CN203634184U - DR (data recorder) system and control system thereof - Google Patents
DR (data recorder) system and control system thereof Download PDFInfo
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- CN203634184U CN203634184U CN201320577000.9U CN201320577000U CN203634184U CN 203634184 U CN203634184 U CN 203634184U CN 201320577000 U CN201320577000 U CN 201320577000U CN 203634184 U CN203634184 U CN 203634184U
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Abstract
The utility model discloses a DR (data recorder) system and a control system thereof. The DR system comprises a bulb tube component, a flat plate component and a manipulator, wherein the bulb tube component comprises an X ray resource, the flat plate component comprises a ray detector, and the bulb tube component or the flat plate component is fixedly mounted on the manipulator. Through the adoption of the DR system and the control system thereof, disclosed by the utility model, the technology of industrial robots is creatively applied to the DR field, the technical advantages of the manipulator are introduced into the DR equipment field, the positioning control precision of the bulb tube and the flat plate is improved, shooting at any angle in a three-dimensional space can be performed, the image quality is improved, and the requirements for checking rooms are reduced.
Description
Technical field
This utility model relates to armarium and control system thereof, relates in particular to a kind of DR system and control system thereof.
Background technology
Existing digital X-ray photography (Digital Radiography, DR) equipment as shown in Figure 1, comprise and be provided with the bulb assembly 10 of x-ray source, the flat component 20 that is provided with ray detector, breast photograph shelf 30 and suspension 40, bulb assembly 10 is fixed on suspension 40, flat component 20 is fixed on breast photograph shelf 30.
Existing DR system, according to the fixed form of frame, is mainly divided into two large classes: day rail formula and console model (console model is divided into again fixed and floor rail type).In practice is used, there is following shortcoming: 1, traditional DR machine frame system, range of movement is limited to the size that checks room, and the installation environment of inspection chamber is had relatively high expectations; 2, traditional DR machine frame system motor control precision lower (1mm), the integrated degree of machine frame system is low, parts is installed numerous and diverse; 3, traditional DR machine frame system is plane coordinates control system, be difficult to realize the motility of centering arbitrarily in three dimensions, also there is clinically more image blind area, realize high-precision centering photography and servo-actuated Dynamic Photography, have sizable technical difficulty; 4, in current DR system pendulum position, due to the limitation of frame for movement, all, based on upper bulb camera work, the suffered dosage of patient is large, and the X ray that examinating couch panel is treated image information has attenuation, has reduced contrast and the resolution of image.Therefore, be necessary to provide a kind of novel DR system and control system thereof.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of DR system and control system thereof, mechanical hand technology and DR equipment and technology are combined, improved bulb and dull and stereotyped positioning control accuracy, can arbitrarily angled shooting in three dimensions, improve picture quality, and reduced the requirement to checking room.
This utility model is to solve the problems of the technologies described above the technical scheme adopting to be to provide a kind of DR system, comprise bulb assembly and flat component, described bulb assembly includes x-ray source, described flat component includes ray detector, wherein, also comprise mechanical hand, described bulb assembly or flat component are fixedly mounted on described mechanical hand.
Above-mentioned DR system, wherein, the quantity of described mechanical hand is two, is respectively the first mechanical hand and the second mechanical hand, described bulb assembly and flat component are arranged on respectively on the first mechanical hand and the second mechanical hand.
Above-mentioned DR system, wherein, described mechanical hand is 6 axis robot.
Above-mentioned DR system, wherein, described bulb assembly is fixed on mechanical hand, and the weight range of described bulb assembly is 0-50Kg.
Above-mentioned DR system, wherein, described mechanical hand comprises the first armshaft, the second armshaft, the 3rd armshaft, the 4th armshaft, the 5th armshaft and the 6th armshaft that are connected successively, described the first armshaft and inspection chamber fixed installation, and described the 6th armshaft is connected with bulb assembly and/or flat component.
Above-mentioned DR system, wherein, the first armshaft of described mechanical hand is fixedly mounted on the ground of inspection chamber, on ceiling or wall.
This utility model is the control system that solves the problems of the technologies described above another technical scheme adopting and be to provide a kind of DR system, comprising: a real-time control computer, for and each controller between exchanges data and the state of monitoring whole system; One Manipulator Controller, is connected with mechanical hand with described real-time control computer respectively, for controlling the motion of mechanical hand; One human-computer interactive control device, is connected with described real-time control computer, is the input of system control instruction and the outfan of system mode; One x-ray controller, is connected with bulb assembly with described real-time control computer respectively, for controlling the quality of x-ray.
The control system of above-mentioned DR system, wherein, described real-time control computer adopts real-time control bus to be connected with Manipulator Controller, human-computer interactive control device, x-ray controller.
The control system of above-mentioned DR system, wherein, described real-time control computer adopts stelliform connection topology configuration to be connected with Manipulator Controller, human-computer interactive control device, x-ray controller.
This utility model contrast prior art has following beneficial effect: DR system and control system thereof that this utility model provides, creatively the technology of industrial robot is applied to DR field, the technical advantage of mechanical hand is introduced to DR apparatus field, have the following advantages: 1, system control aspect: (1) positioning control accuracy can reach 0.02mm, improve bulb and dull and stereotyped accuracy of alignment and servo-actuated control accuracy, greatly improve the quality of image, as long bone splicing, tomoscan etc.; (2) can be at SID100～SID400(source to image receptor distance, source image apart from) three dimensions in arbitrarily angled photography, the projection pendulum position difficulty that can improve some human body, is beneficial to the inspection of critical or especial patient, avoids producing image blind area; (3) can realize photography and Dynamic Photography; 2, serviceability: lower greatly to the requirement of installation environment (1), and the room of any shape can adapt to (intelligent control is cognitive disorders thing automatically), and minimum room-size can reach 10m2; (2) can realize the variation of installation form, as be arranged on the suspension installation on ceiling, be arranged on ground console model and install, the rail mounted being installed on track is installed, and is installed on the wall-hanging installation on metope; 3, clinical function exploitation: the compatible existing clinical practice function of (1) energy, due to the lifting of exercise performance, spatial limitation condition is few, can develop more clinical practice function, arrowhead tomoscan as three-dimensional in the Tomosynthesis(of chest and other people body region) function; (2) can develop the pendulum position camera work based on lower bulb making new advances, improve picture contrast and resolution, can reduce patient's absorbed dose; 4, the further exploitation of the favourable support clinical function of the machine frame system of Highgrade integration, be equivalent to the machine frame system of DR to be contracted out to professional technology third party, optimize the resource distribution of medical equipment manufacturers, the exploitation of the Integrated Solution of medical imaging and DR system is more absorbed in the resource distribution of order research and development.
Accompanying drawing explanation
Fig. 1 is existing DR device structure schematic diagram;
Fig. 2 is the DR system structure schematic diagram in this utility model embodiment;
Fig. 3 is the DR control system schematic diagram in this utility model embodiment.
In figure:
10 bulb assembly 20 flat component 30 breast photograph shelf 40 suspensions
50 mechanical hand 51 first armshaft 52 second armshaft 53 the 3rd armshafts
54 the 4th armshaft 55 the 5th armshaft 56 the 6th armshafts
The specific embodiment
Below in conjunction with drawings and Examples, the utility model will be further described.
Fig. 2 is the DR system structure schematic diagram in this utility model embodiment.
The DR system that this utility model provides, comprises bulb assembly 10 and flat component 20, and bulb assembly 10 includes x-ray source, and flat component 20 includes ray detector, and bulb assembly 10 or flat component 20 are fixed on mechanical hand 50.In the present embodiment, be arranged on mechanical hand 50 with bulb assembly 10, it is example that flat component 20 is fixed on breast photograph shelf 30, mechanical hand 50 is preferably six axis robot, comprise the first armshaft 51, the second armshaft 52, the 3rd armshaft 53, the 4th armshaft 54, the 5th armshaft 55 and the 6th armshaft 56 that are connected successively, the first armshaft 51 and inspection chamber fixed installation, the 6th armshaft 56 is connected with bulb assembly 10.
First of six axis robot can be realized attitude and the movement locus of optional position in three dimensions to rotatablely moving of the 6th armshaft, within the scope of the limit space of mechanical arm, bulb assembly 10 can be delivered to optional position, can realize photography at any angle.
Preferably, the Weight control of bulb assembly 10 is in 50Kg, and the size of mechanical hand can be saved installing space, adopts a day hanging, console model, rail mounted, the various ways such as wall-hanging to install.
Console model for Single Mechanical hands configuration shown in Fig. 2 is installed, and in clinical use, can be achieved as follows three systemic-function positions greatly:
Stand-type photography: arena assembly 10 can automatically be followed the angle of flat component 20 and be carried out photography and Dynamic Photography;
Bulb, lower dull and stereotyped photography on lying posture: need to configure sick bed;
Bulb, upper flat plate photography under lying posture: need to configure lifting hospital bed, meet the requirement for height of SID110.
Embodiment is above the Single Mechanical hands configuration structure of DR system, bulb assembly 10 is arranged on mechanical hand 50, flat component 20 is fixed on traditional breast photograph shelf 30, those skilled in the art knows, also have following two groups of combinative structurees: the first is also Single Mechanical hands configuration structure, in this DR system, flat component 20 is fixed on mechanical hand 50, and bulb assembly 10 is arranged in traditional frame; The second is double-manipulator configuration structure, and this DR system is arranged on bulb assembly 10 and flat component 20 on mechanical hand respectively.User can and need to be configured according to practical situation, when use, utilizes rotatablely moving of mechanical hand can realize attitude and the movement locus of optional position in three dimensions, makes bulb assembly 10 and flat component 20 be used in conjunction with shooting.
This utility model provides the control system of DR system to adopt hub-and-spoke configuration, has following four control modules to form:
One real-time control computer (Real Time Computer; RTC): the maincenter that real-time control computer is control system, be responsible for exchanges data and the state of monitoring whole system between each controller.
Manipulator Controller (Robot controller; RC): for controlling the motion of mechanical hand 50.
Human-computer interactive control device (HMI Controller; HC): as the input of system control instruction and the outfan of system mode.
X-ray controller (Xray Controller; XC): for controlling the quality of x-ray, described x-ray controller is controlled x-ray quantity of X-rays X and relevant parameter is set by the software module of controlling high tension generator, realizes the quality control to x-ray.
Between above-mentioned each control module, adopt real-time control bus, can need to adopt according to actual arithmetic speed the bussing technique of different rates.
Although this utility model discloses as above with preferred embodiment; so it is not in order to limit this utility model; any those skilled in the art; not departing from spirit and scope of the present utility model; when doing a little modification and perfect, therefore protection domain of the present utility model is worked as with being as the criterion that claims were defined.
Claims (9)
1. a DR system, comprise bulb assembly (10) and flat component (20), described bulb assembly (10) includes x-ray source, described flat component (20) includes ray detector, it is characterized in that, also comprise mechanical hand, described bulb assembly (10) or flat component (20) are fixedly mounted on described mechanical hand (50).
2. DR system as claimed in claim 1, it is characterized in that, the quantity of described mechanical hand (50) is two, is respectively the first mechanical hand and the second mechanical hand, and described bulb assembly (10) and flat component (20) are arranged on respectively on the first mechanical hand and the second mechanical hand.
3. DR system as claimed in claim 1 or 2, is characterized in that, described mechanical hand (50) is 6 axis robot.
4. DR system as claimed in claim 1, is characterized in that, it is upper that described bulb assembly (10) is fixed on mechanical hand (50), and the weight range of described bulb assembly (10) is 0-50Kg.
5. DR system as claimed in claim 3, it is characterized in that, described mechanical hand (50) comprises the first armshaft (51), the second armshaft (52), the 3rd armshaft (53), the 4th armshaft (54), the 5th armshaft (55) and the 6th armshaft (56) that are connected successively, described the first armshaft (51) and inspection chamber fixed installation, described the 6th armshaft is connected with bulb assembly (10) and/or flat component (20).
6. DR system as claimed in claim 5, is characterized in that, first armshaft (51) of described mechanical hand (50) is fixedly mounted on the ground of inspection chamber, on ceiling or wall.
7. a control system for the DR system described in claim 1-6 any one claim, is characterized in that, comprising:
One real-time control computer, for and each controller between exchanges data and monitoring whole system state;
One Manipulator Controller, is connected with mechanical hand with described real-time control computer respectively, for controlling the motion of mechanical hand;
One human-computer interactive control device, is connected with described real-time control computer, is the input of system control instruction and the outfan of system mode;
One x-ray controller, is connected with bulb assembly with described real-time control computer respectively, for controlling the quality of x-ray.
8. the control system of DR system as claimed in claim 7, is characterized in that, described real-time control computer adopts real-time control bus to be connected with Manipulator Controller, human-computer interactive control device, x-ray controller.
9. the control system of DR system as claimed in claim 8, is characterized in that, described real-time control computer adopts stelliform connection topology configuration to be connected with Manipulator Controller, human-computer interactive control device, x-ray controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320577000.9U CN203634184U (en) | 2013-09-17 | 2013-09-17 | DR (data recorder) system and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320577000.9U CN203634184U (en) | 2013-09-17 | 2013-09-17 | DR (data recorder) system and control system thereof |
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| Publication Number | Publication Date |
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| CN203634184U true CN203634184U (en) | 2014-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320577000.9U Expired - Lifetime CN203634184U (en) | 2013-09-17 | 2013-09-17 | DR (data recorder) system and control system thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109567840A (en) * | 2018-12-04 | 2019-04-05 | 苏州市天烨医疗设备有限公司 | A kind of six shaft mechanical arm X-ray machines |
| CN111493912A (en) * | 2020-06-02 | 2020-08-07 | 天机医用机器人技术(清远)有限公司 | DR robot system and operation steps using same |
-
2013
- 2013-09-17 CN CN201320577000.9U patent/CN203634184U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109567840A (en) * | 2018-12-04 | 2019-04-05 | 苏州市天烨医疗设备有限公司 | A kind of six shaft mechanical arm X-ray machines |
| CN111493912A (en) * | 2020-06-02 | 2020-08-07 | 天机医用机器人技术(清远)有限公司 | DR robot system and operation steps using same |
| CN111493912B (en) * | 2020-06-02 | 2021-05-04 | 广东中科天机医疗装备有限公司 | DR robot system and operation steps using same |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 201815 No. 1180 Xingxian Road, Jiading Industrial Zone, Jiading District, Shanghai Patentee after: Shanghai Lianying Medical Technology Co.,Ltd. Address before: 201815 No. 1180 Xingxian Road, Jiading Industrial Zone, Jiading District, Shanghai Patentee before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140611 |
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| CX01 | Expiry of patent term |