CN204909474U - Portable X ray image equipment - Google Patents
Portable X ray image equipment Download PDFInfo
- Publication number
- CN204909474U CN204909474U CN201520560232.2U CN201520560232U CN204909474U CN 204909474 U CN204909474 U CN 204909474U CN 201520560232 U CN201520560232 U CN 201520560232U CN 204909474 U CN204909474 U CN 204909474U
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- arm
- mechanical hand
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- imaging device
- ray imaging
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Abstract
The utility model relates to a portable X ray image equipment, wherein, include: a main frame, it can be in subaerial removal, a first manipulator, its one end set up in frame, other end supporting are used for producing the bulb of X ray, and will the bulb supporting is for moving in six degrees of freedom, a second manipulator, its one end set up in the frame, other end supporting is used for receiving the detector of X ray, and will the detector supporting is for moving in six degrees of freedom. According to the utility model discloses, a portable X ray image equipment that remove the number of times in saving occupation space, the big just reduction operation of the degree of freedom easy and simple to handle is provided.
Description
Technical field
This utility model relates to a kind of mobile X-ray imaging device.
Background technology
Now, there will be a known the mobile X-ray equipment being called C arm machine, it comprises and arranges mainframe and C arm.Mainframe comprises control module, high tension generator and image processing apparatus etc.The two ends of C arm be respectively arranged with for generation of X-ray bulb and receive the detector of X-ray.
But in so portable X equipment, because the length of C arm is longer, the space therefore taken is larger.Further, when detecting multiple positions of patient, mobile X-ray equipment must be promoted, because the weight of equipment is very large, the muscle power therefore needing cost testing staff a large amount of and time.
Summary of the invention
In view of this, the utility model proposes that a kind of saving takes up room, degree of freedom easy and simple to handle is large and reduces the mobile X-ray imaging device of mobile number of times in operation.
An embodiment of the present utility model provides a kind of mobile X-ray imaging device, wherein, comprising: a mainframe, and it can move on the ground; One first mechanical hand, its one end is arranged at described mainframe, and described bulb for generation of the bulb of X-ray, and supports as can move on six-freedom degree by other end supporting; One second mechanical hand, its one end is arranged at described mainframe, the detector of other end supporting for receiving described X-ray, and by described detector supporting for can move on six-freedom degree.
In above-mentioned mobile X-ray imaging device, preferred described mainframe also comprises cabinet, base station and erects the rail brackets arranged from described base station, described base station is arranged at described cabinet side and moving direction to described mobile X-ray imaging device extends, described first mechanical hand and described second mechanical hand are arranged at described rail brackets respectively, and can slide along the length direction of described rail brackets.
In above-mentioned mobile X-ray imaging device, preferably described first mechanical hand and described second mechanical hand are six joint Manipulators.
In above-mentioned mobile X-ray imaging device, preferably in the standby state, described first mechanical hand and described second mechanical hand be accommodated in described rail brackets by described cabinet side.
In above-mentioned mobile X-ray imaging device, preferably described first mechanical hand or the second mechanical hand comprise respectively: the first arm, second arm, 3rd arm, 4th arm, wrist portion, described first arm can swing around the first axle of plummet, described first axle is through described one end of mechanical hand and the coupling part of described first arm, described second arm can around the second axis oscillating of plummet, described second axis passes the coupling part of described first arm and described second arm, described 3rd arm can around the 3rd axis oscillating of plummet, described 3rd axis passes the coupling part of described second arm and described 3rd arm, described 4th arm can swing around the four axistyle of level, described four axistyle passes the coupling part of described 3rd arm and described 4th arm, described wrist portion can around the 5th axis oscillating, described 5th axis passes the coupling part of the 4th arm and described wrist portion.
In above-mentioned mobile X-ray imaging device, preferred described bulb or described detector are arranged at the described wrist portion of described first mechanical hand or the second mechanical hand, and can rotate around described wrist portion.
In above-mentioned mobile X-ray imaging device, when change in location occurs the side in preferred described bulb or described detector, the opposing party can utilize and be arranged at control unit in described mainframe and automatically adjusting position.
According to this utility model, provide that a kind of saving takes up room, degree of freedom easy and simple to handle is large and reduces the mobile X-ray imaging device of mobile number of times in operation.
Accompanying drawing explanation
The preferred embodiments of the present invention will be described in detail by referring to accompanying drawing below, the person of ordinary skill in the art is more clear that above-mentioned and other feature and advantage of the present invention, in accompanying drawing:
Fig. 1 mobile X-ray imaging device shown involved by an embodiment of the present utility model is in the front view under duty.
