CN208942168U - Radiation tomography device - Google Patents
Radiation tomography device Download PDFInfo
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- CN208942168U CN208942168U CN201820169915.9U CN201820169915U CN208942168U CN 208942168 U CN208942168 U CN 208942168U CN 201820169915 U CN201820169915 U CN 201820169915U CN 208942168 U CN208942168 U CN 208942168U
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- mechanical arm
- radiation tomography
- tomography device
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Abstract
The utility model discloses a kind of radiation tomography devices, it includes two mechanical arms being oppositely arranged, and the transmitting unit and receiving unit of fixed setting on the robotic arm are respectively corresponded, the mechanical arm, which is driven, to be driven transmitting unit and receiving unit mobile by setting track or is moved to setting position.The radiation tomography device of the utility model drives transmitting unit and receiving unit by two controlled mechanical arms are corresponding, mechanical arm can receive the instruction of program, it is pin-pointed to spatially any point, more position film making static and dynamic all standings in spatial position may be implemented in the adjustment that different postures are realized by the control to mechanical arm.Substantially the function of current all X-ray production apparatus may be implemented.
Description
Technical field
The utility model relates to technical field of medical equipment, more particularly to a kind of radiation tomography device.
Background technique
The X-ray product that Hospitals at Present generally uses is more dispersed many kinds of, including X-ray level bed DR, C-arm X are penetrated
Line machine, UC arm DR, suspention DR system, CT system；25 stomach and intestine machines etc..The position of the above hardware check and the emphasis of inspection, respectively
Different, function can not achieve the detection of all positions using above cutting both ways.And kinds of machine is various, due to every machine
Operating with for device is different from, and brings difficulty to operator's use of hospital, adjusting of parameter etc..And kinds of machine
Various, hospital needs to provide enough places.Occupy a large amount of space.Cause the in short supply of place.Overall cost increases
Add.
In summary, it is contemplated that reducing hospital operation personnel makes the use of equipment, the purchase cost of equipment, hospital equipment
With the utilization with space.
Utility model content
The purpose of this utility model is to be directed to technological deficiency existing in the prior art, and provide a kind of radiography dress
It sets.
It is for technical solution used by realization the purpose of this utility model:
A kind of radiation tomography device, the mechanical arm being oppositely arranged including two, and respectively correspond and be fixed at machinery
Transmitting unit and receiving unit on arm, the mechanical arm, which is driven, drives transmitting unit and receiving unit to move by setting track
Move or be moved to setting position.
In the above-mentioned technical solutions, the transmitting unit and receiving unit are respectively that pipe ball unit and plate detection are single
Member.
In the above-mentioned technical solutions, protective unit is provided on the mechanical arm.
In the above-mentioned technical solutions, the protective unit includes the range sensor of setting on the robotic arm, Yi Jizhi
Pressure sensor on transmitting unit and receiving unit is set less.
In the above-mentioned technical solutions, the range sensor is ultrasonic sensor, and the pressure sensor is packet
Cover the sheet pressure sensor set in prominent position.
In the above-mentioned technical solutions, elastic rubber is coated on the outside of the pressure sensor.
It in the above-mentioned technical solutions, further include being fixedly installed hand on mechanical arm corresponding with the plate probe unit
Help bracket.
In the above-mentioned technical solutions, the mechanical arm is sixdegree-of-freedom simulation, is fixed with the mechanical arm of transmitting unit
Pedestal and ground between be provided with track.
A kind of control method of the radiation tomography device, includes the following steps；
1) two mechanical arms are driven to enter corresponding test pose；
2) transmitting unit and receiving unit correspond to work and are shot.
In the above-mentioned technical solutions, the Chest X-rays that is shot for is made film.
Compared with prior art, the utility model has the beneficial effects that
The radiation tomography device of the utility model, as DR robot by two controlled mechanical arms it is corresponding drive pipe ball units and
Plate probe unit, mechanical arm can receive the instruction of program, spatially any point is pin-pointed to, by mechanical arm
The adjustment of different postures is realized in control, and more position film making static and dynamic all standings in spatial position may be implemented.It substantially can be with
All radiographies at present are realized, such as the function of X-ray production apparatus.
Detailed description of the invention
Fig. 1 show the structural schematic diagram of the radiation tomography device of the utility model.
Specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that this place
The specific embodiment of description is only used to explain the utility model, is not used to limit the utility model.
First embodiment
The radiation tomography device of the utility model includes console, two mechanical arms 1,2 being oppositely arranged, such as six degree of freedom
Mechanical arm, and the transmitting unit 3 and receiving unit 4 of fixed setting on the robotic arm are respectively corresponded, such as pipe ball unit and plate
Probe unit, the mechanical arm are driven pipe ball unit and plate probe unit to matched inspection by the console driving
Position, i.e., it is mobile by setting track or be moved to setting position.
Radiography mechanical arm includes chassis, is arranged on chassis and is driven the waist rotating part relative to chassis rotation,
Lower end connect with waist rotating part and is driven the Support large arm that opposite waist rotating part is swung up and down, setting in Support large arm upper end and
It is driven the support forearm that opposite Support large arm is swung up and down, and setting in support forearm end and is driven rotation or up and down
The cephalic par of swing, and the functional unit being fixedly connected with the cephalic par, such as transmitting unit or receiving unit.
Specifically, the waist rotating part of mechanical arm, internal structure are a set of servo motor and deceleration unit, turbine and worm transmission
Structure, compact-sized, stable drive, driving torque are big.The vertical transmission of power spatially may be implemented.The driving of waist rotation
Direction are as follows: servo motor → retarder → turbine, worm tooth wheel set → rotary motion.
Support large arm enclosure material is aluminium alloy, and the driving structure of Support large arm includes servo motor and deceleration unit, tooth
Wheel shaft is connected to commutating tooth wheel set by shaft coupling.A gear and the rotary support member of Support large arm connect in gear pair.Actively
Gear drives driven gear, and driven gear is rotated together together with rotary support member.Servo motor is internally provided with encoder, can be with
The gear of real-time monitoring output rotates angles and positions.Realize precisely movement.The driving that Support large arm is swung up and down are as follows: servo electricity
Machine → retarder → speed reducer output shaft (key connection) → gear pair (spur gear) → Support large arm is swung up and down.
The driving mechanism of support forearm includes the servo motor being arranged in Support large arm and reduction gearbox group, is mentioned for rotation
For power.Reduction gearbox output shaft is directly connect with pinion gear, and pinion gear is engaged with gear wheel, and motor rotation is engaged by gear to be passed
Long axis is passed, long axis head end is equipped with conical bevel gear.The conical bevel gear taper umbrella tooth vertical with its transmission shaft with another pair
Wheel connection.The axial direction of motor is converted into radial rotating.Conical bevel gear drives elbow joint rotation.To realize elbow joint
Movement drives support forearm to swing up and down, and the precise motion of elbow joint equally passes through Serve Motor Control.
The rotation of support forearm is driven to servo motor → retarder → transmission shaft → taper pinion pair → joint and swings
Support forearm is driven to swing up and down.Support forearm shell is similarly aluminum alloy material, to connect elbow joint assembly and head end
Portion.The inner tail end of support forearm is positive gear auxiliary driving, and head end is conical bevel gear auxiliary driving and rotation.Three servo motors
In elbow joint, respectively, support forearm rotation servo motor group, head elevation servo motor group, head end rotating servo electricity
Unit.The rotation, head pitching, head end rotation of control support forearm respectively.The rotation for supporting forearm is servo motor+speed reducer
Group driving gear pair rotation, pinion gear driving, gear wheel are driven, and gear wheel and support forearm cage connection, realize forearm
Rotation.The pitching of cephalic par is similarly servo motor+speed reducer and drives a pair of of commutating tooth wheel set, and pinion gear driving wheel, gear wheel are
Driven wheel.Gear wheel is connect with transmission long axis, the bevel-gear sett connection of long axis and head end, one of angular wheel and head
Portion's cage connection.Realize head pitching.The rotation of cephalic par rotates transmitting power section with head pitching long axis, and structure is similar.
Difference is that the conical bevel gear of head end is connect with a pair of of commutating tooth wheel set, and angular wheel drives spur gear rotation, the rotation of commutating tooth wheel set
Turn band moving axis to rotate, a pair of of taper umbrella gear pair is installed again on axis.The change for realizing rotation direction, reaches the rotation of head end.
Above-mentioned mechanical arm, six-joint robot DR share the freedom degree of six direction, are that waist turns, shoulder turns, elbow turns, forearm turns, head respectively
Pitching, head end rotation.Six joints can be moved simultaneously with the coordinated movement of various economic factors with six joints, can also be joined with some of them joint
Dynamic or single action, 2 mechanical arms can be realized linkage, be completed the accurate fortune of complicated track by motion control program with cooperation
It is dynamic.
