CN111991014A - C-shaped arm and X-ray machine - Google Patents
C-shaped arm and X-ray machine Download PDFInfo
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- CN111991014A CN111991014A CN202010801583.3A CN202010801583A CN111991014A CN 111991014 A CN111991014 A CN 111991014A CN 202010801583 A CN202010801583 A CN 202010801583A CN 111991014 A CN111991014 A CN 111991014A
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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
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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
- A61B6/4452—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 able to move relative to each other
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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
- A61B6/58—Testing, adjusting or calibrating apparatus or devices for radiation diagnosis
- A61B6/588—Setting distance between source unit and detector unit
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Abstract
The invention relates to the technical field of medical equipment, and discloses a C-shaped arm and an X-ray machine. The first supporting arm and the second supporting arm of the C-shaped arm are respectively movably connected with the connecting arm, the adjustable range of the distance between the first supporting arm and the second supporting arm of the first supporting arm is wider, the inspection stroke is increased, and the detection range is enlarged. The adjustable range of the distance (SID) between the ray source and the detector of the X-ray machine is wide, which brings convenience to the diagnosis and treatment process.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a C-shaped arm and an X-ray machine.
Background
The C-arm is a support with a C-shape, which can be used to carry equipment, for example, a radiation source and a detector are respectively mounted on the C-arm, so that the C-arm can be applied to an X-ray machine as a component for X-ray irradiation. In general, the distance (SID) between the radiation source and the detector is not adjustable, and cannot be adjusted according to different patient positions and shapes, which brings inconvenience to the diagnosis and treatment process.
Disclosure of Invention
The invention aims to provide a C-shaped arm and an X-ray machine, and solves the technical problem that the distance (SID) between a ray source and a detector cannot be adjusted by the conventional C-shaped arm.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a C-shaped arm which comprises a connecting arm, a first supporting arm and a second supporting arm, wherein the first supporting arm and the second supporting arm are respectively movably connected with the connecting arm, the first supporting arm is configured to move relative to the connecting arm so as to be close to or far away from the second supporting arm, and the connecting arm moves so as to drive the first supporting arm to move towards the direction close to or far away from the second supporting arm.
First support arm and the second support arm of C type arm respectively with linking arm swing joint, first support arm can the relative linking arm motion to be close to or keep away from the second support arm, the linking arm motion is in order to drive first link arm to being close to or keeping away from the second support arm direction motion, makes the adjustable range of the distance between first support arm and the second support arm more extensive, increases the inspection stroke, increases detection range.
As a preferable solution of the above C-shaped arm, the first support arm is provided with a detector, the second support arm is provided with a radiation source, the detector and the radiation source are respectively located at two sides of the patient's bed, and the first support arm and the second support arm are respectively movably connected to the connection arm to have at least one of a first movement mode and a second movement mode:
in a first motion mode, the first support arm is configured to move relative to the connecting arm and the second support arm to enable the detector to approach the patient bed, and further, the first support arm is driven by the connecting arm to follow the patient bed direction while the second support arm moves relative to the connecting arm to enable the radiation source to approach the detector;
in a second motion mode, the first support arm is configured to move relative to the connecting arm and the second support arm, so that the detector is far away from the patient bed, and further, the first support arm is driven by the connecting arm to follow up in a direction far away from the patient bed while the second support arm moves relative to the connecting arm, so that the ray source is far away from the detector.
As a preferable mode of the C-arm, in the first movement mode, the first support arm is configured to move relative to the connecting arm and the second support arm to enable the detector to approach the patient bed, and the first support arm reaches a maximum stroke relative to the connecting arm; or in a second motion mode, the first support arm is configured to move relative to the connecting arm and the second support arm, so that in the step of moving the detector away from the patient bed, the first support arm reaches the maximum stroke relative to the connecting arm.
As a preferable aspect of the C-arm, the C-arm further includes:
a first drive configured to drive the first support arm in motion relative to the connecting arm and the second support arm;
a second driving device configured to drive the connecting arm to move so as to drive the first supporting arm to move; and
a third drive configured to drive the second support arm to move relative to the connecting arm.
The automatic movement of the first supporting arm, the connecting arm and the third connecting arm is realized through the arrangement of the first driving device, the second driving device and the third driving device.
As a preferable solution of the above C-arm, the C-arm further includes a key assembly and a controller coupled to the key assembly, the controller is in communication with the first driving device, the second driving device and the third driving device respectively, and the controller is configured to control the first driving device to drive the first support arm to move, control the second driving device to drive the connecting arm to move so that the first support arm follows up and/or control the third driving device to drive the second support arm to move relative to the connecting arm in response to the pressing of the key assembly.
The setting of button subassembly can be convenient for the operator and control C type arm as required.
