JP5765868B2 - ロボット制御式の記録装置、ならびにこれに対応する方法 - Google Patents
ロボット制御式の記録装置、ならびにこれに対応する方法 Download PDFInfo
- Publication number
- JP5765868B2 JP5765868B2 JP2007160070A JP2007160070A JP5765868B2 JP 5765868 B2 JP5765868 B2 JP 5765868B2 JP 2007160070 A JP2007160070 A JP 2007160070A JP 2007160070 A JP2007160070 A JP 2007160070A JP 5765868 B2 JP5765868 B2 JP 5765868B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- ray
- recording
- controlled
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 19
- 238000003325 tomography Methods 0.000 claims description 7
- 230000004907 flux Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 description 14
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B42/00—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means
- G03B42/02—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means using X-rays
- G03B42/04—Holders for X-ray films
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- General Health & Medical Sciences (AREA)
- High Energy & Nuclear Physics (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Biophysics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Description
Claims (8)
- ロボットハンド(5)を動かすためにロボット制御部(12)を通じて制御可能である複数の被駆動運動軸を備えるロボットと、支持装置(15)の上に支持された物体のデータを記録するために前記ロボットによって可動である、前記ロボットハンド(5)に取り付けられた記録システム(7〜11)と、を有するロボット制御式の記録装置において、
前記ロボット制御部(12)に少なくとも1つの追加の駆動装置(13)が接続され、
この追加の駆動装置(13)にエンコーダ(14)が接続され、該追加の駆動装置(13)が前記ロボットハンド(5)の運動時に前記ロボットの前記被駆動運動軸に同期しながら制御されると、前記エンコーダ(14)が前記追加の駆動装置(13)により駆動されてデータの記録のための同期化信号が生起され、
前記ロボット制御部(12)により制御される前記追加の駆動装置(13)が、前記ロボットハンド(5)に従って運動する前記記録システム(7〜11)のツールセンターポイントの回転運動をシミュレーションした仮想回転軸(A7)の回転運動を再現し、当該再現された回転運動に従い駆動される前記エンコーダ(14)が前記同期化信号を生起する、
ロボット制御式の記録装置。 - 前記ロボットは、前記被駆動運動軸を少なくとも6つ備える折り曲げアームロボットである、請求項1に記載のロボット制御式の記録装置。
- 前記記録システム(7〜11)は、断層撮影法によるX線画像作成のためのX線源(10)および前記X線源(10)に向かい合うX線検出器(9)を備えるキャリヤ(7)を有し、
前記キャリヤ(7)は、前記支持装置(15)の上に支持された物体の複数のX線画像を異なる投影方向から記録するために、前記ロボットにより可動である、
請求項1または2に記載のロボット制御式の記録装置。 - 前記キャリヤ(7)は、
第1の脚部及び第2の脚部を備えたヨーク形に構成されて、前記X線検出器(9)及び前記X線源(10)が前記第1及び第2の脚部にそれぞれ取り付けられ、
X線画像を記録するときに、前記X線源(10)から前記X線検出器(9)に向けられたX線束の放射軸に対して垂直に延びる軸に対して垂直な平面に前記第1及び第2の脚部が沿うように、前記ロボットにより回転させられる、請求項3に記載のロボット制御式の記録装置。 - 複数の被駆動運動軸を有するロボットのロボットハンド(5)に記録システム(7〜11)を取り付け、該記録システム(7〜11)を、物体のデータを記録するために前記ロボットによって動かして、支持装置(15)の上に支持された物体のデータを記録する方法において、
少なくとも1つの追加の駆動装置(13)にエンコーダ(14)を接続し、該追加の駆動装置(13)を、前記ロボットのロボット制御部(12)により前記被駆動運動軸に同期させながら制御し、この追加の駆動装置(13)により駆動される前記エンコーダ(14)からデータの記録のための同期化信号を生起し、
当該追加の駆動装置(13)は、前記ロボットハンド(5)に従って運動する前記記録システム(7〜11)のツールセンターポイントの回転運動をシミュレーションした仮想回転軸(A7)の回転運動を再現するように、前記ロボット制御部(12)により制御され、当該再現した回転運動に従い駆動される前記エンコーダ(14)から前記同期化信号を生起する、
ことを含む方法。 - 前記記録システム(7〜11)は、断層撮影法によるX線画像作成のためのX線源(10)および前記X線源(10)に向かい合うX線検出器(9)を備えるキャリヤ(7)を有し、
前記キャリヤ(7)を、前記支持装置(15)の上に支持された物体の複数のX線画像を異なる投影方向から記録するために前記ロボットにより動かす、請求項5に記載の方法。 - 前記キャリヤ(7)は、第1の脚部及び第2の脚部を備えたヨーク形に構成し、前記X線検出器(9)及び前記X線源(10)を前記第1及び第2の脚部にそれぞれ取り付けてあり、
当該キャリア(7)を、X線画像を記録するときに、前記X線検出器(9)に向けられたX線束の放射軸に対して垂直に延びる軸に対して垂直な平面に前記第1及び第2の脚部が沿うように、前記ロボットにより回転させる、請求項6に記載の方法。 - 前記キャリヤ(7)を、X線画像を記録するときに、物体を中心とする螺旋状の軌道上で前記ロボットにより案内する、請求項6に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006028327A DE102006028327B3 (de) | 2006-06-20 | 2006-06-20 | Robotergesteuerte Aufzeichnungsvorrichtung, insbesondere für die Aufzeichnung von Röntgenbilddaten, sowie zugehöriges Verfahren |
