DE102006059500A1 - X-ray examination device for examining thorax region of patient, has two joint arms holding source or detector, where arms are individually fixed at stand with shoulder-sided ends and independently tiltable in each of its degrees of freedom - Google Patents

Abstract

The device (1) has a patient table comprising a table stand (2) and a table top (5), with an x-ray source (14), x-ray detector (15) and two joint arms (6, 7) for holding the x-ray source or the x- ray detector. The joint arms are individually fixed at the table stand with shoulder-sided ends (8), and are independently tiltable in each of its degrees of freedom. The source and/or the detector are detachably fixed at a free end of the arms. The arms are motor adjustable, where each joint arm is adjustable according to a type of a robot arm with a control unit (17).

Description

The The invention relates to a particularly mobile X-ray examination apparatus according to the preamble of claim 1.

For the mobile application are x-ray examination devices advantageous, which have a high flexibility in use and the lowest possible during transport and storage Claim volume.

traditionally, one-piece mobile X-ray generators are used, which contain the X-ray source on a cantilever. Such Systems can be easily transported if they are mobile become. In these systems, however, the X-ray detector is formed as a separate unit that manually to the X-ray source must be positioned. This places high demands on the knowledge and experiences of the operating staff.

Farther Mobile x-ray systems are known which are connected to an x-ray unit a C-arm with the X-ray source and the X-ray detector include and in a separate, referred to as monitor cart Display unit required for image processing Display elements included. Have such X-ray systems therefore a lot of space. In addition, their mobility limited by the division into the X-ray unit and the display unit.

From the US2003 / 0091156 A1 An X-ray system is known, are provided in the articulated arms for the support of the X-ray detector and the X-ray source. In this system, the articulated arms are mounted on a fixed wall adjustment system.

at The X-ray systems described above are also known in usually a separate patient table required.

Of the Invention is based on the object, one for the mobile Use particularly suitable X-ray examination device specify.

The The object is achieved by the features of claim 1. Thereafter, the device comprises a Patient table with a table base and a table top as well as functional units, an X-ray source and an X-ray detector. The X-ray examination apparatus further comprises two Articulated arms for holding the functional units. Here are the Articulated arms individually hinged to the table base. This arrangement allows the construction of a particularly compact X-ray examination device.

advantageously, are the articulated arms with their shoulder-side end rotatable on the Table pedestal held and have over its course two or more joints on, so that at the each freeendseitigen end held functional unit at least four, preferably by five or six pivot axes is adjustable.

Especially the articulated arms are independent in all pivoting degrees of freedom adjustable from each other, all for an x-ray examination desirable positions are flexibly controlled.

In Particularly advantageously, the articulated arms are suitable, alternately and to keep interchangeable each of the functional units, so both the X-ray source as well as the X-ray detector, thereby ergonomic for the operator or examiner optimized and adapted to the environmental conditions Examination setup can be realized. The functional units Here are both mechanically and electrically to the respective Articulated arm or to a supply line in particular via a plug connection can be coupled.

Prefers the X-ray detector is also detached here From the articulated arm ready for use, allowing extended use given are. For example, this can also be taken pictures where the patient lies in his patient bed. It Thus, a self-sufficient operation of the X-ray detector is possible.

Around to create a transport position or parking position in which the supernatant the held on the table base articulated arms is minimized, the Articulated arms expediently in a parking position be moved, in which the limbs of an articulated arm, at least essentially abut the table base.

Prefers the articulated arms are driven by a motor, so that the for the positioning of necessary forces not by the operator must be applied. With a purely manual adjustability The articulated arms are in the desired position held by a braking system, for example by magnetic brakes.

Preferably Each articulated arm is computer-controlled in the manner of a robot arm adjustable, allowing for the positioning of all articulated arm elements necessary control information not in detail by the operator must be effected.

In this case, a control unit is advantageously used, which is adapted to the function units held at the free ends of the articulated arms always aligned along a defined by the beam direction of the X-ray source th beam axis to each other. In particular, in this case the X-ray detector is aligned with its detection surface perpendicular to the beam axis. This results in an image-optimized comparison of the functional units to each other without the intervention of the operator.

The Positioning of the articulated arms takes place in an expedient embodiment motor assisted by in a ner preferred variant in case of manual pressure application, this is suitably detected and controlled by the control unit, a drive motor such that is the articulated arm in the direction of the applied pressure is adjusted. For this example, the motor current or a evaluated other characteristic of the drive motor. In particular, is applied to a force exerted on the articulated arm torque as a measure of the applied manual pressure inferred.

advantageously, is the input of positioning commands via controls at the arm portions of the articulated arms possible, these in a particularly advantageous training area, quasi as an "artificial skin" parts of the arm sections or their cover entire surface. Such a design is particularly ergonomic, as the operator adjusting the desired arm sections can carry out, without over separate, elsewhere implemented input devices to enter the control commands.

For a particularly intuitive operation is the "artificial Skin "designed so that the element to be controlled a manual Dodge pressure on the control in a simple manner.

there the input elements are preferably so with the motor Drive the articulated arms or with the control unit interconnects that each articulated arm is subjected to a manual pressure on the input device gives way. At each articulated arm in particular pressure-sensitive sensor elements provided for detecting a desired adjustment are formed. About the sensor elements is therefore in particular the direction of the manual action exercised by the operator Recorded pressure. The control unit initiates a procedure for this of the articulated arm in the desired direction, so that the Articulated arm almost gives way to the applied pressure and thus dodging. This is a total of a motor assisted, manual method of articulated arms allows.

In again advantageous embodiment are the control unit and the X-ray generator integrated in the table base. The high weight in relation to the other parts of these assemblies makes the entire device particularly tip over, because the center of gravity is thus under the patient table.

According to one further, for transport purposes particularly advantageous variant of Device according to the invention is provided that the functional units for a transport of the device removed from the articulated arms and in appropriate brackets can be held on the table base. The articulated arms are thus free from the functional units when moving into their parking position. This reduces the transport volume of the device on the one hand. At the same time, the functional elements are during transport and storage the X-ray examination device in the respective holder comparatively well protected against damage. Conveniently, is provided that each of the functional units automatically by means of each of the articulated arms is placed in the corresponding holder, and from there can also be removed again.

In Preferably, the table base is wheeled on wheels. As a result, the entire X-ray examination apparatus mobile, d. H. It has no fixed, fixed to a building installed components. Due to the chosen design with the articulated arms attached to the table base is a total of an extremely compact, fully equipped and mobile X-ray system formed.

advantageously, the table top has hinged sections, which makes it possible To reduce the dimensions of the patient table and a compact To realize transport position. In particular, the sections folded down so that the table top in the folded Position forms a mechanical shield that surrounds the table base and thus protects the functional units held on the table base.

Preferably is a screen with the X-ray detector to a unit integrated so that he also in particular together with the X-ray detector can be held on a free end of an articulated arm. The screen is here at the of the detection surface of the detector arranged on the opposite side, and in particular by at least one Axis kept pivotable to a server always to ensure an optimal view of the picture surface.

Around a self-sufficient operation of the detector unit also detached to allow from the articulated arms is in a convenient Development in the detector unit, an image processing unit integrated. Within the detector unit thus takes place at the same time also the evaluation and preparation of the detected X-rays, to display a corresponding image on the screen.

Prefers If the X-ray examination device is automatically moved or navigable. For this purpose, the device with a drive as well especially provided with an automatic navigation system. Alternatively or in addition to the automatic navigation system the device is remotely controllable, in particular by the input of Voice commands.

following an embodiment of the invention with reference to a Drawing explained in more detail. In each show in a schematic perspective view:

1 an X-ray examination apparatus in a receiving position,

2 the X-ray examination apparatus in a receiving position, in particular for thorax exposures,

3 the X-ray examination apparatus in a transport position and

4 a detector unit with a flat-panel detector with a flat screen arranged thereon.

each other corresponding parts are in all figures with the same reference numerals Mistake.

The mobile X-ray examination apparatus shown in the figures 1 includes a table base 2 with one on a base plate 4 arranged pedestal tower 3 , The pedestal tower 3 is designed for example as a vertically adjustable lifting column on which a table top 5 is stored. On the tabletop 5 is in 1 a patient P shown in lying examination position. A table longitudinal axis T of the table top 5 defines the longitudinal direction of the entire device 1 , End in table longitudinal axis T has the table top 5 in each case a hinged footboard 5A or headboard 5B on.