As a preferable mode of the C-arm, the key assembly includes a first key and/or a second key, and when the first key is enabled, the controller controls the first driving device, the second driving device, and a third driving device to execute the first movement mode; the controller controls the first, second, and third driving devices to perform the second motion mode when the second key is enabled.
The arrangement of the first key and the second key enables the C-shaped arm to be flexibly controlled.
As a preferred aspect of the above C-arm, the first support arm moves along a first path on the connecting arm; the second support arm moves along a second path, the first path being parallel or collinear with the second path.
The arrangement enables the first supporting arm to move along the first path and the second supporting arm to move along the second path in a smooth transition mode, and the phenomenon that the connection is not smooth due to the change of the gravity center is avoided.
As a preferable mode of the C-shaped arm, a first sliding groove is formed in one of the connecting arm and the first support arm, and a first sliding block is provided in the other of the connecting arm and the first support arm, the first sliding block is slidably connected to the first sliding groove, and the first sliding block forms the first path along a path along which the first sliding groove slides.
As a preferable mode of the C-shaped arm, one of the connecting arm and the second supporting arm is provided with a second sliding groove, and the other of the connecting arm and the second supporting arm is provided with a second sliding block, the second sliding block is slidably connected to the second sliding groove, and the second sliding block forms the second path along a path along which the second sliding groove slides.
As a preferable mode of the C-arm, the second driving device is a robot or a robot arm.
As a preferable mode of the above C-shaped arm, the first support arm and the second support arm are made of a carbon fiber material.
The first and second support arms are made of carbon fiber material, so that the first and second support walls are light in weight.
The invention also provides an X-ray machine, which comprises a frame, a ray source, a detector and the C-shaped arm;
the C-shaped arm is arranged on the rack, the detector is arranged on the first supporting arm, and the ray source is arranged on the second supporting arm.
The adjustable range of the distance (SID) between the ray source and the detector of the X-ray machine is wide, which brings convenience to the diagnosis and treatment process.
As a preferable mode of the above X-ray machine, the X-ray machine includes a digital subtraction angiography device.
The invention also provides an X-ray machine, which comprises a frame, a ray source, a detector and the C-shaped arm;
the C-shaped arm is arranged on the rack, the detector is arranged on the first supporting arm, and the ray source is arranged on the second supporting arm.
As a preferable mode of the above X-ray machine, the X-ray machine includes a digital subtraction angiography device.
The invention also provides an X-ray machine, which comprises a frame, a ray source, a detector and a C-shaped arm; the C-shaped arm comprises a connecting arm, a first supporting arm and a second supporting arm, and both the first supporting arm and the second supporting arm can be connected to the connecting arm in a driving mode; the C-shaped arm is arranged on the rack, the detector is arranged on the first supporting arm, and the ray source is arranged on the second supporting arm; the X-ray machine includes at least one of the following SID-reduction and SID-increase steering modes:
in the SID reduction mode, the first support arm is configured to move relative to the connecting arm and the second support arm so as to enable the detector to approach a patient bed, and the first support arm follows the patient bed direction under the driving of the connecting arm and the second support arm moves relative to the connecting arm so as to enable the ray source to approach the detector;
in the SID increase mode, the first support arm is configured to move relative to the connecting arm and the second support arm, so as to enable the detector to be away from the patient bed, and the first support arm follows up in a direction away from the patient bed under the driving of the connecting arm and the second support arm moves relative to the connecting arm, so as to enable the radiation source to be away from the detector.
The invention also provides an X-ray machine, which comprises a frame, a ray source, a detector and a C-shaped arm; the C-shaped arm comprises a connecting arm, a first supporting arm and a second supporting arm, and both the first supporting arm and the second supporting arm can be connected to the connecting arm in a driving mode; the C-shaped arm is arranged on the rack, the detector is arranged on the first supporting arm, and the ray source is arranged on the second supporting arm; the X-ray machine includes at least one of the following SID reduction and SID increase modes:
in SID reduction mode, a composite motion comprising two motions:
the first support arm is configured to move relative to the connecting arm in a direction towards a patient bed;
the second support arm is configured to move relative to the connecting arm in a direction towards the patient bed;
in SID addition mode, a composite motion comprising two motions:
the first support arm is configured to move relative to the connecting arm away from the patient bed;
the second support arm is configured to move relative to the connecting arm away from the patient bed.
As a preferable mode of the above X-ray machine, in the SID reduction mode, the method further includes a step of lowering the connecting arm relative to the gantry; or, in the SID increase mode, further comprising a raising movement of the connecting arm relative to the frame.
As a preferable mode of the above X-ray machine, in the SID reduction mode, the first support arm is configured to move to its maximum stroke in a direction toward the patient bed with respect to the connection arm; and/or the second support arm is configured to move relative to the connecting arm towards the direction of the patient bed to the maximum stroke of the second support arm.