Fig. 2 mobile X-ray imaging device shown involved by an embodiment of the present utility model is in the top view under duty.
Fig. 3 shows the mobile X-ray imaging device place front view in the standby state when this utility model relates to.
Fig. 4 A, Fig. 4 B illustrate when operator's manual adjustments bulb position, automatically regulate the figure of the situation of detector position.
Fig. 5 shows top view when being used as common fixed fluoroscopy installation by the mobile X-ray equipment of the application.。
Wherein, Reference numeral is as follows:
1, mobile X-ray imaging device;
2, subject;
10, mainframe;
20,20 ', mechanical hand;
30, bulb;
40, detector;
101, cabinet;
102, base station;
103, rail brackets;
201, the first arm;
202, the second arm;
203, the 3rd arm;
204, the 4th arm;
205, wrist portion
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, the present invention is described in more detail by the following examples.
In this article, " schematically " expression " serves as example, example or explanation ", not should by being described to any diagram of " schematically " in this article, embodiment is interpreted as a kind of preferred or have more the technical scheme of advantage.
For making simplified form, only schematically show the part relevant to this utility model in each figure, they do not represent its practical structures as product.In addition, being convenient to for making simplified form understand, there are the parts of identical structure or function in some figure, only schematically depict one of them, or only having marked one of them.
Fig. 1 mobile X-ray imaging device 1 shown involved by an embodiment of the present utility model is in the front view under duty.This mobile X-ray imaging device 1 is for carrying out x-ray imaging to subject 2.This mobile X-ray imaging device 1 at least comprises: mainframe 10, mechanical hand 20,20 ', is arranged at the bulb 30 for generation of X-ray of mechanical hand 20 ' and is arranged at the detector 40 for receiving X-ray of mechanical hand 20.Detect when the X-ray penetrated from bulb 30 is detected device 40 after subject 2, and then the signal detected is transported to image processing apparatus described later.
Mainframe 10 comprises cabinet 101, is arranged at cabinet 101 side and the base station 102 extended to moving direction front and the rail brackets 103 erectting setting from base station 102.The high tension generator of bulb 30 service voltage to X-ray, control unit and image processing apparatus etc. are provided with in cabinet 101.
The base end part of mechanical hand 20,20 ' is arranged at the two sides of the width vertical with vertical direction of rail brackets 103 respectively, and is set to slide along its length in rail brackets 103 two sides.
Below, for mechanical hand 20 (example of the first mechanical hand), the structure of mechanical hand is described.
Mechanical hand 20 comprises the first arm 201, second arm 202, the 3rd arm 203, the 4th arm 204, wrist portion 205.
First arm 201 can swing (as shown by arrows) around the first axle Ax1 of (along illustrating z-axis) of the plummet through the base end part of mechanical hand 20 and the coupling part of the first arm 201.
Second arm 202 can swing (as shown by arrows) around the second axis Ax2 of (along illustrating z-axis) of the plummet of the coupling part through the first arm 201 and the second arm 202.
3rd arm 203 can swing (as shown by arrows) around the 3rd axis Ax3 of (along illustrating z-axis) of the plummet of the coupling part through the second arm 202 and the 3rd arm 203.
4th arm 204 can swing (as shown by arrows) around the four axistyle Ax4 of (along illustrating Y-axis) of the level of the coupling part through the 3rd arm 203 and the 4th arm 204.
Wrist portion 205 can swing (as shown by arrows) around through the 4th arm 204 with the 5th axis Ax5 of the coupling part of wrist portion 205.
And then detector 40 can rotate around the 6th axis Ax6 of the central axis along wrist portion 15.
It should be noted that, be provided with not shown driving mechanism in the interconnective part of each arm.
Thus, detector 40 can be implemented in the motion of the six-freedom degree in space, that is, along the translation of X-axis, Y-axis and Z-direction, and around the rotary motion of X-axis, Y-axis and Z axis.
Mechanical hand 20 ' has the structure identical with mechanical hand 20, omits repeat specification at this.
It should be noted that, the structure of above-mentioned mechanical hand 20,20 ' is only example, is not intended to limit concrete structure of the present utility model, as long as can realize the structure of the motion of six-freedom degree, all should be regarded as in the protection domain of the application.
In addition, it should be noted that, be arranged on rail brackets 103 in the present embodiment exemplified with mechanical hand 20,20 ', and can slide along rail brackets 103, but be not limited thereto, mechanical hand 20,20 ' also can be fixedly installed on cabinet 101.
Fig. 3 shows the mobile X-ray imaging device 1 place front view in the standby state when this utility model relates to.As shown in Figure 3, in the standby state, mechanical hand 20,20 ' is retracted to minimum in their length direction, and make mechanical hand 20,20 ' (and bulb 30 and detector 40) be accommodated in rail brackets 103 by cabinet 101 side, thus reduce the space that mobile X-ray imaging device 1 entirety takies.
Turn back to Fig. 1, when checking subject 2, the mechanical hand 20 being equipped with detector 40 moves down along rail brackets 103, the mechanical hand 20 ' being equipped with bulb 30 moves up along rail brackets 103, simultaneously, mechanical hand 20,20 ' trails, and bulb 30 and detector 40 are configured on the position corresponding to x-ray bombardment position across subject 2.
Fig. 2 mobile X-ray imaging device 1 shown involved by an embodiment of the present utility model is in the top view under duty.As shown in Figure 2, after utilizing the mobile X-ray imaging device 1 of the present embodiment to take a position, when needs are taken another position, only need, in difference mobile manipulator 20,20 ', Fig. 2, the only situation of mobile manipulator 20 ' (as shown in phantom in Figure 2) has been shown.Thus do not need to move whole x-ray imaging device as in the past, save time and the muscle power of operator's mobile device, improve the efficiency of imaging.
When Fig. 4 A, Fig. 4 B show the position when operator's manual adjustments bulb 30, mobile X-ray imaging device 1 regulates the position of detector 40 automatically, with the X-ray making detector 40 can accept bulb 30 radiation well.As shown in Figure 4 A, when operator drags the position of bulb 30 in the direction of the arrow, the position signalling of mechanical hand 20 ' feeds back to the control unit arranged in cabinet 101, and then control unit sends the position corresponding with the position signalling of mechanical hand 20 ' to mechanical hand 20 and adjusts signal, the position of mechanical hand 20 is changed, to make detector 40 move to the position corresponding to bulb 30, the X-ray that bulb 30 radiates can be accepted.In addition, equally, Fig. 4 B shows when operator rotates the position of bulb 30 in the direction of the arrow, and control unit automatically regulates the position of mechanical hand 20, to make detector 40 move to the position corresponding to bulb 30, can accept the X-ray that bulb 30 radiates.Certainly, on the contrary, when the position of operator's manual adjustments detector 40, bulb 30 also can correspondingly move to suitable position.
In addition, in the present embodiment, because mechanical hand 20,20 ' has larger palp space and larger degree of freedom, therefore, also the mobile X-ray equipment of the application can be used as common fixed fluoroscopy installation if desired.Fig. 5 shows top view when being used as common fixed fluoroscopy installation by the mobile X-ray equipment of the application.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a mobile X-ray imaging device, wherein, comprising:
One mainframe, it can move on the ground;
One first mechanical hand, its one end is arranged at described mainframe, and described bulb for generation of the bulb of X-ray, and supports as can move on six-freedom degree by other end supporting;
One second mechanical hand, its one end is arranged at described mainframe, the detector of other end supporting for receiving described X-ray, and by described detector supporting for can move on six-freedom degree.
2. mobile X-ray imaging device according to claim 1, is characterized in that,
Described mainframe also comprises cabinet, base station and erects the rail brackets arranged from described base station, and described base station is arranged at described cabinet side and moving direction to described mobile X-ray imaging device extends,
Described first mechanical hand and described second mechanical hand are arranged at described rail brackets respectively, and can slide along the length direction of described rail brackets.
3. mobile X-ray imaging device according to claim 1, is characterized in that,
Described first mechanical hand and described second mechanical hand are six joint Manipulators.
4. mobile X-ray imaging device according to claim 2, is characterized in that,
In the standby state, described first mechanical hand and described second mechanical hand be accommodated in described rail brackets by described cabinet side.
5. mobile X-ray imaging device according to claim 1, is characterized in that,
Described first mechanical hand, the second mechanical hand comprise respectively: the first arm, the second arm, the 3rd arm, the 4th arm, wrist portion,
Described first arm can swing around the first axle of plummet, and described first axle passes described one end of mechanical hand and the coupling part of described first arm,
Described second arm can around the second axis oscillating of plummet, and described second axis passes the coupling part of described first arm and described second arm,
Described 3rd arm can around the 3rd axis oscillating of plummet, and described 3rd axis passes the coupling part of described second arm and described 3rd arm,
Described 4th arm can swing around the four axistyle of level, and described four axistyle passes the coupling part of described 3rd arm and described 4th arm,
Described wrist portion can around the 5th axis oscillating, and described 5th axis passes the coupling part of the 4th arm and described wrist portion.
6. mobile X-ray imaging device according to claim 5, is characterized in that,
Described bulb or described detector are arranged at the described wrist portion of described first mechanical hand or the second mechanical hand, and can rotate around described wrist portion.
7. mobile X-ray imaging device according to claim 1, is characterized in that,
When change in location occurs a side in described bulb or described detector, the opposing party can utilize and be arranged at control unit in described mainframe and automatically corresponding adjusting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520560232.2U CN204909474U (en) | 2015-07-29 | 2015-07-29 | Portable X ray image equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520560232.2U CN204909474U (en) | 2015-07-29 | 2015-07-29 | Portable X ray image equipment |
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| CN204909474U true CN204909474U (en) | 2015-12-30 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107115120A (en) * | 2017-06-09 | 2017-09-01 | 浙江大学 | A kind of multiple degrees of freedom animal cone-beam CT imaging system |
| CN107753051A (en) * | 2017-10-31 | 2018-03-06 | 上海联影医疗科技有限公司 | Medical imaging device |
| CN108175510A (en) * | 2018-01-19 | 2018-06-19 | 上海联影医疗科技有限公司 | Medical robot and medical system |
| CN108882908A (en) * | 2016-02-01 | 2018-11-23 | 伊美姬艾利斯有限公司 | Arm holder for radiographic imaging apparatus |
| CN109223012A (en) * | 2018-07-18 | 2019-01-18 | 江苏影医疗设备有限公司 | Imaging device |
| CN109759738A (en) * | 2019-02-26 | 2019-05-17 | 淇淩智能科技(上海)有限公司 | A kind of online integral solder quality detection device and its method |
| CN110090036A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Multi-functional radiation tomography device and control method |
| CN110090033A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Intelligent radiation tomography device and control method |
| CN111150416A (en) * | 2020-03-02 | 2020-05-15 | 上海钛米机器人科技有限公司 | Mobile digital X-ray imaging device |
| CN113038881A (en) * | 2018-10-30 | 2021-06-25 | 皇家飞利浦有限公司 | X-ray imaging apparatus |
| CN113907773A (en) * | 2021-10-12 | 2022-01-11 | 高榕 | Portable multifunctional medical imaging matching system and method |
| CN114222651A (en) * | 2019-07-26 | 2022-03-22 | 汉阳大学校产学协力团 | Magnetic driving system and micro-robot control method using the same |
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2015
- 2015-07-29 CN CN201520560232.2U patent/CN204909474U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108882908A (en) * | 2016-02-01 | 2018-11-23 | 伊美姬艾利斯有限公司 | Arm holder for radiographic imaging apparatus |
| US11510635B2 (en) | 2016-02-01 | 2022-11-29 | Epica International, Inc. | Radiological imaging device |
| CN107115120A (en) * | 2017-06-09 | 2017-09-01 | 浙江大学 | A kind of multiple degrees of freedom animal cone-beam CT imaging system |
| CN107753051A (en) * | 2017-10-31 | 2018-03-06 | 上海联影医疗科技有限公司 | Medical imaging device |
| CN108175510A (en) * | 2018-01-19 | 2018-06-19 | 上海联影医疗科技有限公司 | Medical robot and medical system |
| CN110090036A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Multi-functional radiation tomography device and control method |
| CN110090033A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Intelligent radiation tomography device and control method |
| CN109223012A (en) * | 2018-07-18 | 2019-01-18 | 江苏影医疗设备有限公司 | Imaging device |
| CN113038881A (en) * | 2018-10-30 | 2021-06-25 | 皇家飞利浦有限公司 | X-ray imaging apparatus |
| US11963809B2 (en) | 2018-10-30 | 2024-04-23 | Koninklijke Philips N.V. | X-ray imaging arrangement |
| CN109759738A (en) * | 2019-02-26 | 2019-05-17 | 淇淩智能科技(上海)有限公司 | A kind of online integral solder quality detection device and its method |
| CN114222651A (en) * | 2019-07-26 | 2022-03-22 | 汉阳大学校产学协力团 | Magnetic driving system and micro-robot control method using the same |
| CN111150416A (en) * | 2020-03-02 | 2020-05-15 | 上海钛米机器人科技有限公司 | Mobile digital X-ray imaging device |
| CN113907773A (en) * | 2021-10-12 | 2022-01-11 | 高榕 | Portable multifunctional medical imaging matching system and method |
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