the locking assistance device.
For example, the locking aid may be a hand brake, foot brake, or other mechanical braking device, disposed above or below the moving body, such as on the connecting portion 120 or near the wheel 144. It will be appreciated that in one example, the lock assist device may facilitate a user manually locking the orientation of the steering wheel 143.
Optionally, the locking component locks the direction of the steering wheel 143, and includes: the locking means may also lock the direction of the steering wheel 143 based on a lock trigger command of the central control unit 142.
Optionally, the central control unit 142 is configured to generate a locking trigger instruction, and control the locking component to lock the direction of the at least one steering wheel 143 according to the locking trigger instruction.
Optionally, the central control unit 142 may receive a lock control instruction input from the outside, and generate a lock trigger instruction according to the lock control instruction; alternatively, the lock trigger instruction may be generated based on the state of radiation emitting device 112 and/or the state of moving body 140.
for example, the external input may include that a setting key is pressed, a setting voice command or a gesture is received, and a trigger signal (a locking control command) is output to the central control unit 142, and the central control unit 142 generates a locking trigger command to the locking member according to the trigger signal, so that the locking member locks the direction of the steering wheel 143. The keys may be physical keys or virtual keys, the set voice command may be default by the system or customized by the user, and may be "move away from the C-arm", and the gesture may be a hand motion, such as a hand waving motion. Further, the setting voice command or gesture may be issued by an authorized user, so that an authorization authentication module may be provided, and may be integrated in the central control unit 142, or may be a separate module, and is used to verify the biological information of the user, such as fingerprint, voice, or face, or to verify whether the user is an authorized user according to the password input by the user.
Specifically, the state of the radiation emitting device 112 includes an irradiation state and a non-irradiation state; the state of the moving body 140 is specifically a moving state of the moving body 140, and includes two states of moving and stationary.
Illustratively, since the event that the user removes the C-arm 100 occurs at the end of an exposure, the state of the radiation emitting device 112 can be detected, and when the state changes from the irradiation state to the non-irradiation state, indicating that the exposure is completed, the central control unit 142 can generate a locking trigger command to the locking component, so that the locking component locks the direction of the steering wheel 143. Further, when it is detected that the state of the radiation emitting device 112 is changed from on to off and the displacement of the moving body is detected, the central control unit 142 generates a locking trigger instruction to the locking member, so that the locking member locks the direction of the steering wheel 143.
optionally, after the steering wheel 143 is locked in direction, the central control unit 142 is further configured to: in the process that the moving body 140 moves from the first position to the second position, the rotation angle of at least one of the wheels is acquired.
wherein the wheel may be any one or more wheels of the C-arm 100, such as the wheel 144 or the steering wheel 143 shown in fig. 1.
optionally, the C-arm 100 further comprises an absolute value encoder or potentiometer (not shown in the figures) for obtaining the rotation angle of at least one of the wheels.
For example, the absolute value encoder or the potentiometer may acquire the encoded number or the electrical potential number generated during the movement of the moving body 140 or the C-arm 100, and transmit the encoded number or the electrical potential number to the central control unit; the central control unit 142 is further configured to determine a set wheel rotation angle according to the encoded number or the electrical potential number.
The encoding number is a digital signal output by the absolute encoder and is used for representing the rotation angle of the wheel of the C-shaped arm 100 in the moving process; the number of electric digits is an electric signal output by the potentiometer and is used for representing the rotation angle of the wheel during the movement of the C-shaped arm 100.
Optionally, the central control unit 142, after locking the direction of the steering wheel, can be further configured to obtain the distance or the route or the position information that the moving body 140 or the C-shaped arm 100 moves. In an alternative embodiment, the central control unit 142 may also determine movement data of the moving body 140 or the C-arm 100 according to the distance or route or the position information.
the distance is a linear distance between two points, i.e., an initial position (or a first position) when the C-arm 100 moves and a position (or a second position) when the movement is in the middle or stopped, or a length of a path that the C-arm moves from the first position to the second position.
Optionally, the central control unit 142 is further configured to receive a movement recovery instruction, and control the moving body 140 to recover from the second position to the first position according to the movement data. The position recovery generally means that at least two position points of the moving body 140 returning to the first position again coincide with coordinates of the moving body 140 at the first position before the movement or are within a predetermined range when the moving body 140 recovers from the second position to the first position. In other words, the position recovery generally refers to the recovery of the vector position to the first position or within a predetermined range of the first position.