As a preferable mode of the above X-ray machine, in the SID increase mode, the first support arm is configured to move to its maximum stroke with respect to a direction in which the connecting arm moves away from the patient bed; and/or the second support arm is configured to move to the maximum stroke relative to the direction of the connecting arm away from the sickbed.
As a preferable mode of the above X-ray machine, in the SID reduction mode, the connecting arm moves downward relative to the gantry to keep a distance between the radiation source and the patient bed constant; or, in the SID increasing mode, the connecting arm moves upwards relative to the frame to keep the distance between the ray source and the patient bed constant.
As a preferable mode of the above X-ray machine, the gantry is a robot.
As a preferable mode of the above X-ray machine, the X-ray machine is a DSA device.
The invention has the beneficial effects that:
according to the C-shaped arm provided by the invention, the first supporting arm and the second supporting arm are respectively and movably connected with the connecting arm, the first supporting arm can move relative to the connecting arm to be close to or far away from the second supporting arm, and the connecting arm moves to drive the first connecting arm to move towards the direction close to or far away from the second supporting arm, so that the adjustable range of the distance between the first supporting arm and the second supporting arm is wider, the inspection stroke is increased, and the detection range is enlarged.
The distance (SID) between the ray source and the detector of the X-ray machine provided by the invention has a wide adjustable range, and brings convenience to the diagnosis and treatment process.
Drawings
FIG. 1 is a schematic structural view of a C-arm provided in the present invention;
FIG. 2 is a schematic structural view of the first support arm of the C-arm according to the present invention moving relative to the connecting arm;
FIG. 3 is a schematic view of the first support arm and the connecting arm of the C-arm of the present invention in a configuration that is moved relative to the second support arm;
fig. 4 is a schematic structural diagram of a robot arm as a second driving device of the C-shaped arm provided by the invention.
In the figure:
100. a C-shaped arm;
1. a connecting arm; 2. a first support arm; 3. a second support arm; 4. a first chute; 5. a second chute; 6. a mechanical arm;
200. a radiation source; 300. and a detector.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The present embodiment provides a C-arm, as shown in fig. 1 to 3, the C-arm 100 includes a connecting arm 1, a first supporting arm 2 and a second supporting arm 3, and the combination of the first supporting arm 2, the second supporting arm 3 and the connecting arm 1 presents a C shape. The detector 300 is arranged on the first support arm 2, the ray source 200 is arranged on the second support arm 3, the detector 300 and the ray source 200 are respectively positioned at two sides of the sickbed, wherein the detector 300 is positioned at the upper side of the sickbed, and the ray source 200 is positioned at the lower side of the sickbed.
It should be noted that the radiation source 200 may be understood as a device capable of emitting X-rays, gamma-rays, electronic rays, or the like, and the detector 300 may be understood as a device capable of receiving the radiation emitted by the radiation source 200, so that the operation of medical examination, treatment, or the like can be realized through the cooperation of the radiation source 200 and the detector 300.
Specifically, first support arm 2 and second support arm 3 respectively with linking arm 1 swing joint, first support arm 2 is used for 1 motion of linking arm relatively to be close to or keep away from second support arm 3, linking arm 1 motion is in order to drive first support arm 2 to being close to or keeping away from 3 direction motions of second support arm. The first support arm 2 and the second support arm 3 are respectively and movably connected with the connecting arm 1 to have at least one of a first motion mode and a second motion mode: in the first movement mode, the first support arm 2 is used for moving relative to the connecting arm 1 and the second support arm 3, so that the detector 300 is close to the patient bed, and further, the first support arm 2 is driven by the connecting arm 1 to follow up the patient bed direction while the second support arm 3 moves relative to the connecting arm 1, so that the radiation source 200 is close to the detector 300. In the second movement mode, the first support arm 2 is used for moving relative to the connecting arm 1 and the second support arm 3, so as to make the detector 300 far away from the patient bed, further, the first support arm 2 is driven by the connecting arm 1 to move away from the patient bed direction and the second support arm 3 moves relative to the connecting arm 1 so as to make the radiation source 200 far away from the detector 300.
Further, in the first movement mode, in the step that the first support arm 2 is used for moving relative to the connecting arm 1 and the second support arm 3 to enable the detector 300 to approach the patient bed, the first support arm 2 reaches the maximum stroke relative to the connecting arm 1; or in the second movement mode, the first support arm 2 is used for moving relative to the connecting arm 1 and the second support arm 3, so that in the step of moving the detector 300 away from the patient bed, the first support arm 2 reaches the maximum stroke relative to the connecting arm 1.
In order to realize the automatic movement of the first support arm 2, the connecting arm 1 and the second support arm 3, the C-shaped arm 100 further comprises a first driving device, a second driving device and a third driving device, wherein the first driving device is used for driving the first support arm 2 to move relative to the connecting arm 1 and the second support arm 3, the second driving device is used for driving the connecting arm 1 to move so as to drive the first support arm 2 or the second support arm 3 to move, and the third driving device is used for driving the second support arm 3 to move relative to the connecting arm 1.
The C-arm 100 further comprises a key assembly and a controller coupled to the key assembly, the controller being electrically and/or communicatively connected to the first driving device, the second driving device and the third driving device, respectively, and the controller being configured to control the first driving device to drive the first support arm 2 to move and the second driving device to drive the connecting arm 1 to move in response to the key assembly being pressed, so that the first support arm 2 and/or the second support arm 3 follow up and/or control the third driving device to drive the second support arm 3 to move relative to the connecting arm 1.
It should be noted that the controller may be implemented by hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory for execution by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the methods and systems described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided, for example, on a carrier medium such as a hard disk, magnetic disk, CD or DVD-ROM, programmable memory such as read only memory firmware, or a data carrier such as an optical or electronic signal carrier. The controller in this embodiment may be implemented not only by a hardware circuit such as a very large scale integrated circuit or a gate array, a semiconductor such as a logic chip, a transistor, or the like, or a programmable hardware device such as a field programmable gate array, a programmable logic device, or the like, but also by software executed by various types of processors, for example, and may also be implemented by a combination of the above hardware circuit and software, for example, firmware.
Further, the key assembly includes a first key, and when the first key is enabled, the controller controls the first driving device, the second driving device and the third driving device to execute the first motion mode; the key assembly may further include a second key, and when the second key is enabled, the controller controls the first driving device, the second driving device and the third driving device to perform a second motion mode, which is convenient for a user to operate through the arrangement of the first key and the second key.
In some embodiments, the first, second and third drives may comprise motors and transmissions. In one embodiment, the motor may comprise a direct drive motor. The transmission means may include, but is not limited to, a combination of one or more of a worm and rack drive, a rack and pinion drive, a lead screw nut drive, a belt drive, and a chain drive. The transmission device of the first driving device is connected between the motor of the first driving device and the first supporting arm 2, the transmission device of the second driving device is connected between the motor of the second driving device and the connecting arm 1, and the transmission device of the third driving device is connected between the motor of the third driving device and the second supporting arm 3. The first, second and third driving devices may be identical or different in structure. For example, a worm-and-rack gear may be included, or a rack-and-pinion gear may be included. For another example, the first drive, the second drive, and the third drive may each include a lead screw nut transmission. In some alternative embodiments, the first, second and third drive means may comprise hydraulic cylinders, pneumatic cylinders, or the like.
In some embodiments, the second driving device is a robot or a mechanical arm 6 (see fig. 4), and the robot or the mechanical arm 6 drives the connecting arm 1 to move so as to drive the first supporting arm 2 to move relative to the second supporting arm 3.
Alternatively, the robot arm 6 is rotatably connected to the connecting arm 1, so that the rotation angle of the C-arm 100 can also be adjusted by the robot arm 6.
In some embodiments, the first support arm 2 moves along a first path on the connecting arm 1 and the second support arm 3 moves along a second path, the first path being parallel or collinear with the second path, the first and second paths each extending in a vertical direction. In this embodiment, the first path and the second path are collinear, so that the connection transition between the movement of the first support arm 2 along the first path and the operation of the second support arm 3 along the second path is stable, and the phenomenon that the connection is not smooth due to the change of the center of gravity is avoided.
In some embodiments, as shown in fig. 1, the connecting arm 1 is provided with a first sliding groove 4, the first supporting arm 2 is provided with a first sliding block, the first sliding block is slidably connected to the first sliding groove 4, the first sliding block forms a first path along the sliding path of the first sliding groove 4, of course, the first sliding groove 4 may also be provided on the first supporting arm 2, and the first sliding block is provided on the connecting arm 1, as long as the first supporting arm 2 moves relative to the connecting arm 1 along the first path through the sliding fit of the first sliding groove 4 and the first sliding block.
In some embodiments, the connecting arm 1 is provided with a second sliding slot 5, and the second supporting arm 3 is provided with a second sliding block, which is slidably connected to the second sliding slot 5, and forms a second path along the path along which the second sliding slot 5 slides. Of course, the second sliding chute 5 can also be arranged on the second supporting arm 3, and the second sliding block is arranged on the connecting arm 1, as long as the connecting arm 1 and the second supporting arm 3 move along the second path through the sliding fit of the second sliding chute 5 and the second sliding block.
In this embodiment, the first sliding groove 4 is disposed on the connecting arm 1, the first slider is disposed on the first supporting arm 2, the second sliding groove 5 is disposed on the connecting arm 1, the second slider is disposed on the second supporting arm 3, the first sliding groove 4 and the second sliding groove 5 both extend in the vertical direction, and the first sliding groove 4 and the second sliding groove 5 are collinear.
In some embodiments, the first support arm 2, the connection arm 1, and the second support arm 3 may be provided with through holes for passing wires or cables used by the devices provided on the first support arm 2 and the second support arm 3, and on the other hand, the weight of the C-shaped arm 100 may be reduced by providing through holes. In yet another aspect, the use of material for the C-arm 100 may also be reduced by providing a through-hole. It should be noted that the through holes on the first support arm 2, the second support arm 3 and the connecting arm 1 may be one, or may be a plurality of through holes, such as 2, 3, 4 or 6, and the through holes may be communicated with each other. The number, arrangement, size and shape of the hollow through holes can be specifically set by the person skilled in the art according to actual needs. For example, the cross-sectional shape of the through hole may be circular, square, polygonal, irregular, etc., and such variations are still within the scope of the present application.
In some embodiments, reinforcing ribs may be provided in both the first support arm 2 and the second support arm 3. The strengthening rib can further improve its structural strength on the basis of the wall thickness that does not increase first support arm 2 and second support arm 3, avoids first support arm 2 and 3 atress deformations of second support arm to make first support arm 2 and second support arm 3 can support the equipment of setting above that better. It should be noted that the reinforcing ribs may be arranged in a strip shape, a grid shape, or the like, and a person skilled in the art may specifically design the shape of the reinforcing ribs as needed, which is not limited in this application.
In some embodiments, stiffening ribs may also be provided in the connecting arm 1 in order to further enhance the structural strength of the C-arm 100. In other embodiments, the stiffener may be disposed on the outer surface of the first support arm 2, the second support arm 3, and/or the connecting arm 1 of the C-arm 100. The purpose of the stiffener arrangement is primarily to increase the overall stiffness of the C-arm 100, and therefore, one skilled in the art can also place stiffeners elsewhere as desired, or can increase or decrease the number of stiffeners as desired. In the above embodiments, the reinforcing rib may also be other structures for enhancing rigidity, such as a reinforcing plate, a reinforcing rib, and the like, and such a variation is still within the scope of the present application.
In some embodiments, the material of both the first support arm 2 and the second support arm 3 may be provided as carbon fibre. For example, the first support arm 2 and the second support arm 3 may be integrally formed of a carbon fiber material, so that the first support wall 2 and the second support wall 3 are light in weight.
In addition, the material of the connecting arm 1 may also be provided as carbon fiber. In alternative embodiments, the connecting arm 1, the first support arm 2 and the second support arm 3 may also be made by splicing together sheet metal parts or castings.
The adjustment mode of the C-shaped arm 100 in this embodiment can exert the structural advantage of the C-shaped arm 100 to the greatest extent without changing the operation habit of the operator, and can obtain a larger operation space and an angulation range and reduce the radiation dose.
In use, when the detector 300 is in an orientation such as that of fig. 1, the first key is enabled, bringing the detector 300 close to the patient's bed.
Specifically, when the first support arm 2 reaches the maximum stroke downward relative to the connecting arm 1, the first key is enabled continuously, the controller controls the second driving device to drive the connecting arm 1 to move, the first support arm 2 is driven by the connecting arm 1 to follow up the movement toward the hospital bed, and meanwhile, the third driving device drives the second support arm 3 to move relative to the connecting arm 1, so that the radiation source 200 is close to the detector 300.
In use, with the detector 300 in an orientation such as that of figure 1, the second key is enabled and the first support arm 2 is moved relative to the connecting arm 1 and the second support arm 3 to move the detector 300 away from the patient's bed.
Specifically, when the first support arm 2 reaches the maximum stroke of the connecting arm 1, the second key is enabled continuously, the controller controls the second driving device to drive the connecting arm 1 to move, the first support arm 2 drives the detector 300 to move towards the direction away from the patient bed under the driving of the connecting arm 1, and meanwhile, the third driving device drives the second support arm 3 to move relative to the connecting arm 1, so that the radiation source 200 moves towards the direction away from the detector 300 or the patient bed.
The invention also provides an X-ray machine, which comprises a stand, a ray source 200, a detector 300 and the C-shaped arm 100, wherein the ray source 200 is arranged on the second supporting arm 3, and the detector 300 is arranged on the first supporting arm 2.
Specifically, the mechanical arm 6 is mounted on the frame, and the position of the detector 300 can be conveniently adjusted in the process of taking an X-ray image of a patient by using an X-ray machine through the driving of the mechanical arm 6, so that the position of the patient needing to be taken or treated can be more accurately positioned; more specifically, in one mode of operation, the SID is reduced by adjusting the first support arm 2 downwards relative to the patient's bed and relative to the connecting arm 1, and then adjusting the connecting arm 1 downwards relative to the gantry while adjusting the radiation source 200 upwards relative to the connecting arm 1. In this steering mode, the height of the radiation source 200 from the ground (or the distance from the patient's bed) is substantially constant. Or, the purpose of increasing the SID is realized by adjusting the first supporting arm 2 upward relative to the sickbed and relative to the connecting arm 1, and then adjusting the connecting arm 1 upward relative to the machine frame and simultaneously adjusting the radiation source 200 downward relative to the connecting arm 1. In this steering mode, the height of the radiation source 200 from the ground (or the distance from the patient's bed) is substantially constant. In both modes of operation, although the movement pattern increases the movement of the connecting arm 1 and the movement of the second support arm 3 relative to the connecting arm 1, it is in accordance with the operation habit of the doctor in terms of the apparatus, i.e. the distance between the radiation source 200 located below the patient bed and the patient bed is kept substantially constant during the adjustment of the SID, and he/she visually sees the detector 300 rising or falling relative to the patient bed, i.e. realizes that the SID is becoming larger or smaller.
By using the C-shaped arm 100, the X-ray machine can increase or decrease the distance between the radiation source 200 and the detector 300 through the different control modes, so that an operator can perform X-ray examination on a patient more conveniently. Moreover, the range of distance variation of the SID of the present application is greater than that of conventional X-ray machines.
In some embodiments, the X-ray machine may include a digital subtraction angiography device. The digital subtraction angiography device is an X-ray machine which combines the conventional angiography and the electronic computer image processing technology, can enable the blood vessels and the lesions thereof to be displayed more clearly, and has higher application value.
The invention also provides an X-ray machine, which comprises a stand, a ray source 200, a detector 300 and a C-shaped arm 100; the C-arm 100 comprises a connecting arm 1, a first support arm 2 and a second support arm 3, both the first support arm 2 and the second support arm 3 being drivingly connectable to the connecting arm 1; the C-shaped arm 100 is arranged on the stand, the detector 300 is arranged on the first support arm 2, and the ray source 200 is arranged on the second support arm 3; the X-ray machine includes at least one of the following SID-reduction and SID-increase steering modes:
in the SID reduction mode, the first support arm 2 is used for moving relative to the connecting arm 1 and the second support arm 3 to enable the detector 300 to approach the patient bed, and the first support arm 2 is driven by the connecting arm 1 to follow the patient bed and the second support arm 3 moves relative to the connecting arm 1 to enable the radiation source 200 to approach the detector 300.
In the SID increase mode, the first support arm 2 is configured to move relative to the connecting arm 1 and the second support arm 3 to move the detector 300 away from the patient's bed, and the first support arm 2 follows the direction away from the patient's bed under the driving of the connecting arm 1 and the second support arm 3 moves relative to the connecting arm 1 to move the radiation source 200 away from the detector 300.
The invention also provides an X-ray machine, which comprises a stand, a ray source 200, a detector 300 and a C-shaped arm 100; the C-arm 100 comprises a connecting arm 1, a first support arm 2 and a second support arm 3, both the first support arm 2 and the second support arm 3 being drivingly connectable to the connecting arm 1; the C-shaped arm 100 is arranged on the stand, the detector 300 is arranged on the first support arm 2, and the ray source 200 is arranged on the second support arm 3; the X-ray machine includes at least one of the following SID-reduction and SID-increase modes:
in SID reduction mode, a composite motion comprising two motions:
the first supporting arm 2 moves towards the direction of the sickbed relative to the connecting arm 1; the second support arm 3 moves relative to the connecting arm 1 in the direction of the patient's bed.
In SID addition mode, a composite motion comprising two motions: the first supporting arm 2 moves relative to the connecting arm 1 in the direction away from the sickbed; the second supporting arm 3 moves relative to the connecting arm 1 in the direction away from the hospital bed. Wherein, the X-ray machine is DSA equipment, and the frame is a robot.
Wherein, in the SID reducing mode, the descending movement of the connecting arm 1 relative to the frame is also included; alternatively, in the SID increase mode, an upward movement of the connecting arm 1 relative to the frame is also included. In the SID reduction mode, the first support arm 2 moves to the maximum stroke relative to the connecting arm 1 in the direction towards the sickbed; and/or the second support arm 3 is moved to its maximum travel relative to the connecting arm 1 in the direction of the patient's bed.
In the SID increasing mode, the first support arm 2 moves to the maximum stroke relative to the direction of the connecting arm 1 far away from the sickbed; and/or the second support arm 3 is moved to its maximum travel relative to the connecting arm 1 in a direction away from the patient's bed.