The base plate 4 is in the embodiment on four wheels 16 movably mounted so that the entire device 1 is freely movable. In order to allow the most unbounded use, the device 1 if necessary and optionally to a power supply via an integrated energy source (accumulators) can be supplied with energy, so that a completely self-sufficient, non-stationary operation is possible.

At the pedestal tower 3 is laterally each an articulated arm 6 . 7 held. The attachment is in the manner of a shoulder joint 8th executed. Based on this, each articulated arm 6 . 7 in an upper arm section 9 , a forearm section 10 and a hand section 11 divided. Between the upper arm section 9 and the forearm section 10 is an elbow joint 12 and between the forearm section 10 and the hand section 11 is a wrist 13 each formed in particular as a ball joint. Every section 9 . 10 . 11 is therefore in each case about two in particular mutually perpendicular axes relative to its adjacent section 9 . 10 . 11 pivotable.

In particular, the individual sections 9 . 10 . 11 Hereby free and independently pivotable, so that the greatest possible freedom of movement for the movement of the articulated arms 6 . 7 results. To enable a compact construction, the articulated arms 6 . 7 preferably formed extendable in the manner of telescopic arms.

Viewed in the longitudinal direction is the pedestal tower 3 asymmetrical on the base plate 4 and are the articulated arms 6 . 7 asymmetrical at the base tower 3 attached.

Every articulated arm 6 . 7 points to the free end of the hand section 11 optionally additionally a joint, not shown here, with a receptacle, likewise not shown, for optionally holding an X-ray source 14 or a detector unit 15 on, so the X-ray source 14 or the detector unit 15 also in the nature of the remaining arm sections against the hand section 10 are pivotable.

The detector unit 15 includes an X-ray detector 19 with a detector surface 20 as well as a screen 21 , The x-ray detector 19 is as a flat panel and the screen 21 is designed as a flat screen with the same external dimensions as the flat panel detector. The two elements are arranged one above the other with their flat sides. The screen 21 is hereby pivotable and rotatable on the X-ray detector 19 attached.

The X-ray source 14 and the detector unit 15 are interchangeable at the hand sections 11 fastened in particular via an easily detachable plug connection. As a result, depending on the treatment situation, if necessary, the position of the X-ray source 14 with the detector unit 15 be reversed. The electrical connection and the electronic connection of the x-ray source are preferably carried out at the same time via the plug connection 14 or the detector unit 15 , A corresponding supply line is expediently in the interior of the respective articulated arm 6 . 7 guided. Alternatively, the supply line will be outside the articulated arm 6 . 7 guided along and via a separate, only electrical plug-in connection with the X-ray source 14 or the detector unit 15 connected. Both the power supply and the data technology connection, ie the supply line also serves for the transmission of control and data signals. Alternatively, a wireless data link is realized, so that the detector unit 15 also detached from the articulated arm 6 . 7 is ready for use. For this purpose, the detector unit 15 preferably provided with a self-sufficient power supply, for example, an integrated accumulator. This is automatically loaded as soon as the detector unit 15 at a parking and loading position, in particular at the articulated arm 6 . 7 is arranged. This allows a very flexible recording of X-ray images, for example, directly on the patient's bed without a rearrangement of the patient would have to be done. Also, the detector unit needs 15 not with the articulated arm 7 to be connected.

The articulated arms 6 . 7 are particularly motorized or motor assisted adjustable. The adjustment is done by means of a control unit 17 , preferably in the table base 2 is integrated. Likewise, other components such as an X-ray generator 18 for generating X-rays in the table base 2 arranged. The control unit 17 and the x-ray generator 18 are indicated by dashed lines in the figures.

About the control unit 17 become the X-ray source 14 and the detector unit 15 synchronously, so that they are always positioned in a 180 ° contrast to each other. A detector surface 20 the detector unit 15 is therefore always in the same orientation, in particular perpendicular to the beam direction S of the X-ray source 14 aligned. Overall, therefore, a radiation-forming subsystem that is the X-ray source 14 and diaphragms etc., and a radiation detecting subsystem comprising the detector unit 15 sums up, computer-assisted forced, so that an X-ray image chain is formed. Due to the interchangeability of the subsystems, these can be interchanged with respect to the examination situation, so that the geometry of the X-ray image chain can be adjusted, ie depending on the situation, the examiner and thus the X-ray source 14 take a right or left side position.

