CN219229912U - Angiography system based on double mechanical arms - Google Patents

Abstract

The utility model relates to an angiography system based on double mechanical arms, which comprises a first mechanical arm assembly, a telescopic bed and a second mechanical arm assembly, wherein the tops of the first mechanical arm assembly and the second mechanical arm assembly are respectively arranged on a ceiling above the first mechanical arm assembly, and the telescopic bed is positioned on the ground between the first mechanical arm assembly and the second mechanical arm assembly. According to the angiography system based on the double mechanical arms, through the split structure arrangement of the first mechanical arm assembly, the telescopic bed and the second mechanical arm assembly, the driving flexibility between the detector and the generator can be improved, the degree of freedom is good, and the application range is wide; meanwhile, the first mechanical arm assembly and the second mechanical arm assembly can realize motion control on multiple shafts, and the applicability of the device is improved.

Description

Angiography system based on double mechanical arms

Technical Field

The utility model relates to the technical field related to medical equipment, in particular to an angiography system based on double mechanical arms.

Background

Angiography systems are generally composed of a gantry, a C-arm, an X-ray tube assembly and a flat panel detector, a patient table, a high voltage generator, a monitor and its suspension system, a console, etc., for general X-ray examinations, angiographic examinations and interventions.

In the prior art, the mechanical mounting structure of the angiography system is generally in an integrated C-shaped arm mode, but the mounting connection structure ensures that the driving flexibility between the detector and the generator is poor, the degree of freedom is less, and the mechanical mounting structure has certain limitation in the practical operation and use process.

In view of the above-mentioned drawbacks, the present inventors have actively studied and innovated to create an angiography system based on dual mechanical arms, which has a more industrial application value.

Disclosure of Invention

In order to solve the technical problems, the utility model aims to provide an angiography system based on double mechanical arms.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an angiography system based on double mechanical arms comprises a first mechanical arm assembly, a telescopic bed and a second mechanical arm assembly, wherein the tops of the first mechanical arm assembly and the second mechanical arm assembly are respectively arranged on a ceiling above the first mechanical arm assembly and the second mechanical arm assembly, and the telescopic bed is positioned on the ground between the first mechanical arm assembly and the second mechanical arm assembly; the first mechanical arm assembly sequentially comprises a first rotary mechanical arm, a second rotary mechanical arm, a third rotary mechanical arm, a fourth rotary mechanical arm, a fifth rotary mechanical arm, a sixth rotary mechanical arm and a detection flat plate which are connected with each other from top to bottom, wherein the top of the first rotary mechanical arm is arranged on a ceiling above the first rotary mechanical arm through a first mounting flange, and the detection flat plate is arranged at the bottom of the sixth rotary mechanical arm through a flat plate connecting tool; the second mechanical arm assembly sequentially comprises a seventh rotating mechanical arm, an eighth rotating mechanical arm, a ninth rotating mechanical arm, a tenth rotating mechanical arm, an eleventh rotating mechanical arm, a twelfth rotating mechanical arm and a bulb tube which are connected with each other from top to bottom, wherein the top of the seventh rotating mechanical arm is arranged on a ceiling above the seventh rotating mechanical arm through a second mounting flange, and the bulb tube is arranged at the bottom of the twelfth rotating mechanical arm through a bulb tube connecting tool, and a collimator tube is arranged on the bulb tube.

As a further improvement of the present utility model, the first and second robot arm assemblies are respectively installed at both side positions of the ceiling along the X-axis direction, and the telescopic bed is disposed along the Y-axis direction.

As a further improvement of the present utility model, the first and second robot arm assemblies are installed at both side positions of the ceiling along the X-axis direction, and the telescopic bed is disposed along the X-axis direction.

As a further improvement of the present utility model, the tops of the first and second robot arm assemblies are respectively mounted on the ceiling above by a linear driving mechanism.

As a further development of the utility model, the linear drive is a linear motor or an electric cylinder or an air cylinder.

As a further improvement of the present utility model, the tops of the first and second robot arm assemblies are respectively mounted on the ceiling above by a rotation driving mechanism.