DE102006028327.9 | 2006-06-20 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2008000601A JP2008000601A (ja) | 2008-01-10 |
JP2008000601A5 JP2008000601A5 (ja) | 2010-07-15 |
JP5765868B2 true JP5765868B2 (ja) | 2015-08-19 |
Family
ID=38859667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007160070A Active JP5765868B2 (ja) | 2006-06-20 | 2007-06-18 | ロボット制御式の記録装置、ならびにこれに対応する方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7530739B2 (ja) |
JP (1) | JP5765868B2 (ja) |
DE (1) | DE102006028327B3 (ja) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7948220B2 (en) * | 2007-04-11 | 2011-05-24 | International Rectifier Corporation | Method and apparatus to reduce dynamic Rdson in a power switching circuit having a III-nitride device |
DE102007021770A1 (de) * | 2007-05-09 | 2008-11-20 | Siemens Ag | Medizinisches Diagnose- und/oder Interventionssystem |
JP5264209B2 (ja) | 2008-02-22 | 2013-08-14 | エイチジーエスティーネザーランドビーブイ | 磁気記録媒体及びその製造方法 |
DE102008016414B4 (de) * | 2008-03-31 | 2018-01-04 | Kuka Roboter Gmbh | Röntgenvorrichtung und medizinischer Arbeitsplatz |
DE102008057142B4 (de) * | 2008-04-29 | 2016-01-28 | Siemens Aktiengesellschaft | Verfahren zur rechnergestützten Bewegungsplanung eines Roboters |
DE102008033137A1 (de) * | 2008-07-15 | 2010-02-04 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zur Einstellung einer dynamisch anpassbaren Position eines bildgebenden Systems |
EP2145739B1 (de) * | 2008-07-16 | 2011-02-23 | Siemens Aktiengesellschaft | Industrieroboter mit einem Datenerfassungsmodul für drahtlose Kommunikation und Verfahren zum Betrieb eines solchen |
US8794832B2 (en) * | 2008-09-03 | 2014-08-05 | Kabushiki Kaisha Toshiba | X-ray diagnostic imaging apparatus and X-ray apparatus |
WO2010046839A1 (en) * | 2008-10-24 | 2010-04-29 | Philips Intellectual Property & Standards Gmbh | Reverse helical x-ray tomography with a ceiling mounted c-arm system |
EP2408375B1 (en) * | 2009-03-20 | 2017-12-06 | Orthoscan Incorporated | Moveable imaging apparatus |
WO2012082799A1 (en) | 2010-12-13 | 2012-06-21 | Orthoscan, Inc. | Mobile fluoroscopic imaging system |
DE102011003653A1 (de) * | 2011-02-04 | 2012-08-09 | Siemens Aktiengesellschaft | Verfahren zum Gewinnen eines 3D-Bilddatensatzes zu einem Bildobjekt |
US9265470B2 (en) | 2011-05-24 | 2016-02-23 | General Electric Company | Pivoting X-ray imaging devices |
USD699353S1 (en) | 2011-05-31 | 2014-02-11 | General Electric Company | Imaging system pivot arm |
EP2545855B1 (en) * | 2011-07-13 | 2016-09-07 | General Electric Company | System and method of locating an X-ray imaging apparatus and corresponding X-ray imaging apparatus. |
DE102012005899A1 (de) * | 2012-03-15 | 2013-09-19 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Detektoranordnung zum Aufnehmen von Röntgenbildern eines abzubildenden Objekts |
US8899834B2 (en) | 2012-04-18 | 2014-12-02 | General Electric Company | Pivot joint brakes for X-ray positioning system |
US10265038B2 (en) * | 2014-01-23 | 2019-04-23 | Vatech Co., Ltd. | X-ray photographing device comprising variable type arm |
DE102014206301A1 (de) * | 2014-04-02 | 2015-03-19 | Siemens Aktiengesellschaft | C-Bogen-Haltevorrichtung, Röntgenangiografiegerät und Verfahren zur Orbitalbewegung eines C-Bogens |
KR101485292B1 (ko) * | 2014-04-07 | 2015-01-28 | 재단법인대구경북과학기술원 | 로봇 |
KR101485291B1 (ko) * | 2014-04-07 | 2015-01-21 | 재단법인대구경북과학기술원 | 로봇 |
CN106308826A (zh) * | 2015-06-26 | 2017-01-11 | 上海雄捷医疗器械有限公司 | 一种c型臂x线机的c型臂 |
CN105619401B (zh) * | 2015-11-10 | 2018-04-10 | 江苏寰宇机器人科技有限公司 | 一种工业机器人 |
GR1008886B (el) * | 2016-01-20 | 2016-10-31 | Τεχνολογικο Εκπαιδευτικο Ιδρυμα Ανατολικης Μακεδονιας-Θρακης | Μεθοδος καθοδηγησης ρομποτ με ανιχνευση προσανατολισμου του χρηστη |
CN110121299A (zh) * | 2016-11-04 | 2019-08-13 | 霍罗吉克公司 | 医学成像装置和操作医学成像装置的方法 |
DE102016013315B4 (de) | 2016-11-08 | 2024-07-11 | RayScan Technologies GmbH | Messsystem und Verfahren zum Betreiben eines Messsystems |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63216689A (ja) * | 1987-03-04 | 1988-09-08 | 株式会社日立製作所 | 自動作業装置 |
DE8816311U1 (de) * | 1988-07-28 | 1989-05-03 | Siemens AG, 1000 Berlin und 8000 München | Röntgengerät |
DE4291619T1 (de) * | 1991-06-04 | 1994-11-10 | Anca Pty Ltd | Verbesserte Steuerung von CNC-Werkzeugmaschinen |
US5426722A (en) * | 1993-09-09 | 1995-06-20 | Stratasys, Inc. | Method for optimizing the motion of a multi-axis robot |
DE19957330A1 (de) * | 1999-01-11 | 2000-07-13 | Siemens Ag | Röntgenapparat |
US6409381B1 (en) | 1999-01-11 | 2002-06-25 | Siemens Aktiengesellschaft | Radiography device with operating controls located at the X-ray system support mechanism |
DE19958864A1 (de) | 1999-12-07 | 2001-06-13 | Philips Corp Intellectual Pty | Röntgeneinrichtung |
US6644852B2 (en) * | 2001-11-15 | 2003-11-11 | Ge Medical Systems Global Technology | Automatically reconfigurable x-ray positioner |
US7505809B2 (en) * | 2003-01-13 | 2009-03-17 | Mediguide Ltd. | Method and system for registering a first image with a second image relative to the body of a patient |
US7319738B2 (en) * | 2004-10-08 | 2008-01-15 | General Electric Company | Delivering X-ray systems to pipe installations |
-
2006
- 2006-06-20 DE DE102006028327A patent/DE102006028327B3/de active Active
-
2007
- 2007-06-18 JP JP2007160070A patent/JP5765868B2/ja active Active
- 2007-06-19 US US11/820,243 patent/US7530739B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20080013690A1 (en) | 2008-01-17 |
US7530739B2 (en) | 2009-05-12 |
DE102006028327B3 (de) | 2008-01-31 |
JP2008000601A (ja) | 2008-01-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5765868B2 (ja) | ロボット制御式の記録装置、ならびにこれに対応する方法 | |
US10130314B2 (en) | Method for recording a complete projection data set in the central layer for CT reconstruction using a C-arm X-ray apparatus with a limited rotation range | |
US7837385B2 (en) | Method for recording X-ray images by means of a robotically controlled C-arm system and recording device for recording X-ray images | |