On the detector surface 20 opposite side of the X-ray detector 19 is the screen 21 at the detector unit 15 especially pivotally held. The screen 21 serves for optical display of a calculated from the detected X-rays diagnostic image. The image is generated here by means of an image processing unit, which in particular is compact in the detector unit 15 is integrated, so that a self-sufficient image generation and display directly on the detector unit is possible.

To perform a recording, the articulated arms 6 . 7 move to the desired picking position. This process is automatically performed by the control unit 17 accepted. Alternatively, a manual procedure is possible. In this case, the manual method is preferably supported at least by motor. Namely, on at least one, preferably both detector arms 6 . 7 Control elements, in particular pressure-sensitive sensors 24 intended. These detect a manual touch and the direction of manual contact, ie the direction of the articulated arm 6 . 7 applied force. In the embodiment is on several sides of the hand portion 11 mounted such a sensor, so that due to the location of the touch, the actuation direction is detected. Alternatively, it is on the hand section 11 a whole, for example, designed as a sensor film sensor field attached, which is like a skin around the hand section 11 sets.

Both the automatic and the motor-assisted manual method become the second articulated arm 6 . 7 each automatically mitverfahren such that the X-ray source 14 and the detector unit 15 opposite each other. Due to the essentially free mobility of the articulated arms 6 . 7 are the most diverse recording methods possible. In particular, tomographic images can also be realized. For this the articulated arms move 6 . 7 along a predefined axis and take multiple pictures. In addition, controlled movement sequences around an imaginary isocenter are also possible, so that 3D images can also be taken.

How out 2 can be seen, allows the X-ray examination device 1 Also recordings where the patient P is not on the tabletop 5 located. At the in 2 variant shown, the patient stands for a thorax recording upright at the foot of the table top 5 , The articulated arms 6 . 7 are in the shooting position shown in each case with the recorded at its free end X-ray source 14 and the detector unit 15 over the foot part 5A pivoted out. The foot part 5A is folded down to allow the patient closer to the shoulder joints 8th can be positioned. This requires the articulated arms 6 . 7 to have only a comparatively short arm length. This is also due to the asymmetrical arrangement of the articulated arms 6 . 7 at the base tower 3 as well as by the asymmetrical arrangement of the pedestal tower 3 on the base plate 4 reached.

Due to the degrees of freedom of movement combined with the control by the control unit 17 Therefore, a variety of conventional x-ray examination methods and methods with the device 1 feasible. At the same time is the entire device 1 by their chosen structure very compact and space-saving and can also be used as a mobile, movable device 1 be used flexibly in different places. The flexible use is also supported by the self-sufficient mode of operation and the energy supply via integrated energy sources.

For the transport of the device 1 this is brought into a transport configuration, as in 3 is shown. Here is the articulated arm 4 with his arms 8th . 9 . 10 essentially to the side of the pedestal tower carrying it 3 created. The articulated arm not recognizable in the illustration 7 is in the same way to the pedestal tower 3 created. In the transport configuration, the detector unit 15 as well as the X-ray source 14 held firmly in a defined parking position. These are on the table base 2 two brackets 26A B provided in the 1 and 2 only schematically and exemplified by type of retaining strips are shown. The holder 26A is at the base tower 3 and the holder 26B is on the base plate 4 arranged. In the transport configuration are the header 5B as well as the foot part 5A folded down, leaving the X-ray source 14 through the headboard 5B and the detector unit 15 through the foot part 5A mechanical are protected. For further protection, the brackets 26A , B alternatively formed, for example, in the manner of pockets.

4 shows in a very simplified representation of the detector unit 15 with the X-ray detector 19 and the screen 21 ,

The screen 21 is so on the detector surface 20 opposite side of the X-ray detector 19 stored so that it can be pivoted about a bearing not shown in any way to the designated in the figure with Y and Z pivot directions, so as to deviate from the beam direction S viewing direction B on the screen 21 to enable.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• US 2003/0091156 A1 [0005]

Claims (21)

X-ray examination device ( 1 ) with a patient table comprising a table base ( 2 ) and a table top ( 5 ), with an X-ray source ( 14 ), with an X-ray detector ( 15 ) and with two articulated arms ( 6 . 7 ) for holding the X-ray source ( 14 ) or the X-ray detector ( 19 ) characterized in that each articulated arm ( 6 . 7 ) with a shoulder-side end ( 8th ) on the table base ( 2 ) is attached. X-ray examination device ( 1 ) according to claim 1, characterized in that each articulated arm ( 6 . 7 ) starting from one on the table base ( 2 ) trained shoulder joint ( 8th ) at least two arm sections ( 9 . 10 . 11 ) and at least two joints ( 12 . 13 ). X-ray examination device ( 1 ) Claim 1 or 2, characterized in that each articulated arm ( 6 . 7 ) is independently pivotable in each of its degrees of freedom. X-ray examination device ( 1 ) according to one of claims 1 to 3, characterized in that the X-ray source ( 14 ) and / or the X-ray detector ( 19 ) at a free end of the respective articulated arm ( 6 . 7 ) is releasably attached. X-ray examination device ( 1 ) according to claim 4, characterized in that the X-ray detector ( 19 ) also detached from the articulated arm ( 6 . 7 ) is ready for operation. X-ray examination device ( 1 ) according to one of claims 2 to 5, characterized in that each articulated arm ( 6 . 7 ) is pivotable in a parking position in which its Armab sections ( 9 . 10 . 11 ) substantially to the table base ( 2 ) are created. X-ray examination device ( 1 ) according to one of claims 1 to 6, characterized in that the articulated arms ( 6 . 7 ) are adjustable by motor. X-ray examination device ( 1 ) according to one of claims 1 to 7, characterized in that each articulated arm ( 6 . 7 ) in the manner of a robot arm with the aid of a control unit ( 17 ) is adjustable. X-ray examination device ( 1 ) according to claim 8, characterized in that the control unit ( 17 ) is adapted to the articulated arms ( 6 . 7 ) such that the at the free end of the one articulated arm ( 6 ) held X-ray source ( 14 ) and at the free end of the other articulated arm ( 7 ) held X-ray detector ( 19 ) are always aligned in juxtaposition along a beam axis (S). X-ray examination device ( 1 ) according to one of claims 1 to 9, characterized in that when a manual pressure is exerted on one of the articulated arms ( 6 . 7 ) at least this articulated arm ( 6 . 7 ) motor assisted is adjusted. X-ray examination device ( 1 ) according to one of claims 1 to 10, characterized in that at least a part of the surface of at least one articulated arm ( 6 . 7 ) as a control ( 24 ) for adjusting the articulated arm ( 6 . 7 ) is trained. X-ray examination device ( 1 ) according to claim 8, characterized in that the control unit ( 17 ) in the table base ( 2 ) is integrated. X-ray examination device ( 1 ) according to one of claims 1 to 11, characterized in that an X-ray generator ( 18 ) in the table base ( 2 ) is integrated. X-ray examination device ( 1 ) according to one of claims 1 to 13, characterized in that on the table base ( 3 ) Brackets ( 26A , B) each for receiving the X-ray source ( 14 ) and the X-ray detector ( 19 ) are provided in a parking position. X-ray examination device ( 1 ) according to one of claims 1 to 14, characterized in that the table base ( 2 ) is mobile. X-ray examination device ( 1 ) according to one of claims 1 to 15, characterized in that the table top ( 5 ) foldable sections ( 5A . 5B ). X-ray examination device ( 1 ) according to one of claims 1 to 16, characterized in that the foldable sections ( 5A . 5B ) of the table top ( 5 ) in a folded position as a mechanical shield for the table base ( 2 ) Act. X-ray examination device ( 1 ) according to one of claims 1 to 17, characterized by a with the X-ray detector ( 19 ) mechanically linked screen ( 21 ). X-ray examination device ( 1 ) according to claim 18, characterized in that the screen ( 21 ) relative to the X-ray detector ( 19 ) is pivotable about at least one pivot axis. X-ray examination device ( 1 ) to Claim 18 or 19, characterized in that in one the X-ray detector ( 19 ) and the screen ( 21 ) comprehensive Detektroeinheit ( 15 ) an image processing unit is integrated. X-ray examination device ( 1 ) according to one of the preceding claims, characterized in that it is automatically, in particular remotely controlled, movable.