As a further development of the utility model, the rotary drive is a pivoting support.

As a further improvement of the utility model, the movement range of the first rotary mechanical arm is +/-185 degrees; the movement range of the second rotary mechanical arm is-175 degrees/60 degrees; the movement range of the third rotary mechanical arm is-120 degrees/165 degrees; the movement range of the fourth rotary mechanical arm is +/-180 degrees; the movement range of the fifth rotary mechanical arm is +/-125 degrees; the movement range of the sixth rotary mechanical arm is +/-350 degrees.

As a further improvement of the utility model, the movement range of the seventh rotary mechanical arm is + -185 degrees; the motion range of the eighth rotary mechanical arm is-175 degrees/60 degrees; the motion range of the ninth rotary mechanical arm is-120 degrees/165 degrees; the movement range of the tenth rotary mechanical arm is +/-180 degrees; the motion range of the eleventh rotary mechanical arm is +/-125 degrees; the movement range of the twelfth rotary mechanical arm is +/-350 degrees.

By means of the scheme, the utility model has at least the following advantages:

according to the angiography system based on the double mechanical arms, through the split structure arrangement of the first mechanical arm assembly, the telescopic bed and the second mechanical arm assembly, the driving flexibility between the detector and the generator can be improved, the degree of freedom is good, and the application range is wide; meanwhile, the first mechanical arm assembly and the second mechanical arm assembly can realize motion control on multiple shafts, and the applicability of the device is improved.

The foregoing description is only an overview of the present utility model, and is intended to provide a better understanding of the present utility model, as it is embodied in the following description, with reference to the preferred embodiments of the present utility model and the accompanying drawings.

Drawings

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

FIG. 1 is a schematic view of a first embodiment of the present utility model;

FIG. 2 is a schematic diagram of a second embodiment of the present utility model;

FIG. 3 is a schematic view of a third embodiment of the present utility model;

FIG. 4 is a schematic view of a fourth embodiment of the present utility model;

FIG. 5 is a schematic view of the structure of FIG. 4 at another angle;

FIG. 6 is a schematic view of the first robot arm assembly of FIGS. 1-5;

FIG. 7 is a schematic view of the second robot arm assembly of FIGS. 1-5;

FIG. 8 is a schematic illustration of a first motion pattern of the present utility model;

FIG. 9 is a schematic illustration of a second motion pattern of the present utility model;

FIG. 10 is a schematic illustration of a third motion profile of the present utility model;

FIG. 11 is a schematic illustration of a fourth motion profile of the present utility model;

fig. 12 is a schematic view of a fifth mode of movement of the present utility model.

In the drawings, the meaning of each reference numeral is as follows.

1. First mechanical arm assembly of ceiling 2

3. Second mechanical arm assembly of telescopic bed 4

5. Straight line driving mechanism of top frame 6

7. First mounting flange of rotary driving mechanism 8

9. First rotary mechanical arm 10 second rotary mechanical arm

11. Third rotating mechanical arm 12 fourth rotating mechanical arm

13. Fifth rotating mechanical arm 14 sixth rotating mechanical arm

15. Flat connection tool 16 detects flat board

17. Second mounting flange 18 seventh rotary mechanical arm

19. Eighth rotary mechanical arm 20 ninth rotary mechanical arm

21. Tenth rotating robot 22 eleventh rotating robot

23. Twelfth rotary mechanical arm 24 ball house connection tool

25. Ball 26 collimator

Detailed Description

The following describes in further detail the embodiments of the present utility model with reference to the drawings and examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.

In order to make the present utility model better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present utility model.

Examples

As shown in figures 1 to 12 of the drawings,

an angiography system based on double mechanical arms comprises a first mechanical arm assembly 2, a telescopic bed 3 and a second mechanical arm assembly 4, wherein the tops of the first mechanical arm assembly 2 and the second mechanical arm assembly 4 are respectively arranged on a ceiling 1 above, and the telescopic bed 3 is positioned on the ground between the first mechanical arm assembly 2 and the second mechanical arm assembly 4; the first mechanical arm assembly 2 sequentially comprises a first rotary mechanical arm 9, a second rotary mechanical arm 10, a third rotary mechanical arm 11, a fourth rotary mechanical arm 12, a fifth rotary mechanical arm 13, a sixth rotary mechanical arm 14 and a detection flat plate 16 which are mutually connected from top to bottom, wherein the top of the first rotary mechanical arm 9 is arranged on the ceiling 1 above through a first mounting flange 8, and the detection flat plate 16 is arranged at the bottom of the sixth rotary mechanical arm 14 through a flat plate connecting tool 15; the second mechanical arm assembly 4 sequentially comprises a seventh rotating mechanical arm 18, an eighth rotating mechanical arm 19, a ninth rotating mechanical arm 20, a tenth rotating mechanical arm 21, an eleventh rotating mechanical arm 22, a twelfth rotating mechanical arm 23 and a bulb tube 25 which are connected with each other from top to bottom, wherein the top of the seventh rotating mechanical arm 18 is installed on the ceiling 1 above through the second installation flange 17, the bulb tube 25 is installed at the bottom of the twelfth rotating mechanical arm 23 through the bulb tube connection tool 24, and the bulb tube 25 is provided with the collimator tube 26.

The detection plate 16 may have 6 degrees of freedom through the structural arrangement of the first rotary mechanical arm 9, the second rotary mechanical arm 10, the third rotary mechanical arm 11, the fourth rotary mechanical arm 12, the fifth rotary mechanical arm 13, the sixth rotary mechanical arm 14 and the detection plate 16 on the first mechanical arm assembly 2; the seventh rotary robot 18, the eighth rotary robot 19, the ninth rotary robot 20, the tenth rotary robot 21, the eleventh rotary robot 22, the twelfth rotary robot 23, and the bulb 25 on the second robot assembly 4 may have 6 degrees of freedom.

Wherein, the liquid crystal display device comprises a liquid crystal display device,

the movement range of the first rotary mechanical arm 9 is +/-185 degrees; the movement range of the second rotary mechanical arm 10 is-175 degrees/60 degrees; the movement range of the third rotary mechanical arm 11 is-120 degrees/165 degrees; the movement range of the fourth rotary mechanical arm 12 is +/-180 degrees; the movement range of the fifth rotary mechanical arm 13 is + -125 degrees; the movement range of the sixth rotary robot 14 is ±350 degrees.

The first rotary mechanical arm 9 can drive the components below the first rotary mechanical arm to realize circular motion of +/-185 degrees, the second rotary mechanical arm 10 can drive the components below the second rotary mechanical arm to realize circular motion of-175 degrees/60 degrees, the third rotary mechanical arm 11 can drive the components below the third rotary mechanical arm to realize circular motion of-120 degrees/165 degrees, the fourth rotary mechanical arm 12 can drive the components below the fourth rotary mechanical arm to realize circular motion of +/-180 degrees, the fifth rotary mechanical arm 13 can drive the components below the fifth rotary mechanical arm to realize circular motion of +/-125 degrees, and the sixth rotary mechanical arm 14 can drive the detection flat plate 16 below the sixth rotary mechanical arm to realize circular motion of +/-350 degrees.

The first mechanical arm assembly 2 has six degrees of freedom comprehensively, and can realize a rotary and translational movement mode. The first mechanical arm assembly 2 sequentially passes through the combined structures of a plurality of rotary mechanical arms, so that the detection flat plate 16 is driven to realize a composite motion track.

Likewise, the range of motion of the seventh rotary robot 18 is ±185 degrees; the movement range of the eighth rotary mechanical arm 19 is-175 degrees/60 degrees; the movement range of the ninth rotary mechanical arm 20 is-120 degrees/165 degrees; the movement range of the tenth rotary mechanical arm 21 is ±180 degrees; the movement range of the eleventh rotary robot 22 is ±125 degrees; the movement range of the twelfth rotary robot 23 is ±350 degrees.

The seventh rotary mechanical arm 18 can drive the components below the seventh rotary mechanical arm to realize circular motion of +/-185 degrees, the eighth rotary mechanical arm 19 can drive the components below the eighth rotary mechanical arm to realize circular motion of-175 degrees/60 degrees, the ninth rotary mechanical arm 20 can drive the components below the ninth rotary mechanical arm to realize circular motion of-120 degrees/165 degrees, the tenth rotary mechanical arm 21 can drive the components below the tenth rotary mechanical arm to realize circular motion of +/-180 degrees, the eleventh rotary mechanical arm 22 can drive the components below the eleventh rotary mechanical arm to realize circular motion of +/-125 degrees, and the twelfth rotary mechanical arm 23 can drive the detection flat plate 16 below the twelfth rotary mechanical arm to realize circular motion of +/-350 degrees.

The second mechanical arm assembly 4 has six degrees of freedom comprehensively, and can realize a rotary and translational movement mode. The second mechanical arm assembly 4 sequentially passes through the combined structures of a plurality of rotary mechanical arms, so that the driving bulb tube 25 and the parallel light tube 26 can realize a composite motion track.

Wherein, in actual operation, the detecting plate 16 may be located above or below or left or right of the telescopic bed 3, the bulb 25 may be located above or below or left or right of the telescopic bed 3, and the detecting plate 16 and the bulb 25 may all perform a rotational movement around a circumference within a range of 180 degrees. The transmitting function is realized by the bulb 25 and the receiving function is realized by the detecting plate 16.

First embodiment of the present utility model:

preferably, the first mechanical arm assembly 2 and the second mechanical arm assembly 4 are respectively installed at two side positions along the X-axis direction on the ceiling 1, and the telescopic bed 3 is arranged along the Y-axis direction.

Second embodiment of the present utility model:

preferably, the first and second robot arm assemblies 2 and 4 are installed at both side positions along the X-axis direction on the ceiling 1, and the telescopic bed 3 is disposed along the X-axis direction.

Third embodiment of the utility model:

preferably, the tops of the first and second robot arm assemblies 2 and 4 are respectively mounted on the upper ceiling 1 by a linear driving mechanism 6.

Preferably, the linear drive mechanism 6 is a linear motor or an electric cylinder or an air cylinder.

Wherein the linear driving mechanism 6 is arranged along the X-axis direction. The first mechanical arm assembly 2 and the second mechanical arm assembly 4 are installed on a guide rail, the guide rail is fixed on the ceiling 1, the first mechanical arm assembly 2 and the second mechanical arm assembly 4 can move linearly along the guide rail, and the linear movement can be realized by a linear motor or an electric cylinder or an air cylinder or a gear rack and the like.

Fourth embodiment of the present utility model:

preferably, the tops of the first and second robot arm assemblies 2 and 4 are respectively mounted on the upper ceiling 1 by a rotation driving mechanism 7.

The first mechanical arm assembly 2 and the second mechanical arm assembly 4 are respectively installed at positions right opposite to the rotary driving mechanism 7, namely, the included angle between the first mechanical arm assembly 2 and the second mechanical arm assembly 4 is 180 degrees.

Preferably, the rotation driving mechanism 7 is a slewing bearing.

The slewing bearing is fixed on the ceiling 1, the connecting plate is arranged on the slewing bearing, the two mechanical arms are connected with the slewing bearing through the connecting plate, and the slewing bearing is driven to rotate through the motor and the gear, so that the two mechanical arms are driven to rotate for 360 degrees.

The third embodiment adds the structure of the linear driving mechanism 6 of the rail type so that the two robot arm assemblies can realize linear motion.

The fourth embodiment adds a structure of a slewing bearing type rotation driving mechanism 7 so that both the arm assemblies can be rotated.

The third embodiment and the fourth embodiment are equivalent to a 7-degree-of-freedom mechanical arm, and one degree of freedom is added than that of the first embodiment and the second embodiment, so that more complex track movement can be realized.

The utility model can realize the omnibearing coverage from the head to the feet of 2.3m on the telescopic bed 3;

the utility model can realize large-angle two-dimensional projection ranges of RAO plus or minus 180 degrees, LAO plus or minus 180 degrees, CRA plus or minus 80 degrees and CAUD plus or minus 80 degrees;

the utility model can realize three-dimensional rotation acquisition scanning based on 360 degrees of the target object or the region of interest, realize the improvement of the quality of the three-dimensional reconstruction image from the acquisition end, and break through the quality standard of the diagnosis-level CT image.

The motion mode of the two arms driving the flat plate of the ball house is described in the utility model:

as shown in fig. 8, the first movement pattern of the present utility model:

two-dimensional angle projection: in the height adjustment range from 75cm to 110cm of the telescopic bed 3, for any interested point/Region (ROI) of a patient lying on the bed, the double mechanical arms can make the ray emitting end (the bulb tube 25) and the ray receiving end (the detection flat plate 16) be positioned on a spherical surface taking the interested point/region as the center through compound movement, and any two points which do not interfere with the collision of the bed are avoided, and the direction of the bulb tube ray beam is always perpendicular to the plane of the flat plate. As shown in the following figure, the position 1 and the position 2 are two working angles, and can be switched back and forth between two positions and more positions through the movement of the double arms, so that the two-dimensional projection is completed by matching with the image chain acquisition, and the two-dimensional projection is clinically used for diagnosing a plurality of angles of a vascular stenosis focus in a heart coronary intervention (PCI) operation. According to the clinical use scenario of the intervention, the diameter of the sphere is from 100cm to 130cm, as shown in fig. 8, the diameter of the first sphere is 100cm, and the diameter of the second sphere is 130cm.

As shown in fig. 9, the second movement pattern of the present utility model:

the distance (SID) between the bulb 25 and the detection plate 16 under two-dimensional projection is adjusted: at a certain projection angle (e.g., position 1), the distance from the end of the bulb 25 to the end of the detection plate 16 can be adjusted by the double arm motion, which is clinically used for local imaging, control of compound dose, and adjustment of the magnification of imaging of the point/region of interest. During this process, the projection angle and the point/region of interest center point remain unchanged all the time, and the bulb 25 and the detection plate 16 move along the projection center axis, as in the movement track of position 1 to position 3 in fig. 9.

As shown in fig. 10, the third movement pattern of the present utility model:

translation of the combination of bulb 25 and detection plate 16 under two-dimensional projection: under a certain initial projection angle (such as position 4), the projection angle and SID are kept unchanged, the double arms drive the ball tube 25 and the detection flat plate 16 to be combined as a whole to translate along the longitudinal direction of the bed, the transverse direction of the bed is used for multi-exposure of an image chain, and the double arms are clinically used for long bone imaging splicing, long blood vessel imaging splicing and the like, as indicated by arrows in fig. 10.

As shown in fig. 11, the fourth movement pattern of the present utility model:

translation of the combination of bulb 25, detection plate 16 and telescopic bed 3 under two-dimensional projection: under a certain angle perpendicular to the bed (such as position 4), the projection angle and SID are kept unchanged, the distance from the bulb 25 and the detection plate 16 to the point/area of interest is kept unchanged, the bulb 25 and the detection plate 16 are driven by the double arms, and the whole body moves horizontally along with the telescopic bed 3 in the longitudinal direction, the transverse direction and the lifting or lowering direction of the bed, as indicated by the arrow in fig. 11.

As shown in fig. 12, the fifth mode of motion of the present utility model:

three-dimensional rotation acquisition motion: at some initial angle and position perpendicular to the couch (e.g., position 4), the arms drive the bulb 25 and the detection plate 16 to scan 360 degrees around the point/region of interest, during which the beam and the detection plate 16 center are always aligned with the point/region of interest center point, and the bulb 25 and detection plate 16 distance SID, bulb 25 and point/region of interest distance, detection plate 16 and point/region of interest distance remain unchanged, as indicated by the arrows in fig. 12.

According to the angiography system based on the double mechanical arms, through the split structure arrangement of the first mechanical arm assembly, the telescopic bed and the second mechanical arm assembly, the driving flexibility between the detector and the generator can be improved, the degree of freedom is good, and the application range is wide; meanwhile, the first mechanical arm assembly and the second mechanical arm assembly can realize motion control on multiple shafts, and the applicability of the device is improved.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected: can be mechanically or electrically connected: the terms are used herein to denote any order or quantity, unless otherwise specified.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and it should be noted that it is possible for those skilled in the art to make several improvements and modifications without departing from the technical principle of the present utility model, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims (9)

1. An angiography system based on double mechanical arms is characterized by comprising a first mechanical arm assembly (2), a telescopic bed (3) and a second mechanical arm assembly (4), wherein the tops of the first mechanical arm assembly (2) and the second mechanical arm assembly (4) are respectively arranged on a ceiling (1) above, and the telescopic bed (3) is positioned on the ground between the first mechanical arm assembly (2) and the second mechanical arm assembly (4); the first mechanical arm assembly (2) sequentially comprises a first rotary mechanical arm (9), a second rotary mechanical arm (10), a third rotary mechanical arm (11), a fourth rotary mechanical arm (12), a fifth rotary mechanical arm (13), a sixth rotary mechanical arm (14) and a detection flat plate (16) which are connected with each other from top to bottom, wherein the top of the first rotary mechanical arm (9) is arranged on a ceiling (1) above through a first mounting flange (8), and the detection flat plate (16) is arranged at the bottom of the sixth rotary mechanical arm (14) through a flat plate connecting tool (15); the second mechanical arm assembly (4) sequentially comprises a seventh rotary mechanical arm (18), an eighth rotary mechanical arm (19), a ninth rotary mechanical arm (20), a tenth rotary mechanical arm (21), an eleventh rotary mechanical arm (22), a twelfth rotary mechanical arm (23) and a bulb tube (25) which are connected with each other from top to bottom, the top of the seventh rotary mechanical arm (18) is mounted on the ceiling (1) above through a second mounting flange (17), the bulb tube (25) is mounted at the bottom of the twelfth rotary mechanical arm (23) through a bulb tube connection tool (24), and a collimator tube (26) is mounted on the bulb tube (25).

2. A dual-arm based angiography system according to claim 1, characterized in that the first and second arm assemblies (2, 4) are mounted on the ceiling (1) at two sides along the X-axis direction, respectively, and the telescopic bed (3) is arranged along the Y-axis direction.

3. A dual-arm based angiography system according to claim 1, characterized in that the first and second arm assemblies (2, 4) are mounted on the ceiling (1) at two sides along the X-axis direction, and the telescopic bed (3) is arranged along the X-axis direction.

4. A dual-arm based angiography system according to any one of claims 1 or 2, characterized in that the tops of the first and second arm assemblies (2, 4) are mounted on the upper ceiling (1) by means of a linear drive mechanism (6), respectively.

5. A dual-arm based angiography system according to claim 4, characterized in that said linear drive mechanism (6) is a linear motor or an electric or pneumatic cylinder.

6. A dual-robot based angiography system according to any one of claims 1 or 2, characterized in that the tops of the first and second robot assemblies (2, 4) are mounted on the upper ceiling (1) by means of a rotary drive mechanism (7), respectively.

7. A dual-arm based angiography system according to claim 6, characterized in that the rotary drive mechanism (7) is a slewing bearing.

8. A dual-robot based angiography system according to claim 1, characterized in that the range of motion of the first rotating robot (9) is ±185 degrees; the movement range of the second rotary mechanical arm (10) is-175 degrees/60 degrees; the movement range of the third rotary mechanical arm (11) is-120 degrees/165 degrees; the movement range of the fourth rotary mechanical arm (12) is +/-180 degrees; the movement range of the fifth rotary mechanical arm (13) is +/-125 degrees; the movement range of the sixth rotary mechanical arm (14) is +/-350 degrees.

9. A dual-robot based angiography system according to claim 1, characterized in that the range of motion of the seventh rotary robot (18) is ±185 degrees; the movement range of the eighth rotary mechanical arm (19) is-175 degrees/60 degrees; the movement range of the ninth rotary mechanical arm (20) is-120 degrees/165 degrees; the movement range of the tenth rotary mechanical arm (21) is +/-180 degrees; the movement range of the eleventh rotary mechanical arm (22) is +/-125 degrees; the movement range of the twelfth rotary mechanical arm (23) is +/-350 degrees.

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