Wherein, in the SID reduction mode, the connecting arm 1 moves downward relative to the gantry to keep the distance between the radiation source 200 and the patient bed constant; alternatively, in the SID increase mode, the arm 1 is moved upwards relative to the gantry to keep the distance of the radiation source 200 from the patient's bed constant.
In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are used in a descriptive sense or a positional relationship based on the orientation shown in the drawings for convenience of description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (21)
1. The utility model provides a C type arm, its characterized in that, includes linking arm (1), first support arm (2) and second support arm (3), first support arm (2) with second support arm (3) respectively with linking arm (1) swing joint, first support arm (2) are configured as can be relative linking arm (1) motion is in order to be close to or keep away from second support arm (3), linking arm (1) motion is in order to drive first support arm (2) are to being close to or keeping away from second support arm (3) direction motion.
2. The C-arm according to claim 1, wherein a detector (300) is arranged on the first support arm (2), a radiation source (200) is arranged on the second support arm (3), the detector (300) and the radiation source (200) are respectively located on both sides of a patient bed, the first support arm (2) and the second support arm (3) are respectively articulated with the connecting arm (1) to have at least one of a first motion mode and a second motion mode:
in a first motion mode, the first support arm (2) is configured to move relative to the connecting arm (1) and the second support arm (3) to enable the detector (300) to approach the patient bed, and further, the first support arm (2) follows up towards the direction of the patient bed under the driving of the connecting arm (1) while the second support arm (3) moves relative to the connecting arm (1) to enable the radiation source (200) to approach the detector (300);
in a second motion mode, the first support arm (2) is configured to move relative to the connecting arm (1) and the second support arm (3) to enable the detector (300) to be away from the patient bed, and further, the first support arm (2) is driven by the connecting arm (1) to follow the direction away from the patient bed while the second support arm (3) moves relative to the connecting arm (1) to enable the radiation source (200) to be away from the detector (300).
3. The C-arm according to claim 2, characterized in that in the first movement mode the first support arm (2) is configured to move relative to the connecting arm (1) and second support arm (3) to bring the detector (300) closer to the patient's bed, the first support arm (2) reaching a maximum stroke relative to the connecting arm (1); or in a second movement mode, the first support arm (2) is configured to move relative to the connecting arm (1) and the second support arm (3) so that the first support arm (2) reaches the maximum stroke relative to the connecting arm (1) in the step of moving the detector (300) away from the patient bed.
4. A C-arm according to claim 2 or 3, further comprising:
-first driving means configured to drive the first support arm (2) in a movement with respect to the connecting arm (1) and the second support arm (3);
a second driving device configured to drive the connecting arm (1) to move so as to drive the first supporting arm (2) to move; and
-third driving means configured to drive the second supporting arm (3) in motion with respect to the connecting arm (1).
5. C-arm according to claim 4, characterized in that it further comprises a key assembly and a controller coupled to said key assembly, said controller being in communication with said first, second and third driving means, respectively, said controller being configured to control said first driving means to drive said first support arm (2) in motion, said second driving means to drive said connecting arm (1) in motion so as to make said first support arm (2) follow up and/or a third driving means to drive said second support arm (3) in motion with respect to said connecting arm (1) in response to the pressing of said key assembly.
6. The C-arm according to claim 5, wherein said key assembly comprises a first key and/or a second key, said controller controlling said first, second and third actuators to perform said first movement pattern when said first key is enabled; the controller controls the first, second, and third driving devices to perform the second motion mode when the second key is enabled.
7. C-arm according to any of claims 1 to 3, wherein said first support arm (2) moves along a first path on said connecting arm (1); the second support arm (3) moves along a second path, the first path being parallel or collinear with the second path.
8. C-arm according to claim 7, characterized in that a first runner (4) on one of said connecting arm (1) and said first support arm (2), a first slider being provided on the other of said connecting arm (1) and said first support arm (2), said first slider being slidingly connected to said first runner (4), said first slider forming said first path along the path along which said first runner (4) slides.
9. C-arm according to claim 7, characterized in that one of said connecting arm (1) and said second supporting arm (3) is provided with a second runner (5) and the other of said connecting arm (1) and said second supporting arm (3) is provided with a second slider slidingly connected to said second runner (5), said second slider forming said second path along the path along which said second runner (5) slides.
10. C-arm according to claim 4, characterized in that said second driving means is a robot or a robot arm (6).
11. C-arm according to any of claims 1 to 3, wherein said first support arm (2) and said second support arm (3) are made of carbon fiber material.
12. An X-ray machine, comprising a gantry, a source of radiation (200), a detector (300) (300) and a C-arm according to any one of claims 1 to 11;
the C-shaped arm is arranged on the rack, the detector (300) is arranged on the first supporting arm (2), and the ray source (200) is arranged on the second supporting arm (3).
13. An X-ray machine according to claim 12, wherein the X-ray machine comprises a digital subtraction angiography device.
14. An X-ray machine, characterized by comprising a frame, a ray source (200), a detector (300) and a C-shaped arm; the C-shaped arm comprises a connecting arm (1), a first supporting arm (2) and a second supporting arm (3), and both the first supporting arm (2) and the second supporting arm (3) can be connected to the connecting arm (1) in a driving mode; the C-shaped arm is arranged on the rack, the detector (300) is arranged on the first supporting arm (2), and the ray source (200) is arranged on the second supporting arm (3); the X-ray machine includes at least one of the following SID-reduction and SID-increase steering modes:
in the SID reduction mode, the first support arm (2) is configured to move relative to the connecting arm (1) and the second support arm (3) to enable the detector (300) to approach a patient bed, and the first support arm (2) follows the patient bed direction under the driving of the connecting arm (1) and the second support arm (3) moves relative to the connecting arm (1) to enable the ray source (200) to approach the detector (300);
in the SID increasing mode, the first support arm (2) is configured to move relative to the connecting arm (1) and the second support arm (3) to enable the detector (300) to be away from the patient bed, and the first support arm (2) is driven by the connecting arm (1) to follow the direction away from the patient bed and the second support arm (3) moves relative to the connecting arm (1) to enable the ray source (200) to be away from the detector (300).
15. An X-ray machine, characterized by comprising a frame, a ray source (200), a detector (300) and a C-shaped arm; the C-shaped arm comprises a connecting arm (1), a first supporting arm (2) and a second supporting arm (3), and both the first supporting arm (2) and the second supporting arm (3) can be connected to the connecting arm (1) in a driving mode; the C-shaped arm is arranged on the rack, the detector (300) is arranged on the first supporting arm (2), and the ray source (200) is arranged on the second supporting arm (3); the X-ray machine includes at least one of the following SID reduction and SID increase modes:
in SID reduction mode, a composite motion comprising two motions:
the first support arm (2) is configured to move relative to the connecting arm (1) in a direction towards a patient bed;
the second support arm (3) is configured to move relative to the connecting arm (1) towards the direction of the patient bed;
in SID addition mode, a composite motion comprising two motions:
the first support arm (2) is configured to move relative to the connecting arm (1) away from the patient bed;
the second support arm (3) is configured to move relative to the connecting arm (1) in a direction away from the patient bed.
16. An X-ray machine according to claim 15, characterized in that in the SID reduction mode it also comprises a lowering movement of the connecting arm (1) with respect to the gantry; or, in the SID increase mode, further comprising a lifting movement of the connecting arm (1) relative to the chassis.
17. An X-ray machine according to claim 15, characterized in that in the SID-reduction mode the first support arm (2) is configured to move to its maximum travel relative to the connecting arm (1) in the direction of the patient bed; and/or the second support arm (3) is configured to move to the maximum stroke relative to the connecting arm (1) towards the direction of the sickbed.
18. An X-ray machine according to claim 15, wherein in the SID-increase mode the first support arm (2) is configured to move to its maximum travel relative to the direction of the connecting arm (1) away from the patient bed; and/or the second support arm (3) is configured to move to its maximum travel relative to the direction of the connecting arm (1) away from the patient bed.
19. An X-ray machine according to claim 16, characterized in that in the SID reduction mode, the lowering movement of the connecting arm (1) with respect to the gantry keeps the distance of the source of radiation (200) from the bed constant; or, in the SID increasing mode, the connecting arm (1) moves upwards relative to the frame to keep the distance between the radiation source (200) and the sickbed constant.
20. The X-ray machine according to claim 15, wherein the gantry is a robot.
21. The X-ray machine of claim 16, wherein the X-ray machine is a DSA device.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010801583.3A CN111991014A (en) | 2020-08-11 | 2020-08-11 | C-shaped arm and X-ray machine |
| EP21855573.8A EP4179974A4 (en) | 2020-08-11 | 2021-08-11 | X-ray machine |
| PCT/CN2021/112076 WO2022033522A1 (en) | 2020-08-11 | 2021-08-11 | X-ray machine |
| US18/167,825 US20230181137A1 (en) | 2020-08-11 | 2023-02-10 | X-ray machines |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010801583.3A CN111991014A (en) | 2020-08-11 | 2020-08-11 | C-shaped arm and X-ray machine |
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| CN111991014A true CN111991014A (en) | 2020-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010801583.3A Pending CN111991014A (en) | 2020-08-11 | 2020-08-11 | C-shaped arm and X-ray machine |
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Cited By (1)
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| WO2022033522A1 (en) * | 2020-08-11 | 2022-02-17 | 上海联影医疗科技股份有限公司 | X-ray machine |
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