JP4425792B2 (ja) | X線画像化のためのガントリ位置決め装置 | |
US7515677B2 (en) | Method for x-ray image recording of a non-centric imaging area using an x-ray imaging system, and x-ray imaging system | |
EP2865335B1 (en) | Scanning system for three-dimensional imaging | |
JP4516626B1 (ja) | 歯科用x線撮影装置 | |
EP3073925B1 (en) | Mammography imaging arrangement for tomosynthesis | |
US7450682B2 (en) | Method and device for spatial presentation of an examination area of an object under examination | |
US7455453B2 (en) | Method for recording x-ray images of an area lying outside a center of rotation of a C-arm system and the associated C-arm system | |
CN101065162A (zh) | 医学放射治疗装置 | |
WO2012026160A1 (ja) | 放射線治療装置制御装置および放射線治療装置制御方法 | |
EP3654022B1 (en) | X-ray tomography device having additional scanner function | |
CN109480878B (zh) | C形臂x射线设备及获取x射线图像的方法 | |
KR101927079B1 (ko) | X-선 촬영 시스템 및 이를 위한 지그 장치 | |
CN102397081A (zh) | 用于二维/三维配准的方法 | |
JP2015195970A (ja) | X線診断装置 | |
CN111317496A (zh) | Ct成像设备及成像方法 | |
JP5641676B2 (ja) | X線診断装置 | |
US20230355194A1 (en) | Medical Imaging Device And Methods | |
US10881369B2 (en) | Systems and methods for enhanced radiography | |
KR20200109883A (ko) | 엑스선 영상 생성 방법, 엑스선 영상 생성 장치 및 컴퓨터 판독 가능한 기록 매체 | |
JP6179394B2 (ja) | 放射線撮影装置 | |
JP2013090968A (ja) | X線診断装置 | |
KR20200033411A (ko) | 엑스선 영상 생성 방법, 엑스선 영상 생성 장치 및 컴퓨터 판독 가능한 기록 매체 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20100528 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20100528 |
|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20100528 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20120427 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120529 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120829 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130108 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20130408 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20130411 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130418 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20130716 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20150406 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150616 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5765868 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R360 | Written notification for declining of transfer of rights |
Free format text: JAPANESE INTERMEDIATE CODE: R360 |
|
R360 | Written notification for declining of transfer of rights |
Free format text: JAPANESE INTERMEDIATE CODE: R360 |
|
R371 | Transfer withdrawn |
Free format text: JAPANESE INTERMEDIATE CODE: R371 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R360 | Written notification for declining of transfer of rights |
Free format text: JAPANESE INTERMEDIATE CODE: R360 |
|
R360 | Written notification for declining of transfer of rights |
Free format text: JAPANESE INTERMEDIATE CODE: R360 |
|
R371 | Transfer withdrawn |
Free format text: JAPANESE INTERMEDIATE CODE: R371 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |