WO2014198869A1 - Système de suspension au plafond - Google Patents

Système de suspension au plafond Download PDF

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Publication number
WO2014198869A1
WO2014198869A1 PCT/EP2014/062325 EP2014062325W WO2014198869A1 WO 2014198869 A1 WO2014198869 A1 WO 2014198869A1 EP 2014062325 W EP2014062325 W EP 2014062325W WO 2014198869 A1 WO2014198869 A1 WO 2014198869A1
Authority
WO
WIPO (PCT)
Prior art keywords
arrangement
support
image acquisition
horizontal
rail
Prior art date
Application number
PCT/EP2014/062325
Other languages
English (en)
Inventor
Erik Johannes Maria Janssen
Johan Juliana Dries
Arnoldus Johannes Maria VAN DER STAPPEN
Johannes Herman Hubertus Mathijs VAN GARDEREN
Original Assignee
Koninklijke Philips N.V.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips N.V. filed Critical Koninklijke Philips N.V.
Publication of WO2014198869A1 publication Critical patent/WO2014198869A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. 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 for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. 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
    • A61B6/4464—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 mounted to ceiling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4476—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit

Definitions

  • the present invention relates to the acquisition of medical image information of an object.
  • the present invention relates to a medical X-ray imaging system for providing medical imaging information of an object.
  • X-ray imaging is provided for acquiring information about a region of interest of a patient, for example.
  • Permanently provided X-ray systems are used in operating theatres to enable minimally invasive or mixed procedures.
  • X-ray imaging systems are thus provided to be adjustable.
  • the grade of adjustability on one side and the grade of interference with other equipment on the other side serve for an effective cooperation of involved equipment and staff and are thus increasingly important for effective interventions.
  • US 6,264,364 describes an X-ray imaging system mounted to the ceiling.
  • the patient support is provided to be movable, which may however be unwanted in particular during minimal invasive
  • DE 8905588 Ul discloses an X-ray system with a C-arm mounted on a support.
  • the support is provided at the lower end of a telescoping pillar, which is rotatable around its central axis. At its other end, the support is mounted on an overhead rail arrangement.
  • the support may include a horizontal bar provided between the upper end of the telescoping pillar and a hinge through which the support is rotatably mounted on the rail arrangement.
  • a medical X-ray imaging system comprising a patient support, an X-ray image acquisition arrangement, a support
  • the image acquisition arrangement acquires image information of an object of interest arranged on the patient support.
  • the rail arrangement is provided overhead.
  • the support arrangement is movably mounted to the rail arrangement to be movable at least along the rail arrangement.
  • the X-ray image acquisition arrangement is configured to provide an X-ray beam for radiating an imaging region, and is also movably mounted to the support arrangement to allow image acquisition of the object from different directions.
  • the support arrangement provides a first horizontal pivoting movement of the X-ray image acquisition arrangement around a first pivoting axis provided in a horizontal imaging distance to the imaging region.
  • the support arrangement provides a second horizontal pivoting movement of the first pivoting axis around a second pivoting axis in a horizontal support distance to the first pivoting axis. Further, the horizontal support distance is larger than the horizontal imaging distance.
  • the support arrangement is adapted to be moved by a motor arrangement so as to provide a pure lateral movement of the X-ray image acquisition arrangement (14) in relation to the longitudinal extension or direction (22) of the patient support (12).
  • This provides the advantage that the X-ray image acquisition arrangement can be moved in a pure transversal or lateral movement in relation to a patient on the patient support. Due to the possibility to transversely move the X-ray image acquisition arrangement in relation to the patient, off-centre imaging can be conducted. The possible numbers of positions is increased due to the rail system in combination with the pivoting arms ratio provided by the support arms.
  • a further advantage is that rails arranged overhead provided the possibility to move the imaging system, in particular the X-ray image acquisition arrangement, out of an activity area, for instance out of the space that may be needed for the medical staff to stand and move.
  • the rail arrangement comprises a longitudinal extension, which can, for instance, be in the range of a length of the patient support. This allows a necessary degree of mobility of the image acquisition arrangement and at least a part of the support arrangement.
  • the rail arrangement can extend from one sidewall to another opposing sidewall to allow the image acquisition system to be moved completely outside of the patient support area or out of a centre of an operating theatre to park the image acquisition system, for example, in a side area of a room.
  • a possibility to move equipment out of a patient treatment area can be very important for preparation or cleaning of the operating theatre and
  • the rail arrangement allows an X-ray image acquisition arrangement to be positioned around the patient to acquire images, but also provides favorable stand-by positions, when equipment is not actively needed.
  • a parking position can be possible, wherein imaging equipment can be completely moved out of way and out of an active zone of an operating theatre.
  • the rail arrangement is preferably adapted to carry or suspend large and heavy components, such as X-ray imaging systems, that need mechanically stable suspension.
  • large and heavy components such as X-ray imaging systems
  • any other imaging technologies or medical equipment, that require precise positioning and stable suspension can be used in conjunction with the described arrangement of rails and support.
  • the rail arrangement can thereby be positioned anywhere in a room, for instance at the ceiling. More specifically, it can further be installed in an area vertically above the patient support, but - depending on the support length provided by the support arrangement - also vertically outside or besides the patient support.
  • imaging relates to a method where X-ray is generated with an X- ray source, subsequently an object is irradiated by X-ray radiation, and a detector receives or detects the portion of radiation which has passed the object of interest. The detector generates data, which represents the detected radiation. The data can then be used to generate or construct an image of the object of interest.
  • imaging information is related to data representing tissue structure with different absorption behavior in terms of X-ray radiation. Such data are depending on the detector technology and kind of radiation used.
  • a region of interest of an object for instance a patient's body, is arranged on the patient support.
  • the X-ray source and the detector can be positioned at a lower and an upper side or sideward of the table, to allow a precise image acquisition.
  • An image acquisition arrangement can include, for example, a C-arc, which holds or supports an X-ray source, X-ray detector, and allows correct arrangement of the X- ray components for imaging.
  • the term "rail arrangement” means that one or more rails, typically in parallel, are arranged to allow a movement of a connected part or member along the rails.
  • the rail arrangement can be preferably fixed to a ceiling, side-walls or other immobile members of an operation theatre in order to provide a stabilizing effect.
  • the rail arrangement can be, for example, a wheel-rail combination, a sleeve bearing or other means moving on or along the rails.
  • An objective of such a rail arrangement can be to minimize forces between the support arrangement and the rail arrangement to allow low friction and therefore low forces for initiation of movements.
  • fixation is provided in an example to prevent unwanted movement. A fixation can ensure that the image acquisition arrangement does not move, for instance, during an image acquisition procedure.
  • the support system can then be fixed or arrested again.
  • the rail arrangement is mounted to the ceiling, preferably using two rails in parallel for distribution of forces.
  • a distance between two rails for suspension of an X-ray imaging system can be, for instance, in the range of 20 cm to 100 cm.
  • overhead can be understood that the rail system is located in a vertical height above ground over the heads of medical staff approximately, for example, at least 2 meters over ground, to avoid collision of imaging system components with staff or with other equipment.
  • rails are mounted with their ends to the sidewalls of the room spanning across the room.
  • rails are mounted on a bridge-like arrangement with stands on the floor. This can be advantageous, if no sufficiently stable ceiling or stable/rigid side-walls are available.
  • the support arrangement allows a stable positioning of the image acquisition arrangement by providing a mechanical link to the immobile rail arrangement. Stability can be achieved by a move-and-lock functionality.
  • the support arrangement is arranged to be moved through motor arrangements.
  • Such motors or drives can be provided, for example, at connection points between the support arrangement and the image acquisition arrangement and/or the rail arrangement and/or the points where the support arrangement pivots around the first and second pivoting axes.
  • a motor arrangement is provided that allows for coordinated motorized movements of different portions of the support arrangement.
  • coordinated movements include a transversal movement of the support arrangement along the rail arrangement and first and second pivoting movements around the first and second pivoting axes.
  • these movements are coordinated so as to define the purely transversal or lateral movement of the X-ray image acquisition arrangement with respect to the longitudinal direction of the patient support, in accordance with the invention.
  • the support arrangement can preferably be designed to be at least partly located in a minimum vertical height over the heads of medical staff or equipment to minimize blocking of space and to avoid collisions.
  • the support arrangement comprises segmented arms, which are connected with hinges.
  • the support arrangement comprises telescopic arms, which can be driven, for instance, hydraulically or electromagnetically with drives and gear mechanism. It should be noted, that telescopic arms are seen as having at least two structural members or segments.
  • a moving along the rail arrangement can be seen as a translation movement by shifting or sliding of the support arrangement on or at the rails. This translation can be combined with a possible pivoting movement or rotation of the support arrangement around a mounting point of the support arrangement at the rail arrangement.
  • movably mounted refers to a possibility to change a position while staying physically connected, and the capability to provide a necessary stability and a temporary fixation to allow the acquisition of images using the image acquisition
  • a movable mounting of the image acquisition arrangement to the support arrangement refers to a capability of the image acquisition arrangement to allow different projection directions. For example, rotation of an image acquisition system around an ISO- point is often desirable. In other words, a movement of the image acquisition arrangement in 3D space can be advantageous.
  • aligned relates to an angular relation between two members that are parallel and also comprises a range of deviation from parallel, such as a deviation in the range of +/- 30°, or with +/- 20°, or with +/- 15°, or with +/- 10° or with +/- 5°.
  • the patient support has a longitudinal direction, and the rail arrangement is extending in a longitudinal rail direction disposed above the patient support and aligned with the longitudinal direction of the patient support.
  • a patient support can be seen as a table or other mostly mechanical means for supporting a patient or object.
  • One objective of a patient support can be to prevent movement of the object in order to avoid problems during imaging or during the intervention.
  • the patient support can be arranged horizontally, however, tilting and/or rotation can be possible. Also lateral and longitudinal movements can be possible, in particular for adjusting purposes.
  • the patient support is preferably fixed to avoid even small movements of the patient, for example during minimal invasive
  • interventions such as cardiac interventions, or also neural interventions.
  • a longitudinal patient support direction relates to the main geometric extension.
  • a patient support for a human body typically comprises a bigger longitudinal extension (e.g. head-feet-axis of a patient) than a lateral extension.
  • a patient support can have a size of about 2 to 3 meters length and about 50 cm to 80 cm width. If the table is tilted or rotated, the horizontal direction relates to a projected direction of the patient support in horizontal direction.
  • the support arrangement comprises a rail connector, at least a horizontal first support arm and a vertical second support arm, and an image acquisition connector.
  • the rail connector slidingly couples the support arrangement to the rail arrangement.
  • the image acquisition connector couples the image acquisition arrangement to the support arrangement, wherein the image acquisition arrangement is movable in relation to the second arm.
  • the support arms are movably connected to each other linking the image acquisition connector to the rail connector.
  • a rail connector can be seen as member, which allows movement along rails and provides stable coupling of support arrangement to rails, for example in a sliding movement along the rails.
  • the rails may be linear or curved.
  • the rail connector can be implemented as a carriage, which is slideable or displaceable along a longitudinal direction of the rail arrangement.
  • the image acquisition connector can allow an angle conversion between different pivotal axes. It further allows different movement options in different direction and dimensions without movement of support arms.
  • Support arms can be seen as providing bridging of distances in the three- dimensional room, while maintaining mechanical stability.
  • the support arms can be adapted to carry the weight of image acquisition arrangement.
  • support arms are lightweight but mechanically stable.
  • aluminium profiles, steel profiles, tube-like profiles, or similar material can be used to provide required mechanical properties of the support arms.
  • the at least two support arms can be connected via hinges, bearings, or others.
  • the support arms can be implemented as telescopic arm arrangement.
  • movably connected refers to the ability of the linked members to perform movements in different directions, while staying mechanically connected.
  • the spatial position of connected members can be changed and fixed / arrested / locked. This allows the members to be moved in relation to each other and then be locked or arrested to avoid unwanted movement, for instance for image acquisition.
  • the first horizontal support arm is mounted to the rail connector pivotally around a first downwardly oriented axis of rotation at a first mounting point.
  • the second vertical support arm is mounted to the first arm pivotally around a second downwardly oriented axis of rotation at a first end at a second mounting point.
  • the image acquisition connector is mounted to the second support arm at a second end at a third mounting point.
  • the first mounting point and the second mounting point are provided in a horizontal beam distance
  • the third mounting point and the imaging region are provided in the horizontal imaging distance.
  • the horizontal beam distance is larger than the horizontal beam distance.
  • the horizontal beam distance is in accordance with the above-mentioned horizontal support distance.
  • the horizontal beam distance is also referred to as first horizontal distance, and the imaging distance as second horizontal distance.
  • the first horizontal distance is larger than the second horizontal distance.
  • the horizontal extension of the support is provided above the heads of staff and does not disturb operation and does not block space.
  • the horizontal extension is very effective to bridge horizontal distances between rails and the patient support area.
  • the image acquisition connector and the rail connector provide pivotable mounting, and therefore additional degree of freedom for movement in multiple directions.
  • the joint of the connector to the second arm provides the movement.
  • a combination is provided of movement of arms and connectors.
  • the first downwardly oriented axis is a first vertical axis.
  • the second downwardly oriented axis is a vertical axis.
  • horizontal relates to a horizontal arrangement with possible deviations of plus 30° (degrees) to minus 30° (degrees), for example +/- 30°, +/- 20°, +/- 15°, +/- 10° or +/- 5°.
  • a horizontal extension can be combined with a vertical extension at the same time.
  • a horizontal distance between the first mounting point and the second mounting point is adjustable.
  • a length of the first support arm is extensible in horizontal direction in order to allow a movement of the image acquisition arrangement along a longitudinal extension of the patient support.
  • the image acquisition arrangement can perform a movement transversally in lateral direction, e.g. orthogonal, to the longitudinal direction of the patient support without changing an angle between the image acquisition arrangement and the patient support.
  • At least one out of the group of the following is provided: translation of second mounting point along the first support arm; translation of first mounting point along the first support arm, and the first support arm is a telescopic arm.
  • the support arm arrangement consists of extensible arms, for instance threaded rod and rails.
  • the members are driven by hydraulic means.
  • the mounting point of second vertical arm is mounted slideable at the horizontal arm, for instance with multiple slideable rails.
  • the image acquisition arrangement comprises a C- arm, wherein an X-ray source and an X-ray detector are provided at opposing ends of the C- arm.
  • the C-arm is movably mounted to the image acquisition connector. The mounting of the C-arm is provided:
  • a C-arm is an advantageous mechanical solution, which allows positioning an object of interest inside a C-shape, wherein the X-ray source and detector arrangement can be positioned to irradiate the object. Any mechanical contact is avoided between the patient support/object of interest and the image acquisition system.
  • the image acquisition connector when the image acquisition connector is arranged on the top or upper point of the C-arm, a pivoting movement around a horizontal axis is additionally provided.
  • the image acquisition connector may be provided as a sliding guide device to allow angular variations of the source/detector axis.
  • the support arrangement or image acquisition connector can also be connected at the lower or bottom side of the C-arc.
  • the image acquisition connector can provide a pivoting of the C-arm around a vertical axis.
  • the C-arm in conjunction with the image acquisition connector can also perform a rotation of the X-ray source/detector arrangement around an axis defined by the shape of the C-arc (C-arc rotation).
  • the patient support is at least partly surrounded by a predetermined patient access zone, and the rail arrangement is disposed above the patient access zone.
  • a patient access zone can be seen as the patient support surrounded by a virtual margin around the patient support.
  • an arrangement of the rail arrangement outside of the patient access zone is aimed to avoid collisions or interference of any parts of an imaging system with staff or other equipment.
  • Another advantage can be seen in an unblocked access to the patient for staff and important equipment.
  • improved footprint, more space for moving, and access to the head region of a patient can be achieved.
  • the head region of a patient can be important for providing space for anaesthetists, which are usually located near the head region of the patient.
  • the support arrangement is adapted to position the image acquisition arrangement at least in:
  • an operational position in which the image acquisition arrangement acquires image information of the object of interest
  • a stand-by position in which the image acquisition arrangement is outside of the patient access zone.
  • An advantage can be that the imaging system provides different spatial positions for different situations during the invention.
  • An advantage of a parking position can be seen in the possibility to move the heavy and large imaging system completely out of any area, where space is needed during interventions or for staff and equipment to move.
  • a parking position provides spatial advantages.
  • An operational position of the image acquisition arrangement allows acquiring imaging information of the object from multiple different projection angles and positions.
  • An X-ray source and an X-ray detector can be activated normally only when the image acquisition arrangement is in operational mode. In other words, the parking position is aimed to minimize any disturbing influence, in particular minimize space required.
  • the imaging system can be parked parallel to a sidewall.
  • the imaging system can be, if necessary, maintained in that parking position, if necessary.
  • An advantage of the stand-by position can be seen in an advantageous ratio of quick availability for a required image acquisition, and in the necessity to avoid or at least minimize any interference with imaging equipment and the laminar flow.
  • a stand-by position can be between an operational position and a parking position, and be located outside of a predetermined margin around a region of interest of the object on the patient support. Such a margin can be in a range of 0.5 meters to 2 meters, for instance.
  • the rail arrangement which carries the image acquisition arrangement and the support arrangement, aligned with a longitudinal direction of a patient support and to provide the support arrangement for the imaging system with unequal pivoting segments providing two different pivoting radii that in combination provided an increased range of movement possibilities, such as, in particular, a pure transversal movement of the X-ray imaging system in relation to the rail arrangement and the patient support.
  • Fig. 1 schematically illustrates an example of a medical X-ray imaging system in a top view
  • Fig. 2 schematically illustrates an example of the medical X-ray imaging system in a lateral side view
  • Fig. 3 schematically shows a further example of the medical imaging system in a top view
  • Fig. 4 schematically shows a further example of the medical imaging system in a top view in a first imaging position in Fig. 4A, in a second imaging position in Fig. 4B, in a third imaging position in Fig. 4C, and in a parking position in Fig. 4D;
  • Fig. 5 schematically shows an example of a medical imaging system from a side view with two pivotable support arms
  • Fig. 6 schematically illustrates a rail arrangement, a rail connector, and two support arms as part of a medical imaging system in a further example
  • Fig. 7 schematically shows an example of an image acquisition arrangement and support arrangement with a mounting on top of a C-arm of a medical imaging system
  • Fig. 8 shows a further example in a perspective view.
  • Fig. 1 shows a top view of a medical imaging system 10 based on X-ray for generation of imaging information of an object 20 (see also Fig. 2).
  • the medical imaging system 10 comprises a patient support 12, which has a longitudinal horizontal extension or direction 22.
  • a rail arrangement 18 has a longitudinal rail direction 24 and a support arrangement 16 is mo vably mounted at the rail arrangement 18.
  • the support arrangement 16 is mo vably connected to the image acquisition arrangement 14.
  • the rail arrangement 18 is arranged aligned with the longitudinal extension 22 of the patient support 12.
  • the support arrangement 16 is movably mounted to the rail arrangement to be movable at least along the rail arrangement, indicated with a double arrow 11.
  • the X-ray image acquisition arrangement 14 is configured to provide an X-ray beam 13 (see Fig. 2) for radiating an imaging region 15, and is movably mounted to the support arrangement 16 to allow image acquisition of the object from different directions.
  • the support arrangement 16 provides a first horizontal pivoting movement of the X-ray image acquisition arrangement, indicated with two pivoting arrows 17, around a first pivoting axis 19 provided in a horizontal imaging distance Dl to the imaging region 15.
  • the support arrangement 16 provides a second horizontal pivoting movement of the first pivoting axis 17, indicated with two further pivoting arrows 21, around a second pivoting axis 23 in a horizontal support distance D2 to the first pivoting axis 17.
  • the horizontal support distance Dl is larger than the horizontal imaging distance D2.
  • the rail arrangement 18 can comprise one or several distinct rails, which can be arranged such that a moving of the support arrangement 16 along the rails is possible. Instead of an exact parallel arrangement of the rail arrangement 18, also angle deviations in the arrangement related to the longitudinal extension 22 of the patient support 12 are possible.
  • the rail arrangement 18 can also extend vertically above the patient support 12.
  • the image acquisition arrangement 14 is movably connected, for instance with a hinge, to the support arrangement 16.
  • the image acquisition arrangement 14 can acquire image information of an object of interest 20, which is positioned on a patient support 12. Due to the mobility in relation to the support arrangement 16, the image acquisition arrangement 14 can move in longitudinal and lateral direction in relation to the object 20.
  • the rail arrangement 18, the support arrangement 16, and the image acquisition arrangement 14 comprise dimensions and sizing, that allows positioning of the image acquisition system, in particular an X-ray source and an X-ray detector in all relevant areas of the patient support and/or the object of interest.
  • the support arrangement 16 can comprise one or multiple segments or members to allow a moving of the image acquisition arrangement 14 in multiple directions.
  • the support arrangement 16 is at least movable along the rail arrangement 18. In addition, for instance, a pivoting in several directions is possible.
  • a motor arrangement provides for coordinated movements of the support arrangement 16 along the rail arrangement 18, around the first pivoting axis 19 and around the second pivoting axis 23, in order to achieve a lateral or transversal movement of the X-ray image acquisition arrangement 14 with respect to the longitudinal direction of the patient support 22.
  • Fig. 2 shows a lateral side view, with the X-ray image acquisition arrangement 14 as a C-arm arrangement suspended by a vertical beam 27.
  • the X-ray image acquisition arrangement 14 is provided, such as an X-ray source mounted to the end of a further horizontal beam attached at the first pivoting axis 19.
  • Fig. 3 shows a further top view.
  • a patient access zone 26 is shown around the patient support 12, a patient access zone 26 is shown.
  • the patient access zone 26 can be seen as an area around at least a part of the patient support 12, which is used for equipment and by medical staff to access the patient for treatment/interventions.
  • the purpose of the patient access zone 26 can be seen that this zone is critical for effective interventions in the sense that sufficient space for moving for the staff is required, as well as space for medical equipment necessary.
  • the patient access zone can cover the whole patient support 12 or only parts of the patient support 12.
  • the Fig. 2 shows a rectangular shape, also other shapes are possible.
  • An aspect of Fig. 3 is that the rail arrangement 18 is disposed above the patient access zone 26. However, freedom of move for staff and equipment in the patient access zone is provided nevertheless, because the rail arrangement 18 and part of the support arrangement 16 require space only in room areas above the heads of medical staff.
  • Fig. 3 shows separate possible positions of the support arrangement 16 and the image acquisition arrangement 14.
  • the image acquisition arrangement acquires image information of the object of interest.
  • a parking position Pp the image acquisition arrangement is provided outside the patient access zone and moved to a place meaning minimized hurdle with respect to staff or equipment movement inside the operational theatre.
  • the image acquisition arrangement 14 and the support arrangement 16 are arranged to free up or provide maximum space around the active or operational area and to move the imaging system out of way, if it is not needed.
  • a standby position P s the image acquisition arrangement is outside of the patient access zone, e.g. moved laterally of the patient table.
  • the stand-by position P s describes a stand-by position, which is of advantage when the equipment is temporarily not needed and needs to stay in close distance to the object of interest to reduce time to reposition the image acquisition arrangement to acquire new images.
