CN202873171U - Cable guider used for medical instrument - Google Patents
Cable guider used for medical instrument Download PDFInfo
- Publication number
- CN202873171U CN202873171U CN 201220291784 CN201220291784U CN202873171U CN 202873171 U CN202873171 U CN 202873171U CN 201220291784 CN201220291784 CN 201220291784 CN 201220291784 U CN201220291784 U CN 201220291784U CN 202873171 U CN202873171 U CN 202873171U
- Authority
- CN
- China
- Prior art keywords
- crinoline
- cable
- gondola
- unit
- arm
- 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.)
- Expired - Lifetime
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Classifications
-
- 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
-
- 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
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
- H02G11/003—Arrangements of electric cables or lines between relatively-movable parts using gravity-loaded or spring-loaded loop
-
- 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
- A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
Abstract
The utility model discloses a cable guider. The cable guider comprises a cable storage unit (11) arranged on a robot arm (7) of a medical instrument for accommodating a superfluous section of a cable harness (13), and a gravity balance unit (15) for uniformly applying a tractive force (ZF) onto the cable harness (13) inside the cable storage unit (11) independent of the superfluous section. The utility model also discloses the medical instrument having the cable guider. The cable guider is advantaged in that the tractive force applied on the cable harness in the robot arm is invariant at all operation positions of the rotor arm so that the cable harness always can be drawn back smoothly and does not need to bear a over heavy load.
Description
Technical field
The utility model relates to a kind of crinoline for Medical Instruments and a kind of Medical Instruments with crinoline.
Background technology
For example open by DE 10 2,008,035 196 A1 based on the crinoline in the C arm x-ray instrument of robot.Described robot instrument has the more degree of freedom than common C arm instrument, and this affects the cable guiding to meeting.Fig. 1 shows a kind of x-ray diagnostic equipment according to DE 10 2,008 035 196 A1, it has one and can be rotated to support on crank arm C arm 2 on the support of robot 1 form of six axles, is provided with an X-radiation device 3 and a radioscopic image detector 4 in its end.
Described C arm 2 can be at random spatially mobile by the described robot 1 of cranking arm, and for example mobile in the following manner, that is, described C upper-arm circumference rotates around the pivot between X-radiation device 3 and the X-ray detector 4.Described x-ray system 1 to 4 especially can be centered around pivot and the rotation rotation in the plane of radioscopic image detector 4, preferably can be around the central point of radioscopic image detector 4 and the rotation rotation of intersecting around the central point with described radioscopic image detector 4.
The described robot 1 of cranking arm has a underframe that firmly is installed on the base plate.Being fixed with thereon can be around the rotating disk of the first rotation rotation.Be provided with at rotating disk and can center on the rotating robot of the second rotation rocking bar, being fixed with thereon can be around the robots arm 7 of the 3rd rotation rotation.Being provided with in described robots arm's 7 end can be around the robot of the 4th rotation rotation.Described robot has a fixture, and it can and can center on the 5th rotation revolution of extending perpendicular to described rotation around the rotation rotation.
In the beam path of X-radiation device 3, the patient 6 of examine is positioned at and is used for imaging on the patient support platform 5.
X-ray image in order to provide electric energy and derivation to detect for image-generating unit 3,4 is provided with a supply line 9 as cable laying, enters described C arm in its cable inlet 8 on C arm 2 and guides image-generating unit 3,4 assembly into.
Described supply line 9 is comprised of one or more bunchs of cables and can comprises coolant line.Described supply line 9 is coated by the flute profile flexible pipe.Described bunch of cables and coolant line are divided into a plurality of supply lines, and these supply lines guide C arm 2 into along described robots arm 7 respectively, and they introduce described C arm by a plurality of cable inlets there.Described supply line 9 is by firmly being located at the crinoline 10 fixing and guiding on the robots arm 7.In order to hold more known (deckengebundene) cable storage device that connects at ceiling of extra cable length.
Summary of the invention
The technical problems to be solved in the utility model is, a kind of crinoline and a kind of Medical Instruments with crinoline are provided, and it can store cable.
The utility model is asked for protection a kind of crinoline; it comprises a cable storage unit on the robots arm who is located at Medical Instruments; it holds the unnecessary cable length of bunch of cables; and comprise that a gravity balance unit, itself and unnecessary cable length irrespectively act on uniform tractive effort on the bunch of cables in the cable storage unit.The utility model has the advantage of that the tractive effort that acts on the bunch of cables all is constant at all run locations of robots arm in the robots arm.Therefore bunch of cables always successfully is pulled and never must bears strong load.
In an expansion design, described gravity balance unit is located on the robots arm securely.
According to another kind of execution mode of the present utility model, the cable storage unit can be designed to circular arc, and wherein, described bunch of cables is drawn and described lead-in wire can move along described circular arc at an end of circular arc.
In addition, described device also comprises a gondola, and it is located in the cable storage unit and the described bunch of cables of fixing movably.
In another execution mode of the present utility model, described gravity balance unit acts on uniform tractive effort on the gondola.
According to another execution mode of the present utility model, described device comprises an interface unit between gravity balance unit and gondola, and it is delivered to gondola with tractive effort from gravity balance unit.
Described interface unit preferably can comprise rope, chain or pull bar.
The utility model is also asked for protection a kind of Medical Instruments, and it has the X ray C arm that is located in the robot of cranking arm and has according to crinoline described in the utility model.
Description of drawings
The below illustrates other characteristics of the present utility model and advantage by accompanying drawing by the elaboration to embodiment.In the accompanying drawing:
Fig. 1 shows a kind ofly has C arm x-ray instrument as the robot of cranking arm of fixture according to prior art, and
Fig. 2 shows a kind of C arm x-ray instrument, and it has the robot and according to crinoline described in the utility model of cranking arm as fixture.
Embodiment
Fig. 2 shows a kind of C arm x-ray instrument of the C of having arm 2, and the C arm is installed on the robots arm 7 of the robot 1 of cranking arm.The supply line that is used for unshowned X-radiation device and unshowned X-ray detector is bundled into the form of bunch of cables 13 and guides C arm 2 into from the base 18 of the robot 1 of cranking arm.Described bunch of cables 13 is inducted into grooved flexible pipe 12 at least in part.
For to the enough length compensations of bunch of cables 13 storages, be used for robots arm 7 movement, be provided with the cable storage unit 11 of cage type according to the present invention.Described cable storage unit is connected securely with robots arm 7.Described cage 11 comprises a plurality of cage pillars 17, and they crowd around into the hollow body of a circular arc.Be provided with movably one as the gondola 14 of Guide vehicle in described cage 11, it can move along described cage 11.Described bunch of cables 13 is positioned at described gondola 14 and can moves with this gondola.Bunch of cables 13 is introduced at an end of described cage 11, and is crooked and guide to described base 18 by ensuing robots arm after leaving described gondola 14.Described cage 11 can hold the compensating length of about half meter bunch of cables 13.
Described gondola 14 is connected with gravity balance unit 15 by interface unit 16, therefore always has identical tractive effort ZF to act on bunch of cables 13 in each movement of robots arm 7.Described gravity balance unit 15 is rigidly connected with described cage 11.Described gravity balance unit 15 acts on uniform tractive effort ZF on the described gondola 14, thereby acts on the bunch of cables 13 that is positioned at described gondola 14.Described interface unit 16 can be designed to rope, chain or pull bar.
Described gravity balance unit 15 can or mechanically, for example by spring, perhaps electrically, for example produce tractive effort ZF by engine.
Claims (12)
1. a crinoline is characterized in that,
-having the cable storage unit (11) on the robots arm (7) of the Medical Instruments of being located at, it holds the unnecessary cable length of bunch of cables (13), and
-having gravity balance unit (15), itself and unnecessary cable length irrespectively act on uniform tractive effort (ZF) on the interior bunch of cables (13) in cable storage unit (11).
2. according to crinoline claimed in claim 1, it is characterized in that described gravity balance unit (15) is located on the described robots arm (7) securely.
3. according to claim 1 or 2 described crinolines, it is characterized in that described cable storage unit (11) is designed to circular arc, wherein, described bunch of cables (13) is drawn and is gone between and can move along described circular arc at an end of described circular arc.
4. according to claim 1 or 2 described crinolines, it is characterized in that,
-having gondola (14), it is located in the cable storage unit (11) and the described bunch of cables of fixing (13) movably.
5. according to crinoline claimed in claim 4, it is characterized in that described gravity balance unit (15) acts on uniform tractive effort (ZF) on the described gondola (14).
6. according to crinoline claimed in claim 5, it is characterized in that,
-having the interface unit (16) between described gravity balance unit (15) and described gondola (14), it is delivered to described gondola (14) with tractive effort (ZF) from described gravity balance unit (15).
7. according to crinoline claimed in claim 6, it is characterized in that described interface unit (16) comprises rope, chain or pull bar.
8. according to crinoline claimed in claim 3, it is characterized in that,
-having gondola (14), it is located in the cable storage unit (11) and the described bunch of cables of fixing (13) movably.
9. according to crinoline claimed in claim 8, it is characterized in that described gravity balance unit (15) acts on uniform tractive effort (ZF) on the described gondola (14).
10. according to crinoline claimed in claim 9, it is characterized in that,
-having the interface unit (16) between described gravity balance unit (15) and described gondola (14), it is delivered to described gondola (14) with tractive effort (ZF) from described gravity balance unit (15).
11., it is characterized in that described interface unit (16) comprises rope, chain or pull bar according to crinoline claimed in claim 10.
12. one kind has the X ray C arm (2) that is located in the robot of cranking arm (1) and has Medical Instruments according to the described crinoline of one of aforementioned claim.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE202012004601.2 | 2012-05-08 | ||
| DE201220004601 DE202012004601U1 (en) | 2012-05-08 | 2012-05-08 | Cable guide arrangement for medical devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202873171U true CN202873171U (en) | 2013-04-10 |
Family
ID=46579988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220291784 Expired - Lifetime CN202873171U (en) | 2012-05-08 | 2012-06-18 | Cable guider used for medical instrument |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN202873171U (en) |
| DE (1) | DE202012004601U1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974666A (en) * | 2016-01-15 | 2017-07-25 | 西门子保健有限责任公司 | Device and x-ray imaging device with C-arm |
| CN107175689A (en) * | 2016-03-09 | 2017-09-19 | 海德堡印刷机械股份公司 | Multi-axis robot with driver, tool heads and for guiding flexible pipe line |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012217072A1 (en) | 2012-09-21 | 2014-03-27 | Siemens Aktiengesellschaft | Device and method for positioning a medical device |
| FR3001176B1 (en) | 2013-01-18 | 2015-02-27 | Leoni Cia Cable Systems | GUIDING AND RECALL DEVICE |
| DE102013223539A1 (en) | 2013-11-19 | 2014-11-27 | Siemens Aktiengesellschaft | Strain-relieved cable protection device for medical devices and arrangement with a strain-relieved cable protection device |
| DE102014209684B4 (en) * | 2014-05-21 | 2023-06-29 | Siemens Healthcare Gmbh | Medical examination and/or treatment device |
| US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008035196A1 (en) | 2008-07-28 | 2010-02-11 | Siemens Aktiengesellschaft | Diagnostic device i.e. X-ray diagnostic device, has image recording units, which are held by articulated arm robot directly or by support, and cable guide provided at robot arm for supply line |
-
2012
- 2012-05-08 DE DE201220004601 patent/DE202012004601U1/en not_active Expired - Lifetime
- 2012-06-18 CN CN 201220291784 patent/CN202873171U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974666A (en) * | 2016-01-15 | 2017-07-25 | 西门子保健有限责任公司 | Device and x-ray imaging device with C-arm |
| CN106974666B (en) * | 2016-01-15 | 2020-11-03 | 西门子保健有限责任公司 | Device with C-arm and X-ray imager |
| CN107175689A (en) * | 2016-03-09 | 2017-09-19 | 海德堡印刷机械股份公司 | Multi-axis robot with driver, tool heads and for guiding flexible pipe line |
| CN107175689B (en) * | 2016-03-09 | 2021-07-16 | 海德堡印刷机械股份公司 | Multi-axis robot with a drive, a tool head and a device for guiding a flexible line |
Also Published As
| Publication number | Publication date |
|---|---|
| DE202012004601U1 (en) | 2012-06-26 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220126 Address after: Erlangen Patentee after: Siemens Healthineers AG Address before: Munich, Germany Patentee before: SIEMENS AG |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130410 |