DE102008035195B4 - X-ray system and method for operating an X-ray system - Google Patents

Abstract

X-ray system, comprising - a multi-axis, three-dimensionally adjustable robot arm, at the distal end by means of a fastener (6) a device or a holder is attached to at least one device, - a movable support device for supporting at least one supplying the device supply line (11), the carrying device being drivable for at least two-dimensional movement synchronous with the fastening element (6), the carrying device having a first motor winding device (14) for the supply line (11), and a second motor winding device (15) for the supply line (11) in the region of the fastening element (6), both motor winding devices (14, 15) being controllable during a rotation of the fastening element (6) in such a manner for winding up or unwinding the supply line (11) that the supply line (11 ) evenly e tensile load acts, and wherein the motor winding devices (14; 15) are controllable such that the supply line (11) at the same time on the one Aufwicklungsvorrichtung (14; 15) on the other Aufwicklungsvorrichtung ...

Description

The invention relates to an X-ray system according to claim 1 and to a method for operating an X-ray system according to claim 11.

For interventional medical procedures, for example in cardiology or radiology, angiography x-ray systems are frequently used. Novel C-arm X-ray systems can both take two-dimensional images and produce three-dimensional CT-like image data sets. To create a 3D image, the C-arm rotates around the patient over a range of at least 180 °, and the created 2D projections can then be reconstructed into a 3D volumetric image. An example of such a new X-ray system is in the application DE 10 2005 012 700 A1 shown, which describes a six-axis articulated robot, at the distal end of a carrier, which may be in particular a C-arm, is movably arranged.

A problem with such a C-arm X-ray system is that, although theoretically possible, in practice one-directional rotations are feasible only over a range of approximately 360 ° because of various supply lines such as high voltage or C-arm cooling water at rotations over 360 ° could twist too much or even tear off. This means that multiple rotations are possible only by repeated rotation back and forth. In such a case, however, for every single rotation, the C-arm must be decelerated and accelerated again, which consumes a lot of time.

In a CT (Computed Tomography) device, the water cooling is on a static part of a gantry, while the waste heat is transferred from a rotating part of the gantry by air cooling. Such a solution is not applicable to a C-arm X-ray system in the absence of a closed gantry. The voltage is transmitted by the CT device from the static part of the gantry to the rotating part by means of slip rings. The entire high-voltage generator for supplying the X-ray source is arranged directly directly on the rotating gantry. This solution is not applicable to a C-arm X-ray system because slip rings can not be used for high voltages and placing a high voltage generator on the C-arm would result in too much weight.

From the DE 10 2005 053 030 B4 an x-ray system with a device for cable management is known, which is arranged on a device stand and has a carrying device for holding the cable. The X-ray system also has one or more rolling and unwinding devices. From the brochure «Introducing Artis zeego. The multiaxis system for Interventional Radiology. Are you ready for the future? "Siemens AG announced in February 2008 a robot X-ray system with a carrying device for holding a cable.

It is an object of the present invention to provide an X-ray system which enables improved operability, in particular in devices supported on a robot arm; Furthermore, it is an object of the invention to provide a method for operating an X-ray system.

The object is achieved by an X-ray system according to claim 1 and by a method for operating an X-ray system according to claim 11; advantageous embodiments of the invention are the subject of the dependent claims.

In the X-ray system according to the invention with the multi-axis, three-dimensionally adjustable robot arm, at the distal end by means of a fastener, a device or a holder is attached to at least one device, a movable support device for holding at least one supply line supplying the device is arranged, wherein the carrying device to a at least two-dimensional movement, which is substantially synchronous with the fastening element, can be controlled. The carrying device, which is arranged in particular above the X-ray system and is not structurally connected to the robot, ensures a practical and reliable mounting of the supply line, so that the risk is considerably reduced that the supply line is disturbing during movements of the robot arm or in parts of the X-ray system can be pinched. The at least two-dimensional movement of the carrying device synchronously with the movement of the fastening element ensures intelligent cable tracking to the device or the holder, whereby a multi-rotation with up to three or four rounds is made possible with appropriate cable length, without damaging or endangering the supply line.

According to the invention, the carrying device has a first motor winding device for the supply line, by means of which the supply line can be handled in a particularly practical and space-saving manner by means of a drive and unwound again. This can additionally contribute to the fact that the supply line is not in Parts of the robot arm is trapped and damaged. According to the invention, the X-ray system has a second motor winding device for the supply line in the region of the fastening element, in particular on the fastening element. Here, too, at least a part of the supply line can be opened and closed again if necessary. The second rewinding device also helps to prevent the umbilical from being pinched and damaged in parts of the robotic arm.

According to the invention and with the advantage that this results in a particularly low mechanical load of the supply line, the first motor Aufwicklungsvorrichtung is driven at a rotation of the fastener so for winding or unwinding of the supply line that acts on the supply line a uniform, low tensile stress, ie the supply line is neither tight nor too loose. Other mechanical stresses such. B. pressure can be avoided. To check the loads sensors may be provided. In a very similar manner and with the same advantage, the second motor Aufwicklungsvorrichtung is driven at a rotation of the fastener such for winding or unwinding of the supply line that acts on the supply line a uniform, low tensile load.

According to the invention, moreover, provision is made for the two motor winding devices to be controllable in such a way that the supply line, upon being wound up on the one winding device, is simultaneously unwound on the respective other winding device. In this way, the supply line can be kept at an approximately constant length, in which there is neither a high tensile load with restriction of the movement of the robot arm by a too short length nor to a disability by a too long length.

According to the method of the invention, while the robot arm is being moved with the device or the holder, the carrying device is simultaneously driven to perform at least two-dimensional movement synchronously with the fastener, a first motor winding device arranged on the support device, and a second motor winding device arranged on the fastener driven at a rotation of the fastener such for winding or unwinding of the supply line that acts on the supply line a uniform tensile load, and the motor Aufwicklungsvorrichtungen be controlled such that the supply line is wound on winding on one Aufwicklungsvorrichtung simultaneously on the other Aufwicklungsvorrichtung.

Advantageously, the device is formed by an X-ray source or an X-ray detector or the holder of a C-arm with an X-ray source and an X-ray detector. In particular, the robot arm can be formed by a six-axis articulated robot.

According to one embodiment of the invention, the carrying device is arranged above the robot arm, in particular on the ceiling of the room in which the X-ray system is arranged. In this way, the supply line is particularly safe and trouble-free positioned outside the range of motion of the robot arm, so that the synchronous tracking can be carried out particularly easily.

According to a further embodiment of the invention, the carrying device is formed by a carriage and is arranged in particular two-dimensionally movable along the ceiling. Such a carriage can be moved, for example, on a rail system which is arranged on the ceiling.

According to a further embodiment of the invention, the first and / or the second Aufwicklungsvorrichtung on an electric, mechanical, hydraulic, or pneumatic drive.

According to a further embodiment of the invention, the X-ray system has a control device for controlling the movement of the carrying device, the carriage and / or the Aufwicklungsvorrichtungen. In particular, the control device is aware of which movement sequences the robot arm carries out with the device or the carrier, so that a corresponding coordination of the movements can take place. Advantageously, the control device is formed by the system controller, which performs the control of the robot arm. This makes it easier and faster to coordinate the movements.

The invention and further advantageous embodiments according to features of the subclaims are explained in more detail below with reference to schematically illustrated embodiments in the drawing, without thereby limiting the invention to these embodiments; show it:

1 a view of a six-axis articulated robot from the prior art;

2 a view of a six-axis articulated robot with a C-arm from the prior art;

3 a view of an inventive X-ray system with movable support device for a supply cable;

4 a view of the operation of a Aufwicklungsvorrichtung upon rotation of the fastener;

5 a further view of the operation of a Aufwicklungsvorrichtung with opposite rotation of the fastener; and

6 an enlarged view of a two-dimensionally movable carrying device.

In the 1 a prior art known robot with six axes of rotation is shown. On a base frame 1 , which is fixedly mounted, for example, on a floor, is rotatable about a first axis of rotation A1 a carousel 2 added. At the carousel 2 is pivotable about a second axis of rotation A2 a rocker 3 appropriate. At the swingarm 3 is rotatable about a third axis of rotation A3 an arm 4 attached. At the end of the arm 4 is rotatable about a fourth axis of rotation A4 a hand 5 appropriate. The hand 5 has a fastener 6 which is rotatable about a rotation axis A6 and pivotable about a fifth axis of rotation A5 extending perpendicular thereto.

2 shows in a perspective view one on the robot of 1 arranged C-arm 7 , the fastener 6 the hand 5 is coupled. For this purpose, a coupling not shown here can be provided, which is a coupling and uncoupling of the C-arm 7 allows. At a first end of the C-arm 7 can be an x-ray detector 8th and at a second end an X-ray source 9 be mounted in opposite position.

3 shows an x-ray system 10 for taking X-ray images of one on a patient table 17 lying patients 18 with a six-axis articulated robot, at its attachment element 6 a C-arm 7 with an X-ray source 8th and an x-ray detector 9 is arranged. To the X-ray source and the X-ray detector z. B. to supply high voltage or to conduct cooling water in the X-ray source is a supply line 11 , which may consist of several individual combined lines or cables provided. It can also be provided several separate lines. To reduce the number of individual cables, the supply lines were, where possible, by using wireless z. B. optical or inductive transmission method initially reduced to a minimum. In the preferred case, the supply line exists 11 only from a high voltage cable and a cooling water supply. The supply line 11 is in the area of the fastener 6 connected to the C-arm, for example by means of a flange. At this point is a second Aufwicklungsvorrichtung 15 arranged, which is adapted to the supply line 11 at least partially up and down. The other end of the supply line 11 opens into a first Aufwicklungsvorrichtung 14 which is arranged on a carrying device located on the ceiling of the examination room.

The carrying device has a carriage 12 on which z. B. using a rail system 13 two-dimensionally movable along the ceiling. On the sledge 12 is also a boom 16 arranged, which is the supply line 11 holds by a cable. The boom 16 is on the sled 12 rotatable z. B. arranged by means of a carousel. The X-ray system 10 also has a control panel 19 on which both the movement of the articulated robot and the C-arm and the movement of the carriage 12 with the first winding device 14 and the boom 16 on the rail system 13 controls. As the control panel 19 z. B. via a user interface, the movement of the articulated robot and the C-arm is always known, it coordinates and controls the carriage 12 the support device so that this always in sync with the movement of the fastener 6 moved along the ceiling above the X-ray system and that the supply line 11 the C-arm is always fed. In particular, it is advantageous in a floor-mounted articulated robot, when the carrying device is always substantially above the fastener 6 is because supply of the supply line is particularly simple. In addition, the system control 19 the first winding device 14 and the second winding device 15 or control their drives for winding and unwinding the supply line.

During a rotation of the C-arm and thus the fastener 6 becomes the supply line 11 as in 4 and 5 Depicted directionally, wound up. The second winding device 15 also has a drive for unwinding or unwinding, not shown. With such a rotation and winding of the supply line 11 on the second winding device 15 controls the system control 19 at the same time the first winding device 14 so on that the supply line 11 There is settled, so that no excessive tensile load on the supply line 11 acts. Conversely, in the reverse rotation of the C-arm and settlement of the supply line 11 from the second winding device 15 at the same time the supply line 11 on the first rewinding device 14 wound up, leaving the supply line 11 not too long and thus hinders the movement of the articulated robot.

In the 6 is a larger view of the carrying device 3 shown. The rail system 13 For example, has a first pair of rails on which the carriage 12 can be moved in one direction and another pair of rails perpendicular to the first pair of rails, on which the first pair of rails is movable. In this way, a two-dimensional movement along the ceiling is possible. On the carriage is also a first Aufwicklungsvorrichtung 14 and a rotatable boom 16 for holding the supply line 11 arranged. The carrying device can also be moved two-dimensionally by means of other mechanisms.

When changing the position of the C-arm, the carriage automatically moves along the ceiling so that it is always in the same relative position (eg directly above) of the fixing element or flange of the C-arm, in order to achieve the optimum To allow supply line of the supply line. During rotations of the C-arm becomes the supply line 11 in the carriage automatically actively winding or unwinding while it winds on the fastener or flange of the C-arm or wound. In this way, the mechanical load on the supply line is kept low.

At certain positions of the C-arm, in particular when the axis of rotation A6 is substantially vertical, it may be provided that fast movements are automatically blocked or the speed of the movements of the X-ray system 10 be limited, otherwise it can easily lead to an entanglement of the supply line with the C-arm and thus to damage the supply line or the C-arm.

The invention provides intelligent supply and tracking of the supply line 11 accomplished. In this case, it is particularly advantageous to control the carrying device and the second winding device 15 synchronous to the C-arm movement. In this way, multiple rotations of the C-arm can be realized in the same direction. With adequate sufficient length of the supply line 11 and sufficient size of Aufwicklungsvorrichtungen are z. B. three or four rounds possible, which is the case for many applications, eg. B. is sufficient for cardiac imaging. This can be achieved by the invention much shorter recording times, since only a single acceleration and deceleration process is necessary. In the prior art, for a typical cardiac uptake with 4 rotations above 200 ", an acquisition time of about 25 seconds is needed, although the maximum C-arm speed is 50 ° / sec. From a purely mathematical point of view, only 16 seconds would be necessary, the difference being due to the relatively large proportion of the four acceleration and four braking processes. With the described invention, the same recording could be realized in a time just above the theoretical value, because only a single acceleration and deceleration process is necessary. With future increasing maximum rotational speeds, the relative proportion of the acceleration and deceleration phases becomes ever larger. Also in the measurement of perfusion by means of C-arm X-ray systems, a corresponding advantage can be realized. An advantage of the shorter acquisition times is also lower movement artifacts (eg due to breathing movement) and the smaller amount of contrast medium required.

The invention is also applicable to X-ray systems in which only a radiation source or an X-ray detector is arranged on a robot arm.

• – einen mehrachsigen, dreidimensional verstellbaren Roboterarm, an dessen distalem Ende mittels eines Befestigungselements (6) eine Vorrichtung oder eine Halterung mit zumindest einer Vorrichtung befestigt ist, und
• – eine verfahrbare Tragevorrichtung zur Halterung von zumindest einer die Vorrichtung versorgenden Versorgungsleitung (11), wobei die Tragevorrichtung zu einer zumindest zweidimensionalen Bewegung, die im Wesentlichen synchron zu dem Befestigungselement (6) ist, ansteuerbar ist, wobei die Tragevorrichtung eine erste motorische Aufwicklungsvorrichtung (14) für die Versorgungsleitung (11) aufweist, und
• – eine zweite motorische Aufwicklungsvorrichtung (15) für die Versorgungsleitung (11) im Bereich des Befestigungselements (6),

wobei beide motorische Aufwicklungsvorrichtungen (14, 15) bei einer Rotation des Befestigungselements (6) derart zur Auf- oder Abwicklung der Versorgungsleitung (11) ansteuerbar sind, dass auf die Versorgungsleitung (11) eine gleichmäßige Zugbelastung wirkt, und wobei die motorischen Aufwicklungsvorrichtungen (14; 15) derart ansteuerbar sind, dass die Versorgungsleitung (11) bei Aufwicklung auf der einen Aufwicklungsvorrichtung (14; 15) gleichzeitig auf der jeweils anderen Aufwicklungsvorrichtung (14; 15) abgewickelt wird.The invention can be briefly summarized in the following manner: To improve the operability, in particular in devices supported on a robot arm, an X-ray system is provided, comprising

• - A multi-axis, three-dimensionally adjustable robot arm, at its distal end by means of a fastener ( 6 ) is attached a device or a holder with at least one device, and
• A movable carrying device for holding at least one supply line supplying the device ( 11 ), wherein the carrying device for an at least two-dimensional movement, which is substantially synchronous with the fastening element ( 6 ) is controllable, wherein the carrying device comprises a first motor winding device ( 14 ) for the supply line ( 11 ), and
• A second motor winding device ( 15 ) for the supply line ( 11 ) in the region of the fastening element ( 6 )

both motorized winding devices ( 14 . 15 ) during a rotation of the fastener ( 6 ) for winding up or unwinding the supply line ( 11 ) are controllable on the supply line ( 11 ) acts a uniform tensile load, and wherein the motor winding devices ( 14 ; 15 ) are controllable such that the supply line ( 11 ) when being wound on the one rewinding device ( 14 ; 15 ) simultaneously on the other winding device ( 14 ; 15 ).

Claims (11)

X-ray system, comprising - a multi-axis, three-dimensionally adjustable robot arm, at its distal end by means of a fastener ( 6 ) a device or a holder is fastened with at least one device, - a movable carrying device for holding at least one supply line supplying the device ( 11 ), wherein the carrying device for an at least two-dimensional movement synchronously with the fastening element ( 6 ) is controllable, wherein the carrying device comprises a first motor winding device ( 14 ) for the supply line ( 11 ), and - a second motor winding device ( 15 ) for the supply line ( 11 ) in the region of the fastening element ( 6 ), both motorized winding devices ( 14 . 15 ) during a rotation of the fastener ( 6 ) for winding up or unwinding the supply line ( 11 ) are controllable on the supply line ( 11 ) acts a uniform tensile load, and wherein the motor winding devices ( 14 ; 15 ) are controllable such that the supply line ( 11 ) when being wound on the one rewinding device ( 14 ; 15 ) simultaneously on the other winding device ( 14 ; 15 ). An X-ray system according to claim 1, wherein the device is controlled by an X-ray source ( 8th ) or an X-ray detector ( 9 ) is formed. X-ray system according to one of the preceding claims, wherein the holder of a C-arm ( 7 ) is formed, at which the X-ray source ( 8th ) and the X-ray detector ( 9 ) are mounted. X-ray system according to one of the preceding claims, wherein the carrying device is arranged above the robot arm, in particular on a ceiling of a room. X-ray system according to one of the preceding claims, wherein the carrying device of a carriage ( 12 ) is formed. X-ray system according to one of the preceding claims, wherein the carrying device is arranged to be moved along the ceiling two-dimensionally. X-ray system according to one of the preceding claims, wherein the robot arm of a six axes of rotation articulated robot ( 10 ) is formed. X-ray system according to one of the preceding claims, wherein the first and / or the second winding device ( 14 ; 15 ) have an electric, mechanical, hydraulic, or pneumatic drive. X-ray system according to one of the preceding claims, wherein the X-ray system comprises a control device for controlling the movement of the carriage ( 12 ) and the winding devices ( 14 ; 15 ) having. X-ray system according to claim 9, wherein the control device is controlled by a system controller ( 19 ) is formed for driving the robot arm. Method for operating an X-ray system with a multi-axis, three-dimensionally adjustable robot arm, at its distal end by means of a fastening element ( 6 ) a device or a holder is fastened with at least one device and with a movable carrying device for holding at least one supply line supplying the device ( 11 ), comprising the following steps: - the robot arm is driven to a movement, - the carrying device becomes at least a two-dimensional movement which is synchronous with the movement of the fastening element ( 6 ) is driven, - a first motor-mounted winding device arranged on the carrying device ( 14 ) and one on the fastener ( 6 ) arranged second motor winding device ( 15 ) are at a rotation of the fastener ( 6 ) for winding up or unwinding the supply line ( 11 ), that on the supply line ( 11 ) acts a uniform tensile load, and - the motor winding devices ( 14 ; 15 ) are controlled in such a way that the supply line ( 11 ) when being wound on the one rewinding device ( 14 ; 15 ) simultaneously on the other winding device ( 14 ; 15 ).

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