  • Fig. 4 the medical imaging system 10 is shown in a top view with the X- ray image acquisition arrangement 14 in different positions.
  • Fig. 4A shows the X-ray image acquisition arrangement 14 in a first imaging position P im i with the X-ray source and detector arranged on one side of the patient support 12, e.g. in view of the Figures on the lower side.
  • Fig. 4B shows the X-ray image acquisition arrangement 14 in a second imaging position P INT2 with the X-ray source and detector arranged in the middle of the patient support 12.
  • Fig. 4C shows the X-ray image acquisition arrangement 14 in a third imaging position P IM3 with the X-ray source and detector arranged on the other side of the patient support 12, e.g. in view of the Figures on the upper side.
  • a pure lateral movement M L in relation to the longitudinal horizontal extension or direction 22 of the patient support 12 can be provided by means of suitable, preferably coordinated, motorized movements of different portions of the support arrangement.
  • Fig. 4D shows a further position, in which the imaging system is moved to the side, or example for parking purposes, e.g. the parking position P P .
  • Fig. 5 illustrates an example of the medical imaging system 10, comprising the rail arrangement 18, a first horizontal support arm 16a, a second vertical support arm 16b, and image acquisition connector 32.
  • the first support arm 16a is pivotally connected to a rail connector 30, which provides mechanical connection between the support arm 16a and the rail arrangement 18.
  • the support arm 16a is pivotally movable around a vertical axis 34 forming the second pivoting axis 23.
  • the term vertical relates to a downwardly oriented direction, which can deviate from the exact vertical arrangement.
  • the first support arm 16a extends horizontally; however, it can also extend in both vertical and horizontal direction. It should be noted, that the function of the support arm 16a is to bridge a horizontal distance, i.e.
  • the rail connector 30 can slide along a longitudinal rail extension of the rail arrangement 18.
  • the second support arm 16b is pivotally mounted around the vertical axis 36 in the horizontal support distance D2. Also here, a deviation from the exact vertical position of + 30° to - 30° can be possible, for example up to +/- 60°. In addition to the rotational movement, the support arm 16b can also move in all other directions in relation to the horizontal support arm 16a.
  • the image acquisition connector 32 provides movement of the image acquisition
  • a horizontal axis refers to a mainly horizontal arrangement, which can allow deviations from an exact horizontal position of - 30° to + 30°.
  • the X-ray image acquisition arrangement 14 is configured to provide the X-ray beam 13 for radiating an imaging region (not further shown) in the horizontal imaging distance Dl between the imaging region 15 and the first pivoting axis 19, wherein the horizontal support distance D2 is larger than the horizontal imaging distance Dl.
  • Fig. 6 illustrates schematically an example of the rail arrangement 18, the rail connector 30, a mounting point 38 of the rail connector at the first horizontal support arm 16a, and a mounting point 40 of the second support arm 16b at the first support arm 16a.
  • the first support arm 16a is pivotally mounted to the rail connector 30 around an axis 34.
  • the second support arm 16b is pivotally mounted to the first support arm 16a around an axis 36.
  • a horizontal distance 42 between the two axes 34 and 36 is adjustable. This can be achieved by moving the first mounting point 38 of the rail connector 30 along the extension of the first support arm 16a, and/or by changing or moving or displacing the mounting point 40 of the second support arm 16b along a length of the horizontal support arm 16a.
  • FIG. 7 an alternative option is shown for mounting a support arm 16b to a top side of a C-arc 41 by means of an image acquisition connector 32.
  • the C-arm 41 further comprises an X-ray source 44 and a detector 46, which is arranged opposite the X-ray source 44.
  • the image acquisition connector 32 allows a pivoting movement of the C-arc around a vertical axis 56.
  • the image acquisition connector 32 allows a sliding or gliding of the C-arc in radial direction, performing a roughly circular movement of the X-ray source 44 / detector 46 arrangement.
  • Fig. 8 shows a further example of the medical X-ray imaging system 10 in a perspective view.
  • a patient 58 is placed on the patient support 12.
  • the X-ray image acquisition arrangement is a C-arc 60 with source and detector attached at opposing ends providing a field of X-ray imaging, indicated with a central imaging line 61.
  • the support arrangement 16 is provided as a vertical beam 62, also called I-arm, and a horizontal beam 64.
  • the C-arm is mounted to the lower end of the vertical beam 62 by a lower rotational support 66 allowing a rotation around a horizontal axis 68.
  • a sleeve 70 allows a circular sliding movement 72 of the C-arc 60.
  • the vertical beam 62 is mounted to the horizontal beam 64 by a first upper rotational support 74 allowing a rotation around a first vertical axis 76.
  • the horizontal beam 64 is mounted to a rail carriage 78 by a second upper rotational support 80 allowing a rotation around a second vertical axis 82.
  • the rail carriage 78 is mounted to longitudinal rails 84 of the rail arrangement 18 allowing a horizontal movement 86.
  • the pivoting movement length provided by the horizontal beam 64 is larger than the imaging length provided by the C-arm and its support from the outer point of the horizontal beam 64.
  • the distance between the first vertical axis 76 of the first upper rotational support 74 and the second vertical axis 82 of the second upper rotational support 80 is larger than the projected horizontal distance between the first vertical axis 76 and the central imaging line 61.

Abstract

L'invention concerne un système d'imagerie à rayons X médical (10), qui comprend un support de patient (12), un agencement d'acquisition d'image à rayons X (14), un agencement de support (16) et un agencement de rail (18) placé au-dessus. L'agencement de support est monté de façon mobile sur l'agencement de rail, et l'agencement d'acquisition d'image à rayons X est configuré pour fournir un faisceau de rayons X (13) pour rayonner une région d'imagerie (15). L'agencement de support réalise un premier mouvement de rotation horizontale (17) de l'agencement d'acquisition d'image à rayons X autour d'un premier axe de rotation (19) fourni dans une distance d'imagerie horizontale (D1) par rapport à la région d'imagerie, et l'agencement de support réalise un second mouvement de rotation horizontale (21) du premier axe de rotation autour d'un second axe de rotation (23) dans une distance de support horizontal (D2) par rapport au premier axe de rotation. La distance de support horizontal (D2) est plus grande que la distance d'imagerie horizontale (D1).
PCT/EP2014/062325 2013-06-14 2014-06-13 Système de suspension au plafond WO2014198869A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109862845A (zh) * 2016-09-16 2019-06-07 Gys科技有限责任公司(经营名称为卡丹机器人) 用于在手术机器人系统中安装机器人臂的系统和方法
CN112137632A (zh) * 2019-06-28 2020-12-29 西门子医疗有限公司 用于提供碰撞信息的方法以及医学成像装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8905588U1 (fr) 1989-05-03 1990-09-13 Siemens Ag, 1000 Berlin Und 8000 Muenchen, De
US6264364B1 (en) 1998-08-31 2001-07-24 Siemens Aktiengesellschaft Medical x-ray system suited for angiography
US20040008820A1 (en) * 2002-04-11 2004-01-15 Thomas Schmitt X-ray support device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8905588U1 (fr) 1989-05-03 1990-09-13 Siemens Ag, 1000 Berlin Und 8000 Muenchen, De
US6264364B1 (en) 1998-08-31 2001-07-24 Siemens Aktiengesellschaft Medical x-ray system suited for angiography
US20040008820A1 (en) * 2002-04-11 2004-01-15 Thomas Schmitt X-ray support device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109862845A (zh) * 2016-09-16 2019-06-07 Gys科技有限责任公司(经营名称为卡丹机器人) 用于在手术机器人系统中安装机器人臂的系统和方法
CN112137632A (zh) * 2019-06-28 2020-12-29 西门子医疗有限公司 用于提供碰撞信息的方法以及医学成像装置

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