Meanwhile to improve controlling, between the pedestal and ground of the mechanical arm that the mechanical arm, especially pipe ball unit are surveyed
It is provided with track, i.e., servo motor, gear-box, axis, gear, rack gear, sliding block built in pedestal, with the sliding block matchingly straight line
Guide rail is connect with ground embedded board, be can be realized with respect to another mechanical arm close to or far from operation, is improved motion control
Freedom degree.
Wherein, the mechanical arm can be fixedly installed on bottom surface indoors opposite to each other on 10 or top plate or side wall,
Different fixation positions, is able to satisfy the requirement in different operation space, moreover, having better space adaptability.Pass through mechanical arm
High-precision control, enable pipe ball unit and plate probe unit to reach the corresponding position of matching, realize multi-functional Formula X ray
Shooting.
Console includes control panel, computer monitor etc., is the center of information processing, takes into account adopting for input signal
Collection, the processing of robot motion, flat panel detector is opened and image procossing, the exposure of pipe ball and high pressure host kilovolt, milliampere, second
Adjustment control, is the brain of whole system.
The pipe ball unit includes pipe ball and photochopper, and X-ray is by generation when filament bombardment target surface in pipe ball.X
Ray filters out extra ray and scattered rays by beam-defining clipper.Toshiba, Varian such as may be selected.The plate detection
Unit includes detector and grid composition, can also add AEC function, i.e. outfit ionisation chamber.Such as Toshiba may be selected in detector
17x17, also sharp 14x17, the portable plate of Varian 14x17 etc..Flat panel detector receives imaging of the X-ray after body, filters line
Ray is adjusted to same direction by grid, improves image quality.And the size measured when ionisation chamber control automatic exposure.Plate detection
Device into the poster processing soft, handles image image transmitting, obtains qualitative picture.
The radiation tomography device of the utility model drives transmitting unit 3 and receiving unit 4 by two controlled mechanical arms are corresponding,
Such as pipe ball unit and plate probe unit, mechanical arm can receive the instruction of program, be pin-pointed to spatially any point, lead to
The adjustment for realizing different postures to the control of mechanical arm is crossed, may be implemented more positions film makings spatial position is static and dynamic to cover entirely
Lid.Substantially the function of current all X-ray production apparatus may be implemented.
Second embodiment
Specifically, to improve protective, it is provided with protective unit on the mechanical arm, as one of specific implementation
Mode, the protective unit include the range sensor being arranged at joint of mechanical arm, and are arranged at pipe ball unit
With the pressure sensor on plate probe unit, the range sensor is ultrasonic sensor, the pressure sensor
For the sheet pressure sensor for coating projecting point.
Range sensor is set using in joint, senses barrier when can not be in contact in action process
Or detected person, timely stopping act to avoid causing to damage, meanwhile, pressure is set on pipe ball unit and plate probe unit
Sensor, because inevitably passing through pressure using pressure sensor with closely even having gentle touchdown when different function
Power sensing carries out security protection, can guarantee close safe distance and has good operability.Preferably, in the pressure
Elastic rubber is coated on the outside of sensor.The pressure sensor is mainly disposed to phase on pipe ball unit and plate probe unit
To position outstanding.
It further include the human testing unit linked with the console communication meanwhile to improve device intelligence, it is described
Human testing unit include batheroom scale and camera, in bottom, the camera is arranged in body for the batheroom scale setting
At the top of restatement, by the scanning to human somatotype, analysis height, body expanded letter thickness etc. can be carried out, this similarly to the prior art,
This not reinflated description.Above- mentioned information can be sent directly to controller, and controller can carry out accordingly according to different signs
Pose adjustment.
Meanwhile to be adapted to different function, be for example convenient for filming machine function, then with the plate probe unit
Hand steered bracket 5 is fixedly installed on corresponding mechanical arm, convenient for the control of posture.
3rd embodiment
The control method of radiation tomography device described in the utility model one kind, includes the following steps；
1) console drives two mechanical arms to enter corresponding test pose；After reaching scheduled posture, pass through indicator light
Or sound etc. is reminded, person to be checked can enter specified region, and mechanical arm senses person to be detected and enters predetermined position,
Feedback is issued, such as issues acousto-optic Xiang doctor and reminds, such as indicator light is green from red or orange variation, or unlock is certain
The locking of function, prompt can carry out normal photographing；
2) pipe ball unit and plate probe unit correspond to work and are shot, i.e. high pressure host control pipe ball exposure, thus
Realize the exposure tests of automatic intelligence, while the image information of examinee is sensed by flat panel detector and is sent to console
Information is carried out to handle in next step.
It further include that driving mechanical arm carries out corresponding posture tune continuously or discontinuously meanwhile for different use functions
It is whole at the same the step of carry out corresponding shooting to execute filming machine function, as Chest X-rays film making function can also configure multi-pose bed certainly
Or the vertical plate that opposing bottom surface is fixedly connected, it can be realized by the cooperation multi-pose bed of motion profile, such as catheter bed with more function
Can, specifically, multi-pose table is to lay flat state, and the distance of transmitting unit and receiving unit is constant and rotation center is coaxial always simultaneously
Uniform motion, while continuously or discontinuously formula shooting is carried out to execute CT or C-arm function.May be implemented operation interventional therapy,
Radiography can be used for orthopaedics, whole bone, reset, nailing.Since the accurate motion profile of mechanical arm can simulate the opposite position of C-arm
Set track.Can substitute C-arm come using.And it is easy-to-use compared with CT machine, privileged site emphasis shooting can be carried out and also carried out
Shooting comprehensively reduces human body radiation and bears.
It alternatively applies, multi-pose table is upright or inclination state, and the distance of transmitting unit and receiving unit is not
Become and along the length direction uniform motion of table, while carrying out continuously or discontinuously formula shooting to execute fluoroscopic machine or stomach machine function
Energy.
Meanwhile one wherein, as reflective sensor is arranged on the corresponding mechanical arm of receiving unit, mechanical arm is set in execution
When determining function, mechanical arm is risen vertically by setting from low spot and finds the changing value of reflective sensor to measure human body shoulder first
Then height carries out the automatic positioning of two mechanical arms further according to shoulder height or runs by matched track.That is, utilizing the upper of mechanical arm
The acquisition for realizing human body information is risen, it is expanded and uses function.
The above is only the preferred embodiment of the utility model, it is noted that for the general of the art
For logical technical staff, without departing from the principle of this utility model, several improvements and modifications can also be made, these change
It also should be regarded as the protection scope of the utility model into retouching.
Claims (10)
1. a kind of radiation tomography device, which is characterized in that the mechanical arm being oppositely arranged including two, and respectively correspond fixation and set
Set transmitting unit and receiving unit on the robotic arm, the mechanical arm, which is driven, drives transmitting unit and receiving unit by setting
Fixed track is mobile or is moved to setting position.
2. radiation tomography device as described in claim 1, which is characterized in that the transmitting unit and receiving unit be respectively
Pipe ball unit and plate probe unit.
3. radiation tomography device as described in claim 1, which is characterized in that be provided with protective unit on the mechanical arm.
4. radiation tomography device as claimed in claim 3, which is characterized in that the protective unit includes being arranged in mechanical arm
On range sensor.
5. radiation tomography device as claimed in claim 4, which is characterized in that further include pressure sensor.
6. radiation tomography device as claimed in claim 5, which is characterized in that the pressure sensor is arranged at transmitting
On unit and receiving unit.
7. radiation tomography device as claimed in claim 6, which is characterized in that the range sensor is supersonic sensing
Device, the pressure sensor are the sheet pressure sensor that prominent position is arranged in cladding.
8. radiation tomography device as claimed in claim 7, which is characterized in that be coated with bullet on the outside of the pressure sensor
Property rubber.
9. radiation tomography device as claimed in claim 2, which is characterized in that further include corresponding with the plate probe unit
Mechanical arm on be fixedly installed hand steered bracket.
10. radiation tomography device as described in claim 1, which is characterized in that the mechanical arm is sixdegree-of-freedom simulation,
It is fixed between the pedestal and ground of the mechanical arm of transmitting unit and is provided with track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820169915.9U CN208942168U (en) | 2018-01-30 | 2018-01-30 | Radiation tomography device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820169915.9U CN208942168U (en) | 2018-01-30 | 2018-01-30 | Radiation tomography device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208942168U true CN208942168U (en) | 2019-06-07 |
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ID=66729306
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820169915.9U Active CN208942168U (en) | 2018-01-30 | 2018-01-30 | Radiation tomography device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110090032A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Radiation tomography device and control method |
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2018
- 2018-01-30 CN CN201820169915.9U patent/CN208942168U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110090032A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Radiation tomography device and control method |
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