For example, the movement recovery instruction may be implemented by pressing a corresponding key, and issuing a set voice instruction or a gesture instruction, or may be implemented in other manners, which is not limited in the embodiment of the present invention. When receiving the movement recovery instruction, the central control unit 142 controls the moving body 140 to perform a reverse movement based on the recorded movement data to restore the C-arm 100 to the original position, i.e., the position at the time of the previous exposure.
specifically, the movement of the moving body 140 in the reverse direction may be automatically achieved by a motor, or may be achieved by manually pushing the moving body 140 or the C-arm 100.
For example, the reverse movement may be a reverse movement according to the acquired angle information of the wheel rotation, that is, the wheels of the C-arm 100, including the wheel 144 and the steering wheel 143, are controlled by the angle described in the reverse rotation angle information, so as to realize the reverse movement.
according to the technical scheme of the embodiment of the invention, the central control unit 142 is arranged to lock the angle (or direction) of the steering wheel 143 and store the rotating angle of one or more wheels in the moving process, so that the method is easy to realize, high in control precision and low in equipment cost; and the position of the C-shaped arm 100 to the last time can be recovered according to the stored angle information, the manual positioning time is saved, the working efficiency is improved, the consistency of the positions before and after recovery is good, the same parts are all shot by multiple exposures, and a good foundation is provided for subsequent detection.
Example two
Fig. 2 is a schematic structural diagram of a C-shaped arm in a second embodiment of the present invention, which is further refined and supplemented based on the first embodiment, as shown in fig. 2, the C-shaped arm includes: an optical sensor 210, a central control unit 220, a locking member 230, and a steering wheel 240. The focus of this embodiment is on components related to storing of movement-related data, and certainly, the C-arm provided in this embodiment further includes general components such as the C-arm, the moving body, and the display in the previous embodiment, and repeated description is not repeated here.
The central control unit 220 locks the direction of the steering wheel 240 through the locking component 230, and then sends a first trigger instruction to the optical sensor 210, and the optical sensor 210 acquires data, such as a distance, from an initial position (a first position) to a target position (a second position) of the mobile body according to the first trigger instruction and sends the data to the central control unit 220; from this the central control unit 200 can determine data, such as distance, when the moving body or the C-arm is moved in the opposite direction.
The first trigger command is a command for controlling the optical sensor to start measuring the linear distance of the C-shaped arm or the moving body, the initial position is a position when the C-shaped arm or the moving body starts moving, or a position when the state of the moving body changes from static to dynamic, and the target position is a position when the C-shaped arm or the moving body stops moving, or a position when the state of the moving body changes from dynamic to static, namely a movement termination position.
Illustratively, the optical sensor may be a laser ranging sensor, such as a laser diode, or an infrared ranging sensor. Of course, other sensors for measuring light may also be used to achieve distance measurement, and the embodiment of the present invention does not limit the type, form, and number of the optical sensors.
According to the technical scheme of the embodiment of the invention, the angle of the steering wheel 240 is locked by setting the central control unit 220, the distance of the moving body or the C-shaped arm during moving is measured by the optical sensor 210, and the central control unit 220 determines the moving data of the moving body or the C-shaped arm according to the distance, so that the method is easy to realize, high in control precision and low in equipment cost; when necessary, the central control unit 220 recovers the position of the C-shaped arm during the previous exposure according to the moving data, so that the manual positioning time is saved, the working efficiency is improved, the consistency of the positions before and after recovery is good, the same positions shot by multiple exposures are ensured, and a good basis is provided for subsequent detection.
EXAMPLE III
fig. 3 is a flowchart of a C-arm control method according to a third embodiment of the present invention, where the C-arm includes a moving body, a C-arm, and a central control unit, and the method is applied to the central control unit of the C-arm, as shown in fig. 3, the C-arm control method includes:
Step 310: when the mobile body moves from a first position to a second position, recording the movement data of the mobile body through a central control unit.
Step 320: restoring the moving body from the second position to the first position according to the movement data via a central control unit.
According to the technical scheme of the embodiment of the invention, the central control unit is arranged in the moving main body of the C-shaped arm, and the moving data of the whole C-shaped arm is recorded, so that the position of the C-shaped arm can be quickly restored according to the moving data in the operation process of multiple exposure without repeated repositioning, the time cost is saved, and the working efficiency of equipment is improved; and the position of the C-shaped arm is recovered through the central control unit, the control precision is high, the consistency is good before and after recovery, the same positions shot by the C-shaped arm are ensured, and a good foundation is improved for subsequent detection.
Optionally, before recording the movement data of the mobile body, the method further includes:
When the moving body moves from the first position to the second position, and when returning from the second position to the first position, the direction of the steering wheel is locked via a locking member.
Optionally, locking the direction of the steered wheel via a locking member, comprising:
the direction in which the steering wheel is locked by the lock assist device is controlled by the lock member.
optionally, locking the direction of the steered wheel via a locking member, comprising:
And controlling the locking component to lock the direction of the steering wheel based on the locking trigger instruction of the central control unit.
Optionally, the method further includes:
Receiving a locking control instruction input from the outside, and generating a locking trigger instruction according to the locking control instruction through the central control unit; alternatively, the first and second electrodes may be,
And generating a locking trigger instruction according to the state of the ray emission device and/or the state of the moving body by the central control unit.
Optionally, the recording, by the central control unit, the movement data of the moving body includes:
acquiring the first position and the second position of the movement of the moving body via an optical sensor, and sending the first position and the second position to the central control unit;
And determining the moving distance of the moving body according to the first position and the second position through the central control unit.
Optionally, the method further includes:
Acquiring, via the central control unit, a rotation angle of at least one of the wheels in a process in which the moving body moves from the first position to the second position.
Optionally, obtaining a rotation angle of at least one of the wheels includes:
The rotation angle of at least one of the wheels is acquired via an absolute value encoder or a potentiometer.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A C-arm, comprising: a moving body, a C-arm and a central control unit, wherein,
The C arm is connected to the moving body and comprises a ray emitting device and a ray receiving device;
The central control unit is arranged on the mobile body or the C-arm, records the mobile data of the mobile body when the mobile body moves from a first position to a second position, and restores the mobile body from the second position to the first position according to the mobile data.
2. The C-arm of claim 1, wherein said moving body comprises: the device comprises a base and wheels, wherein the wheels comprise at least one steering wheel, and a locking component is arranged on the steering wheel;
the locking member is for locking the direction of the steered wheel when the moving body moves from the first position to the second position and when returning from the second position to the first position.
3. The C-arm of claim 2, further comprising: a lock assist device provided on the moving body to control the direction in which the lock member locks the steered wheel by the lock assist device.
4. The C-arm of claim 2 wherein said locking member locks the orientation of said steerable wheel, comprising: the locking component locks the direction of the steering wheel based on a locking trigger instruction of the central control unit.
5. The C-arm according to claim 4, wherein said central control unit is further adapted to:
receiving a locking control instruction input from the outside, and generating a locking trigger instruction according to the locking control instruction; alternatively, the first and second electrodes may be,
And generating a locking trigger instruction according to the state of the ray emission device and/or the state of the moving body.
6. C-arm according to claim 1, wherein said movement data comprises distance and/or angle information of the movement of said moving body.
7. The C-arm of claim 1, further comprising an optical sensor;
The optical sensor acquires the first position and the second position of the moving body, and sends the first position and the second position to the central control unit;
the central control unit determines the moving distance of the moving body according to the first position and the second position.
8. The C-arm of claim 2, wherein upon direction-locking the steerable wheel, the central control unit is further configured to:
Acquiring a rotation angle of at least one of the wheels in a process that the moving body moves from the first position to the second position.
9. The C-arm of claim 8, further comprising: an absolute value encoder or potentiometer for obtaining a rotation angle of at least one of the wheels.
10. a C-arm control method, characterized in that a C-arm comprises a mobile body, a C-arm and a central control unit, the method being applied to the central control unit, the method comprising:
when the mobile body moves from a first position to a second position, recording the movement data of the mobile body through a central control unit;
restoring the moving body from the second position to the first position according to the movement data via a central control unit.
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| CN201910859318.8A CN110559002A (en) | 2019-09-11 | 2019-09-11 | c-shaped arm and control method thereof |
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| CN201910859318.8A CN110559002A (en) | 2019-09-11 | 2019-09-11 | c-shaped arm and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112294347A (en) * | 2020-09-16 | 2021-02-02 | 康达洲际医疗器械有限公司 | C-shaped arm X-ray machine position detection system |
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Address after: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Applicant after: Shanghai Lianying Medical Technology Co., Ltd Address before: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Applicant before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |