WO2021174767A1 - 一种全向移动式多自由度双源x射线设备及其应用 - Google Patents

一种全向移动式多自由度双源x射线设备及其应用 Download PDF

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Publication number
WO2021174767A1
WO2021174767A1 PCT/CN2020/108849 CN2020108849W WO2021174767A1 WO 2021174767 A1 WO2021174767 A1 WO 2021174767A1 CN 2020108849 W CN2020108849 W CN 2020108849W WO 2021174767 A1 WO2021174767 A1 WO 2021174767A1
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Prior art keywords
axis
dual
source
arc
degree
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PCT/CN2020/108849
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English (en)
French (fr)
Inventor
冯在东
吴小页
郭炜
刘卫琴
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南京安科医疗科技有限公司
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Publication of WO2021174767A1 publication Critical patent/WO2021174767A1/zh

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    • 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
    • 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
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • 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
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/107—Protection against radiation, e.g. shielding
    • 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
    • A61B6/40—Arrangements for generating radiation specially adapted for radiation diagnosis
    • A61B6/4007—Arrangements for generating radiation specially adapted for radiation diagnosis characterised by using a plurality of source units
    • 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
    • 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
    • A61B6/48—Diagnostic techniques
    • A61B6/481—Diagnostic techniques involving the use of contrast agents
    • 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
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/503—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of the heart

Definitions

  • the invention relates to the technical field of medical equipment, in particular to an omnidirectional mobile multi-degree-of-freedom dual-source X-ray equipment.
  • the accuracy rate of manual placement is only about 90.3%.
  • the main reason for this phenomenon is the change of the patient’s posture, which is different from the preoperative CT image evaluation.
  • the fundamental way to solve these problems is to use advanced intraoperative CT scanning equipment to scan and reconstruct high-precision three-dimensional images, and to correct the operation in time, thereby reducing the difficulty of the operation, improving the accuracy of the operation, and avoiding the occurrence of secondary operations.
  • the general minimally invasive surgery equipment on the market is mostly C-arm X-ray scanning equipment.
  • the tube and flat-panel detector are installed at both ends of the rotatable C-shaped opening frame. It is necessary to rotate the C-arm frequently, and in the operating room, time and space are relatively tight, which cannot give enough time for the equipment to move. Therefore, in many operations, two C-arm X-ray scanning devices are often required to be arranged crosswise to reduce the operation time and fluoroscopy time, which greatly increases the cost of the equipment and causes radiation damage to the doctor.
  • the purpose of the invention in order to overcome the above-mentioned shortcomings of the prior art and solve the above-mentioned problems.
  • the invention provides an omni-directional mobile multi-degree-of-freedom dual-source X-ray device, which can realize precise positioning and scanning of multiple positions in the operation and check the operation results, and is used in angiography operations, which can realize two different orientations at one time Scan, reduce the radiation dose, and enhance the contrast effect.
  • an omnidirectional mobile multi-degree-of-freedom dual-source X-ray equipment including an omnidirectional mobile platform, a multi-degree-of-freedom motion device, a dual-source rack, a battery pack, and a high-voltage generator;
  • the bottom of the omnidirectional mobile platform is provided with mecanum wheels, and the multi-degree-of-freedom motion device is installed on the front side of the omni-directional mobile platform and connected to the dual-source frame. And deflection, the battery pack and high-voltage generator are installed on the rear side of the omnidirectional mobile platform;
  • the dual-source rack includes an open support, a rotor, an X-ray tube one, a detector one, an X-ray tube two, a detector two, an arc-shaped turret, and a driving gear.
  • the rotor is located on the arc inside the open support
  • the driving gear is installed at the bottom of the curved guide groove and meshes with the outer circumferential gear ring of the rotor.
  • the rotation of the driving gear drives the rotor to rotate in the curved guide groove, and the X-ray tube and arc are installed inside the rotor.
  • the rotor can rotate within the range of ⁇ 190° in the arc-shaped guide groove; the angle ⁇ between the first X-ray tube and the second X-ray tube is in the range of 50° to 130°
  • the arc guide rail on the inner side of the rotor has a limit locking mechanism for fixing the arc turret.
  • the multi-degree-of-freedom motion device includes an X-axis motion device, a Y-axis motion device, a Z-axis motion device, a column rotation motion device, a dual-source frame deflection motion device, a dual-source frame deflection motion device and a dual-source machine
  • the frame is connected to drive the dual-source frame to rotate around the X axis.
  • the Z-axis motion device is connected with the dual-source frame deflection motion device to drive the dual-source frame to translate along the Z-axis.
  • the Y-axis motion device is connected to the Z-axis motion device to drive the dual
  • the source frame moves up and down along the Y axis
  • the column rotation movement device is connected with the Y axis movement device to drive the dual source frame to rotate around the Y axis
  • the X axis movement device is connected to the column rotation movement device to drive the dual source frame to translate along the X axis.
  • the X-axis motion device includes a mounting substrate fixed to the omnidirectional moving platform, an X-axis linear guide and rack fixed to the mounting substrate, an X-axis sliding platform installed on the X-axis linear guide, and an X-axis sliding platform installed on the X-axis.
  • the X-axis motor of the platform, the X-axis motor is connected to the transmission shaft through a reducer, and the X-axis gear is installed on the transmission shaft and meshes with the rack;
  • the column rotation movement device includes a slewing bearing one, an inner ring of the slewing bearing is mounted on the X-axis sliding platform, an outer ring of the slewing bearing is provided with a worm wheel, the worm wheel and the worm one mesh with each other, and the worm one rotates with the column through a planetary reducer.
  • the motor is connected;
  • the Y-axis motion device includes a column bracket installed on the outer ring of the slewing bearing, a Y-axis linear guide and a servo electric cylinder installed on the column bracket, a Y-axis lifting column installed on the Y-axis linear guide, and a Y-axis lifting column installed on the Y-axis linear guide.
  • the gas spring between the column bracket and the Y-axis lifting column is connected with the servo electric cylinder;
  • the Z-axis motion device includes a suspension bracket installed on the Y-axis lifting column, a ball screw and a Z-axis motor installed on the suspension bracket, and a Z-axis sliding table installed on the ball screw.
  • the ball screw is decelerated through a timing belt.
  • the machine is connected with the Z-axis motor, and the timing belt is equipped with a tensioning mechanism;
  • the dual-source frame deflection movement device includes two slewing bearings.
  • the inner ring of the two slewing bearings is installed on the Z-axis sliding table.
  • the outer ring of the second slewing bearing is provided with two worm wheels.
  • the machine is connected with the double-source frame deflection motor, and the open support is installed on the second outer ring of the slewing bearing.
  • protective lead glass is installed on the rear side of the battery pack and the high voltage generator.
  • the protective lead glass includes lead glass, a guide rail, a front-end guide, a lifting motor, a steering pulley, a winding gear, a wire rope, a glass bottom support, and a winding shaft.
  • the guide rail is vertically installed in the omnidirectional direction through a bracket.
  • the glass bottom bracket is installed on the guide rail, the lower end of the lead glass is installed on the glass bottom bracket, the front end guide is installed on the upper end of the guide rail, the lead glass passes through the front guide, the steering pulley, the winding gear and the lifting
  • the motor is installed on the upper part of the bracket, one end of the steel wire rope is fixed on the glass bottom support, and the other end is connected to the winding shaft through the steering pulley, and the winding shaft is connected to the lifting motor through the winding gear.
  • the rear side of the omnidirectional mobile platform is also provided with a handle, and a handle switch is provided on the handle for controlling the speed and direction of the mecanum wheel.
  • the handle switch includes a pressing bar, a switch connection post, a return spring, a guide post, a guide post spring and a force sensor.
  • the switch connection post and the guide post are parallel to each other.
  • the rear end of the switch connection post passes through the press bar, and the front end is fixed at
  • the reset spring is sleeved on the switch connecting post
  • the rear end of the guide post is fixed on the pressing bar
  • the front end is close to the force sensor
  • the force sensor is fixed on the handle
  • the guide post spring is sleeved on the guide post.
  • the equipment can move in all directions, has strong operability in the operating room, and the dual-source gantry has high degree of freedom and high positioning accuracy. It can achieve precise positioning and scanning of multiple positions during the operation and check the results of the operation. It is used for one angiography operation. Two angles can be displayed, the amount of contrast agent is small, and the inspection efficiency is high;
  • the protective lead glass on the back of the equipment can effectively prevent the operator from X-ray radiation, and the protective lead glass can rise and fall freely;
  • the handle switch on the back of the equipment controls the movement of the whole equipment, which can directly control the running direction and speed of the equipment.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • Figure 2 is a side view of the present invention
  • Figure 3 is a schematic diagram of the open structure of the rotor of the present invention.
  • Figure 4 is a schematic diagram of the disassembly of the rotor structure
  • Figure 5 is a schematic diagram of the structure of a multi-degree-of-freedom motion device
  • Figure 6 is a schematic diagram of the structure of the Z-axis motion device
  • Figure 7 is a schematic diagram of the lifting structure of the protective lead glass
  • Figure 8 is a schematic diagram of the distribution of left and right control handle buttons
  • Figure 9 is a schematic diagram of the internal structure of the handle button
  • Omnidirectional moving platform 11. Mecanum wheel; 2. Multi-degree-of-freedom motion device; 21. X-axis motion device; 22. Y-axis motion device; 23. Z-axis motion device; 24. Column rotation Movement device; 25. Dual-source rack deflection movement device; 211. X-axis linear guide; 212. Mounting base plate; 213. X-axis sliding platform; 214. X-axis motor; 215. X-axis gear; 216. Rack; 221 .Servo electric cylinder; 222. Gas spring; 231. Z-axis linear guide; 232. Ball screw; 233. Z-axis motor; 234. Synchronous belt; 235. Z-axis sliding table; 3.
  • an omnidirectional mobile multi-degree-of-freedom dual-source X-ray equipment of the present invention includes an omnidirectional mobile platform 1, a multi-degree-of-freedom motion device 2, a dual-source rack 3, a battery pack 4, and a high-voltage generator.
  • Device 5 protective lead glass 6, handle switch 7.
  • the bottom of the omnidirectional mobile platform 1 has four mecanum wheels 11.
  • the omni-directional mobile platform 1 can realize forward, backward, left and right side movement, and rotation on the spot through the mecanum wheel 11.
  • the multi-degree-of-freedom motion device 2 is installed on the front side of the omni-directional mobile platform 1 and connected with the dual-source frame 3, and the dual-source frame 3 is realized by the multi-degree-of-freedom motion device 2 to translate, lift and rotate. Through the exposure action of the X-ray tube on the dual-source gantry 3, the scanning function is realized.
  • the battery pack 4 and the high-voltage generator 5 are installed on the rear side of the omnidirectional mobile platform 1.
  • the battery pack 4 is composed of multiple lead-acid batteries, which can not only provide the energy required for X-ray tube exposure, but also serve as the front and rear balance of the entire equipment. Heavy.
  • a protective lead glass 6 is installed on the rear side of the battery pack 4 and the high voltage generator 5. The protective lead glass 6 can protect the operators of operating equipment in the operating room from X-ray radiation, facilitate rapid exposure of the equipment, and save operating time.
  • the rear side of the omnidirectional mobile platform 1 is also provided with a handle, and a handle switch 7 is arranged on the handle, and the speed and direction of the mecanum wheel 11 are controlled by the handle switch 7.
  • the dual-source gantry 3 includes an open support 31, a rotor 32, an X-ray tube 321, a detector 322, an X-ray tube 323, a detector two 324, and an arc Rotating frame 326, driving gear 311.
  • the open bracket 31 is C-shaped and has an arc-shaped guide groove 312 on the inner side.
  • the rotor 32 is located in the arc guide groove 312 inside the open support 31.
  • the driving gear 311 is installed at the bottom of the arc guide groove 312 and meshes with the outer circumferential gear ring of the rotor 32.
  • the driving gear 311 rotates to drive the rotor 32 in the arc Rotation within a range of ⁇ 190° is performed in the groove 312 of the shaped guide rail.
  • the driving gear 311 can be manually driven by a hand wheel, or can be driven by a motor.
  • X-ray tube one 321 and arc guide 327 are installed inside rotor 32, X-ray tube one 321 is relatively fixed to rotor 32, detector one 322, X-ray tube two 323, and arc turret 326 are installed in the arc.
  • the guide rail 327 can slide along the arc-shaped guide rail 327, and the second detector 324 is installed on the arc-shaped rotating frame 326 and fixed relative to it.
  • the included angle ⁇ of the first X-ray tube 321 and the second X-ray tube 323 is in the range of 50° to 130°.
  • the arc-shaped rotating frame 326 rotates along the arc-shaped guide rail 327 to close the rotor 32 into an O-shaped rotating body.
  • the X-ray tube one 321 and the detector one 322 are 180° apart on the circumference of the O-shaped rotating body, and the X-ray tube two 323 and the detector two 324 are at O
  • the type rotating body has 180° intervals on the circumference.
  • the front collimator 325 is installed on the X-ray tube, and by controlling the opening and closing of the internal baffle, the divergence angle of the X-ray is adjusted and restrained, so that the X-ray is effectively irradiated on the detector.
  • the rotor 32 is in an open state.
  • the arc-shaped guide rail 327 inside the rotor 32 has a limit locking mechanism. When the rotor 32 is in a closed or open state, the arc-shaped turret 326 can be locked and fixed.
  • the arc-shaped rotating frame 326 rotates along the arc-shaped guide rail inside the rotor 32, and is completely stored inside the rotor 32, and the rotor 32 is completely rotated into the arc-shaped guide groove 312.
  • the open bracket 31 maintains an open C shape.
  • the omnidirectional mobile platform 1 When the equipment is working, the omnidirectional mobile platform 1 is moved to the side of the hospital bed, and the open support 31 is moved by the multi-degree-of-freedom movement set 2 so that it is arranged around the hospital bed.
  • the arc-shaped rotating frame 326 rotates along the arc-shaped guide rail to seal the rotor 32 into an O-shaped rotating body.
  • the X-ray tube 321 and the detector one 322 are separated by 180° on the circumference of the O-shaped rotating body, forming a pair
  • the irradiation source, the second X-ray tube 323 and the second detector 324 are separated by 180° on the circumference of the O-shaped rotating body, forming another pair of irradiation sources.
  • the arc-shaped turret 326 is stored inside the rotor 32, and the rotor 32 is completely rotated into the arc-shaped guide groove 312, and the movable open support 31 is separated from the hospital bed by multi-degree-of-freedom motion setting 2, and then the omnidirectional The mobile platform 1 is moved away.
  • the multi-degree-of-freedom motion device 2 includes an X-axis motion device 21, a Y-axis motion device 22, a Z-axis motion device 23, a column rotation motion device 24, and a dual-source frame deflection motion device 25.
  • the dual-source rack deflection movement device 25 is connected with the dual-source rack 3 to drive the dual-source rack 3 to rotate around the X axis
  • the Z-axis movement device 23 is connected with the dual-source rack deflection movement device 25 to drive the dual-source rack 3 along Z-axis translation
  • Y-axis motion device 22 is connected with Z-axis motion device 23, driving the dual-source frame 3 up and down along the Y-axis
  • column rotation motion device 24 is connected with Y-axis motion device 22, driving the dual-source frame 3 around the Y-axis
  • the X-axis movement device 21 is connected with the column rotation movement device 24, and drives the dual-source frame 3 to translate along the X-axis.
  • the X-axis motion device 21 includes a mounting base plate 212 fixed to the omnidirectional moving platform 1, an X-axis linear guide 211 and a rack 216 fixed to the mounting base 212, and a rack 216 mounted on the X-axis linear guide
  • the X-axis sliding platform 213 of 211, the X-axis motor 214 installed on the X-axis sliding platform 213, the X-axis motor 214 is connected to the transmission shaft through a reducer, and the X-axis gear 215 is installed on the transmission shaft and meshes with the rack 216.
  • the column rotation movement device 24 includes a slewing bearing one, an inner ring of the slewing bearing is mounted on the X-axis sliding platform 213, an outer ring of the slewing bearing is provided with a worm wheel, and the worm wheel and the worm wheel mesh with each other.
  • the column rotation motor is connected.
  • the first worm wheel and the worm shaft are self-locking and can only be driven in one direction.
  • the Y-axis motion device 22 includes a column bracket installed on the outer ring of the slewing bearing, a Y-axis linear guide rail and a servo electric cylinder 221 installed on the column bracket, a Y-axis lifting column installed on the Y-axis linear guide, and a Y-axis lifting column installed on the Y-axis.
  • the gas spring 222 between the lifting column and the column support, the Y-axis lifting column is connected with the servo electric cylinder 221.
  • the Z-axis motion device 23 includes a suspension bracket installed on the Y-axis lifting column, a ball screw 232 and a Z-axis motor installed on the suspension bracket, a Z-axis sliding table 235 installed on the ball screw 232, and a ball screw 232
  • the synchronous belt 234 is connected with the Z-axis motor 233 through a reducer, and the synchronous belt 234 is provided with a tensioning mechanism.
  • the dual-source frame deflection movement device 25 includes two slewing bearings.
  • the inner ring of the two slewing bearings is mounted on the Z-axis sliding table 235.
  • the outer ring of the two slewing bearings is provided with two worm wheels.
  • the reducer is connected with the double-source frame deflection motor, and the open bracket 31 is installed on the second outer ring of the slewing bearing.
  • the dual-source frame deflection motor drives the second worm to rotate through the planetary reducer, and the second worm drives the open bracket 31 connected with the outer ring of the slewing bearing to rotate through the meshing transmission with the second worm wheel to realize the open bracket 31 around X axis rotation.
  • the Z-axis motor drives the ball screw 232 screw to rotate through the reducer and the timing belt 234.
  • the ball screw 232 is driven by the engagement of the ball screw 232 nut to drive the dual-source frame deflection movement device 25 and the open support 31 Pan along the Z axis together.
  • the telescopic end of the servo electric cylinder 221 directly drives the Y-axis lifting column to move up and down.
  • the Y-axis lifting column drives the Z-axis movement device 23, the dual-source frame deflection movement device 25 and the open support 31 to move up and down along the Y axis.
  • the column rotating motor drives the worm to rotate through the planetary reducer.
  • the worm gear is engaged with the worm wheel to drive the outer ring of the slewing bearing to rotate, and the slewing bearing outer ring drives the Y-axis movement device 22, the Z-axis movement device 23, and double
  • the source rack yaw movement device 25 rotates around the Y axis together with the open support 31.
  • the X-axis motor 214 drives the X-axis gear 215 of the transmission shaft to rotate through the reducer, the X-axis gear 215 is driven by meshing with the rack 216, and the X-axis sliding platform 213 drives the column rotation movement device 24, the Y-axis movement device 22, and the Z-axis
  • the movement device 23, the dual-source gantry deflection movement device 25 and the open support 31 translate along the X axis together.
  • the protective lead glass 6 includes a lead glass 601, a guide rail 602, a front-end guide 61, a lifting motor 603, a steering pulley 62, a winding gear 604, a steel wire 605, a glass bottom support 606, and a winding shaft 607.
  • the guide rail 602 is vertically installed on the omnidirectional moving platform 1 through the bracket
  • the glass bottom bracket 606 is installed on the guide rail 602
  • the lower end of the lead glass 601 is installed on the glass bottom bracket 606, and the front guide 61 is installed on the guide rail.
  • the lead glass 601 passes through the front guide 61, and the lead glass 601 is stabilized and guided by the front guide 61.
  • the steering pulley 62, the winding gear 604 and the lifting motor 603 are installed on the upper part of the bracket.
  • One end of the wire rope 605 is fixed on the glass bottom support 606, and the other end bypasses the steering pulley 62 and is connected to the winding shaft 607.
  • the winding shaft 607 is connected to the winding gear 604 through the winding gear 604.
  • the lifting motor 603 is connected.
  • the winding motor 603 When the protective glass needs to be raised, the winding motor 603 is activated, and the winding gear 604 drives the winding shaft 607 to rotate, so that the wire rope 605 is wound on the winding shaft 607 through the steering pulley 62, thereby driving the lead glass 601 to rise at a uniform speed and guide it through the front end.
  • the device 61 stabilizes and guides the lead glass 601.
  • the winding motor 603 reverses, and the lead glass 601 slowly descends by its own gravity.
  • the handle switch 7 controls the movement of the overall equipment.
  • the handle switch 7 includes a handle button 71 and a handle button 72. Press the handle button one 71 alone to turn the device to the right, and press the handle button two alone to turn the device to the left. Press the handle button one 71 and the two handle button 72 at the same time to move the device straight forward. It is also possible to equip the device with a separate motion function reversal button. When the motion function reversal button is touched, press the handle switch 71 and the handle switch 72 at the same time, and the device will move backwards.
  • the first handle button 71 and the second handle button 72 both include a pressing bar 701, a switch connection post 702, a return spring 703, a guide post 704, a guide post spring 705 and a force sensor 706.
  • the switch connection post 702 and the guide post 704 are parallel to each other.
  • the rear end of the switch connection post 702 passes through the pressing bar 701, and the front end is fixed on the handle.
  • the reset spring 703 is sleeved on the switch connection post 702 to provide the pressing bar 701 to reset With elastic force, the rear end of the guide post 704 is fixed on the pressing bar 701, the front end is close to the force sensor 706, the force sensor 706 is fixed on the handle, and the guide post spring 705 is sleeved on the guide post 704 to buffer the guide post 704.
  • the front end of the guide post 704 squeezes the force sensor 706, and the pressure sensor 706 generates a corresponding electric signal and transmits it to the driving mechanism of the mecanum wheel 11.
  • the combined action of the guide post 704 and the guide post spring 705 will make the force sensed on the force sensor 706 change from small to large, thus directly controlling the operating speed of the bottom omnidirectional mobile platform 1 from Slow becomes faster.
  • the operating speed of the omnidirectional mobile platform 1 is controlled according to the pressing force of the pressing bar 701.
  • the dual-source X-ray equipment can be used for intraoperative CT scans and angiography operations.

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Abstract

一种全向移动式多自由度双源X射线设备及其应用，包括全向移动平台(1)，全向移动平台(1)底部具有麦克纳姆轮(11)，多自由度运动装置(2)安装于全向移动平台(1)前侧并与双源机架(3)相连，实现双源机架(3)平移、升降及偏转，电池组(4)和高压发生器(5)安装于全向移动平台(1)后侧；双源机架(3)包括开放式支架(31)，转子(32)位于开放式支架(31)内侧的弧形导轨槽(312)内，通过主动齿轮(311)转动带动转子(32)转动，转子(32)内侧设置弧形导轨(327)、两个X射线球管(321，323)和两个探测器(322，324)，弧形转动架(326)沿弧形导轨(327)转动可将转子(32)封闭成O型转动体。X射线设备可全向移动，在手术室内可操作性强，双源机架(3)自由度高、定位精度高，能实现术中多个位置的精准定位扫描及手术结果检查，且可应用在血管造影手术中，实现不同方位扫描，造影效率高。

Description

一种全向移动式多自由度双源X射线设备及其应用 技术领域
本发明涉及医疗设备技术领域，尤其涉及一种全向移动式多自由度双源X射线设备。
背景技术
在80年代美国率先将计算机辅助手术导航系统应用于神经外科，在解决了实时图像处理和仪器追踪的技术问题后，精准微创脊柱外科得到了逐步应用。近年来，微创手术备受关注，脊柱、头颈及四肢微创外科手术等都日渐成熟，微创外科最大限度的降低了对患者全身各个系统的影响，已经成为21世纪外科医疗发展的主要方向之一。我国人口众多，患病群体多，医生手术量大，在过去的十几年内，我国的微创外科技术得到了迅速的发展，然而微创疗法的本身技术特点就意味着无法在完全开放的状态下施展手术，只能根据术者对病人术前CT图像的评估，结合术者自身经验，使用细长的手术器械在狭小的空间内开展手术，手术风险高，手术质量完全依赖术者经验，术后进行CT扫描确认手术效果，并决定是否进行二次手术。
以脊柱椎弓根钉的置入手术为例，徒手置钉的准确率仅约为90.3％，导致这一现象的主要原因在于患者体位的改变，造成与术前CT图像评估的差异，术者在将椎弓根钉置入脊柱的过程中，缺少实时调整钉道的依据，从而造成手术效果不佳。解决这些问题的根本办法是采用先进的术中CT扫描设备，扫描重建高精度的三维图像，及时修正手术操作，从而减小手术难度，提高手术的精准度，避免二次手术的发生。
目前市场上一般的微创外科术中设备多为C型臂X射线扫描设备，球管和平板探测器分别安装在可旋转的C型开口机架两端，手术中难以同时得到正位和侧位图像，需要频繁转动C臂，且手术室中，时间和空间都比较紧张，无法给予充足的设备移动时间。因此，许多手术中往往需要两台C型臂X射线扫描设备交叉布置，以减少手术时间和透视时间，这样却大大增加了设备成本，且对医生造成辐射伤害。
发明内容
发明目的：为了克服上述现有技术的不足，解决上述问题。本发明提供一种全向移动式多自由度双源X射线设备，能实现术中多个位置的精准定位扫描及手术结果检查，并且用于血管造影手术中，可一次实现两个不同方位的扫描，降低辐射剂量，增强造影效果。
为了实现上述目的，本发明采用了如下的技术方案：一种全向移动式多自由度双源X射线设备，包括全向移动平台、多自由度运动装置、双源机架、电池组、高压发生器；
所述全向移动平台底部具有麦克纳姆轮，所述多自由度运动置安装于全向移动平台 前侧并与双源机架相连，通过多自由度运动置实现双源机架平移、升降及偏转，所述电池组和高压发生器安装于全向移动平台后侧；
所述双源机架包括开放式支架、转子、X射线球管一、探测器一、X射线球管二、探测器二、弧形转动架、主动齿轮，转子位于在开放式支架内侧的弧形导轨槽内，主动齿轮安装在弧形导轨槽底部并与转子的外圆周齿圈相互啮合，通过主动齿轮转动带动转子在弧形导轨槽内转动，在转子内侧安装X射线球管一和弧形导轨，探测器一、X射线球管二、弧形转动架安装在弧形导轨上，探测器二安装在弧形转动架上，弧形转动架沿弧形导轨转动可将转子封闭成O型转动体，X射线球管一与探测器一在O型转动体圆周上呈180°间隔，X射线球管二与探测器二在O型转动体圆周上呈180°间隔。
进一步的，所述转子可在弧形导轨槽内进行±190°范围内的转动；所述X射线球管一与X射线球管二夹角α范围在50°～130°
进一步的，所述转子内侧的弧形导轨具有限位锁紧机构，用于固定弧形转动架。
进一步的，所述多自由度运动装置包括X轴运动装置、Y轴运动装置、Z轴运动装置、立柱旋转运动装置、双源机架偏转运动装置，双源机架偏转运动装置与双源机架相连，带动双源机架围绕X轴转动，Z轴运动装置与双源机架偏转运动装置相连，带动双源机架沿Z轴平移，Y轴运动装置与Z轴运动装置相连，带动双源机架沿Y轴升降，立柱旋转运动装置与Y轴运动装置相连，带动双源机架围绕Y轴转动,X轴运动装置与立柱旋转运动装置相连，带动双源机架沿X轴平移。
进一步的，所述X轴运动装置包括固定于全向移动平台的安装基板、固定于安装基板的X轴直线导轨和齿条、安装于X轴直线导轨的X轴滑动平台、安装于X轴滑动平台的X轴电机，X轴电机通过减速机与传动轴相连，X轴齿轮安装于传动轴并与齿条相互啮合；
所述立柱旋转运动装置包括回转轴承一，回转轴承一内圈安装于X轴滑动平台，回转轴承一外圈设有蜗轮一，蜗轮一与蜗杆一相互啮合，蜗杆一通过行星减速机与立柱旋转电机相连；
所述Y轴运动装置包括安装于回转轴承一外圈的立柱支架、安装于立柱支架的Y轴直线导轨和伺服电缸、安装于Y轴直线导轨的Y轴升降立柱、安装于Y轴升降立柱与立柱支架之间的气弹簧，Y轴升降立柱与伺服电缸相连；
所述Z轴运动装置包括安装于Y轴升降立柱的悬挂支架、安装于悬挂支架的滚珠丝杠和Z轴电机、安装于滚珠丝杠上的Z轴滑台，滚珠丝杠通过同步带、减速机与Z轴电机相连，同步带设有张紧机构；
所述双源机架偏转运动装置包括回转轴承二，回转轴承二内圈安装于Z轴滑台上， 回转轴承二外圈设有蜗轮二，蜗轮二与蜗杆二相互啮合，蜗杆二通过行星减速机与双源机架偏转电机相连，开放式支架安装于回转轴承二外圈。
进一步的，所述电池组和高压发生器后侧安装防护铅玻璃。
进一步的，所述防护铅玻璃包括铅玻璃、导向滑轨、前端导向器、升降电机、转向滑轮、绕线齿轮、钢丝绳、玻璃底托、绕线轴，导向滑轨通过支架竖直安装在全向移动平台上，玻璃底托安装在导向滑轨上，铅玻璃下端安装在玻璃底托上，前端导向器安装在导向滑轨上端，铅玻璃穿过前端导向器，转向滑轮、绕线齿轮和升降电机安装在支架上部，钢丝绳一端固定在玻璃底托上，另一端绕过转向滑轮与绕线轴相连，绕线轴通过绕线齿轮与升降电机相连。
进一步的，所述全向移动平台后侧还设有把手，把手上设置把手开关，用于控制麦克纳姆轮速度及方向。
进一步的，所述把手开关包括按压条、开关连接柱、复位弹簧、导柱、导柱弹簧和力传感器，开关连接柱和导柱相互平行，开关连接柱后端穿过按压条，前端固定在把手上，复位弹簧套在开关连接柱上，导柱后端固定在按压条上，前端靠近力传感器，力传感器固定在把手上，导柱弹簧套在导柱上。
上述的一种全向移动式多自由度双源X射线设备在血管造影手术中的应用。
有益效果：
1)设备可全向移动，在手术室内可操作性强，双源机架自由度高、定位精度高，能实现术中多个位置的精准定位扫描及手术结果检查，用于血管造影手术一次可显示两个角度，造影剂用量少，检查效率高；
2)设备后侧的防护铅玻璃可以有效避免操作人员受到X射线辐射，防护铅玻璃可自由升降；
3)设备后侧的把手开关控制整体设备运动，可以直接控制设备的运行方向及速度。
附图说明
图1为本发明的立体结构示意图；
图2为本发明的侧向视图；
图3为本发明的转子打开结构示意图；
图4为转子结构拆分示意图；
图5为多自由度运动装置结构示意图；
图6为Z轴运动装置结构示意图；
图7为防护铅玻璃升降结构示意图；
图8为左右控制把手按钮分布示意图；
图9为把手按钮内部结构示意图；
图中：1.全向移动平台；11.麦克纳姆轮；2.多自由度运动装置；21.X轴运动装置；22.Y轴运动装置；23.Z轴运动装置；24.立柱旋转运动装置；25.双源机架偏转运动装置；211.X轴直线导轨；212.安装基板；213.X轴滑动平台；214.X轴电机；215.X轴齿轮；216.齿条；221.伺服电缸；222.气弹簧；231.Z轴直线导轨；232.滚珠丝杠；233.Z轴电机；234.同步带；235.Z轴滑台；3.双源机架；31.开放式支架；311.主动齿轮；312.弧形导轨槽；32.转子；321.X射线球管一；322.探测器一；323.X射线球管二；324.探测器二；325.前准直器；326.弧形转动架；327.弧形导轨；4.电池组；5.高压发生器；6.防护铅玻璃；601.铅玻璃；602.导向滑轨；603.升降电机；604.绕线齿轮；605.钢丝绳；606.玻璃底托；607.绕线轴；61.前端导向器；62.转向滑轮；7.把手开关；71.把手按钮一；72.把手按钮二；701.按压条；702.开关连接柱；703.复位弹簧；704.导柱；705.导柱弹簧；706.力传感器。
具体实施方式：
下面结合附图对本发明做更进一步的解释。
如图1所示，本发明的一种全向移动式多自由度双源X射线设备，包括全向移动平台1、多自由度运动装置2、双源机架3、电池组4、高压发生器5、防护铅玻璃6、把手开关7。
全向移动平台1底部具有四个麦克纳姆轮11。全向移动平台1通过麦克纳姆轮11可实现前进、后退、左右侧移、原地转动等动作。多自由度运动置2安装于全向移动平台1前侧并与双源机架3相连，通过多自由度运动置2实现双源机架3平移、升降及转动。通过双源机架3上的X射线球管的曝光动作，实现扫描功能。电池组4和高压发生器5安装于全向移动平台1后侧，电池组4由多块铅酸蓄电池组成，既可以提供X射线球管曝光所需能量，还可以作为整个设备的前后平衡配重。电池组4和高压发生器5后侧安装防护铅玻璃6。防护铅玻璃6可保护手术室操作设备的操作人员免于X射线的辐射，便于设备的快速曝光，节省操作时间。全向移动平台1后侧还设有把手，把手上设置把手开关7，通过把手开关7控制麦克纳姆轮11速度及方向。
如图1至4所示，所述双源机架3包括开放式支架31、转子32、X射线球管一321、探测器一322、X射线球管二323、探测器二324、弧形转动架326、主动齿轮311。
开放式支架31呈C字形，内侧具有弧形导轨槽312。转子32位于在开放式支架31内侧的弧形导轨槽312内，主动齿轮311安装在弧形导轨槽312底部并与转子32的外圆周齿圈相互啮合，通过主动齿轮311转动带动转子32在弧形导轨槽312内进行±190° 范围内的转动转动。主动齿轮311可由手轮人工驱动，或通过电机实现驱动。
在转子32内侧安装X射线球管一321和弧形导轨327，X射线球管一321与转子32相对固定，探测器一322、X射线球管二323、弧形转动架326安装在弧形导轨327上，可沿弧形导轨327滑动，探测器二324安装在弧形转动架326上，与其相对固定。并且所述X射线球管一321与X射线球管二323夹角α范围在50°～130°。弧形转动架326沿弧形导轨327转动可将转子32封闭成O型转动体。如图2所示，在转子32处于封闭状态时，X射线球管一321与探测器一322在O型转动体圆周上呈180°间隔，X射线球管二323与探测器二324在O型转动体圆周上呈180°间隔。前准直器325安装在X射线球管上，通过控制内部挡片的开闭，调整和约束X射线的发散角度，使X射线有效地照射在探测器上。如图3所示，转子32处于敞开状态。所述转子32内侧的弧形导轨327具有限位锁紧机构，当转子32处于封闭或敞开状态时，可以锁紧固定弧形转动架326。
设备关闭时，弧形转动架326沿转子32内侧弧形导轨转动，完全收纳至转子32内侧，转子32完全转动至弧形导轨槽312内。开放式支架31保持开放式的C型。
设备工作时，全向移动平台1移动至病床一侧，通过多自由度运动置2移动开放式支架31，使其环绕病床布置。弧形转动架326沿弧形导轨转动可将转子32封闭成O型转动体，此时，X射线球管一321与探测器一322在O型转动体圆周上呈180°间隔，组成一对照射源，X射线球管二323与探测器二324在O型转动体圆周上呈180°间隔，组成另外一对照射源。开启X射线球管一321与X射线球管二323，通过主动齿轮311转动带动转子32在弧形导轨槽312内进行±190°范围内的转动，完成X射线球管的曝光动作，实现扫描功能。扫描完成后，再将弧形转动架326收纳至转子32内侧，转子32完全转动至弧形导轨槽312内，通过多自由度运动置2将移动开放式支架31与病床分开，再将全向移动平台1移开。
如图5所示，所述多自由度运动置2包括X轴运动装置21、Y轴运动装置22、Z轴运动装置23、立柱旋转运动装置24、双源机架偏转运动装置25。双源机架偏转运动装置25与双源机架3相连，带动双源机架3围绕X轴转动，Z轴运动装置23与双源机架偏转运动装置25相连，带动双源机架3沿Z轴平移，Y轴运动装置22与Z轴运动装置23相连，带动双源机架3沿Y轴升降，立柱旋转运动装置24与Y轴运动装置22相连，带动双源机架3围绕Y轴转动,X轴运动装置21与立柱旋转运动装置24相连，带动双源机架3沿X轴平移。
如图5和6所示，所述X轴运动装置21包括固定于全向移动平台1的安装基板212、固定于安装基板212的X轴直线导轨211和齿条216、安装于X轴直线导轨211的X轴滑动平台213、安装于X轴滑动平台213的X轴电机214，X轴电机214通过减速机与传 动轴相连，X轴齿轮215安装于传动轴并与齿条216相互啮合。
所述立柱旋转运动装置24包括回转轴承一，回转轴承一内圈安装于X轴滑动平台213，回转轴承一外圈设有蜗轮一，蜗轮一与蜗杆一相互啮合，蜗杆一通过行星减速机与立柱旋转电机相连。蜗轮一与蜗杆一形成自锁，只能单向传动。
所述Y轴运动装置22包括安装于回转轴承一外圈的立柱支架、安装于立柱支架的Y轴直线导轨和伺服电缸221、安装于Y轴直线导轨的Y轴升降立柱、安装于Y轴升降立柱与立柱支架之间的气弹簧222，Y轴升降立柱与伺服电缸221相连。
所述Z轴运动装置23包括安装于Y轴升降立柱的悬挂支架、安装于悬挂支架的滚珠丝杠232和Z轴电机、安装于滚珠丝杠232上的Z轴滑台235，滚珠丝杠232通过同步带234、减速机与Z轴电机233相连，同步带234设有张紧机构。
所述双源机架偏转运动装置25包括回转轴承二，回转轴承二内圈安装于Z轴滑台235，回转轴承二外圈设有蜗轮二，蜗轮二与蜗杆二相互啮合，蜗杆二通过行星减速机与双源机架偏转电机相连，开放式支架31安装于回转轴承二外圈。
设备工作时，双源机架偏转电机通过行星减速机带动蜗杆二转动，蜗杆二通过与蜗轮二的啮合传动，带动与回转轴承二外圈相连的开放式支架31转动，实现开放式支架31围绕X轴转动。Z轴电机通过减速机、同步带234带动滚珠丝杠232丝杆转动，滚珠丝杠232丝杆通过与滚珠丝杠232螺母的啮合传动，带动双源机架偏转运动装置25与开放式支架31一起沿Z轴平移。伺服电缸221的伸缩端直接驱动Y轴升降立柱的上下运动，Y轴升降立柱带动Z轴运动装置23、双源机架偏转运动装置25与开放式支架31一起沿Y轴升降。立柱旋转电机通过行星减速机带动蜗杆一转动，蜗杆一通过与蜗轮一的啮合传动，带动与回转轴承一外圈转动，回转轴承一外圈带动Y轴运动装置22、Z轴运动装置23、双源机架偏转运动装置25与开放式支架31一起围绕Y轴转动。X轴电机214通过减速机带动传动轴的X轴齿轮215转动，X轴齿轮215通过与齿条216的啮合传动，X轴滑动平台213带动立柱旋转运动装置24、Y轴运动装置22、Z轴运动装置23、双源机架偏转运动装置25与开放式支架31一起沿X轴平移。
如图7所示，所述防护铅玻璃6包括铅玻璃601、导向滑轨602、前端导向器61、升降电机603、转向滑轮62、绕线齿轮604、钢丝绳605、玻璃底托606、绕线轴607。导向滑轨602通过支架竖直安装在全向移动平台1上，玻璃底托606安装在导向滑轨602上，铅玻璃601下端安装在玻璃底托606上，前端导向器61安装在导向滑轨602上端，铅玻璃601穿过前端导向器61，通过前端导向器61对铅玻璃601起稳定及导向作用。转向滑轮62、绕线齿轮604和升降电机603安装在支架上部，钢丝绳605一端固定在玻璃底托606上，另一端绕过转向滑轮62与绕线轴607相连，绕线轴607通过绕线齿轮 604与升降电机603相连。
需要升起防护玻璃时，绕线电机603启动，绕线齿轮604带动绕线轴607转动，使钢丝绳605经过转向滑轮62卷绕在绕线轴607上，从而带动铅玻璃601匀速升起，通过前端导向器61对铅玻璃601起稳定及导向作用。反之，绕线电机603反转，铅玻璃601依靠自身重力缓缓下降。
如图8所示，把手开关7控制整体设备运动。把手开关7包括把手按钮一71和把手按钮二72。单独按下把手按钮一71，设备右转，单独按下把手按钮二72，设备左转，同时按下把手按钮一71和把手按钮二72，设备往前直行。还可以在设备上配备单独的运动功能反转按钮，当触运动功能反转按钮时，再同时按下把手开关71和把手开关72，设备将往后倒退行驶。
如图9所示，所述把手按钮一71和把手按钮二72均包括按压条701、开关连接柱702、复位弹簧703、导柱704、导柱弹簧705和力传感器706。开关连接柱702和导柱704相互平行，开关连接柱702后端穿过按压条701，前端固定在把手上，复位弹簧703套在开关连接柱702上，用于提供按压条701复位所需的弹力，导柱704后端固定在按压条701上，前端靠近力传感器706，力传感器706固定在把手上，导柱弹簧705套在导柱704上，用于对导柱704起缓冲作用。
通过对按压条701进行按压，导柱704前端挤压力传感器706，压力传感器706产生相应的电信号并传导至麦克纳姆轮11驱动机构。在缓缓按下按压条701的过程中，导柱704和导柱弹簧705的复合作用将使力传感器706上感知的力由小变大，这样直接控制底部全向移动平台1的运行速度由慢变快。根据对按压条701的按压力大小来控制全向移动平台1运行速度。
该双源X射线设备既可应用于术中CT扫描，也可以应用于血管造影手术。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种全向移动式多自由度双源X射线设备，其特征在于：包括全向移动平台(1)、多自由度运动装置(2)、双源机架(3)、电池组(4)、高压发生器(5)；
    所述全向移动平台(1)底部具有麦克纳姆轮(11)，所述多自由度运动置(2)安装于全向移动平台(1)前侧并与双源机架(3)相连，通过多自由度运动置(2)实现双源机架(3)平移、升降及偏转，所述电池组(4)和高压发生器(5)安装于全向移动平台(1)后侧；
    所述双源机架(3)包括开放式支架(31)、转子(32)、X射线球管一(321)、探测器一(322)、X射线球管二(323)、探测器二(324)、弧形转动架(326)、主动齿轮(311)，转子(32)位于在开放式支架(31)内侧的弧形导轨槽(312)内，主动齿轮(311)安装在弧形导轨槽(312)底部并与转子(32)的外圆周齿圈相互啮合，通过主动齿轮(311)转动带动转子(32)在弧形导轨槽(312)内转动，在转子(32)内侧安装X射线球管一(321)和弧形导轨(327)，探测器一(322)、X射线球管二(323)、弧形转动架(326)安装在弧形导轨(327)上，探测器二(324)安装在弧形转动架(326)上，弧形转动架(326)沿弧形导轨(327)转动可将转子(32)封闭成O型转动体，X射线球管一(321)与探测器一(322)在O型转动体圆周上呈180°间隔，X射线球管二(323)与探测器二(324)在O型转动体圆周上呈180°间隔。
  2. 根据权利要求1所述的一种全向移动式多自由度双源X射线设备，其特征在于：所述转子(32)可在弧形导轨槽(312)内进行±190°范围内的转动；所述X射线球管一(321)与X射线球管二(323)夹角α范围在50°～130°。
  3. 根据权利要求2所述的一种全向移动式多自由度双源X射线设备，其特征在于：所述转子(32)内侧的弧形导轨(327)具有限位锁紧机构，用于固定弧形转动架(326)。
  4. 根据权利要求1所述的一种全向移动式多自由度双源X射线设备，其特征在于：所述多自由度运动装置(2)包括X轴运动装置(21)、Y轴运动装置(22)、Z轴运动装置(23)、立柱旋转运动装置(24)、双源机架偏转运动装置(25)，双源机架偏转运动装置(25)与双源机架(3)相连，带动双源机架(3)围绕X轴转动，Z轴运动装置(23)与双源机架偏转运动装置(25)相连，带动双源机架(3)沿Z轴平移，Y轴运动装置(22)与Z轴运动装置(23)相连，带动双源机架(3)沿Y轴升降，立柱旋转运动装置(24)与Y轴运动装置(22)相连，带动双源机架(3)围绕Y轴转动,X轴运动装置(21)与立柱旋转运动装置(24)相连，带动双源机架(3)沿X轴平移。
  5. 根据权利要求4所述的的一种全向移动式多自由度双源X射线设备，其特征在于：所述X轴运动装置(21)包括固定于全向移动平台(1)的安装基板(212)、固定于安装基板(212)的X轴直线导轨(211)和齿条(216)、安装于X轴直线导轨(211) 的X轴滑动平台(213)、安装于X轴滑动平台(213)的X轴电机(214)，X轴电机(214)通过减速机与传动轴相连，X轴齿轮(215)安装于传动轴并与齿条(216)相互啮合；
    所述立柱旋转运动装置(24)包括回转轴承一，回转轴承一内圈安装于X轴滑动平台(213)，回转轴承一外圈设有蜗轮一，蜗轮一与蜗杆一相互啮合，蜗杆一通过行星减速机与立柱旋转电机相连；
    所述Y轴运动装置(22)包括安装于回转轴承一外圈的立柱支架、安装于立柱支架的Y轴直线导轨和伺服电缸(221)、安装于Y轴直线导轨的Y轴升降立柱、安装于Y轴升降立柱与立柱支架之间的气弹簧(222)，Y轴升降立柱与伺服电缸(221)相连；
    所述Z轴运动装置(23)包括安装于Y轴升降立柱的悬挂支架、安装于悬挂支架的滚珠丝杠(232)和Z轴电机、安装于滚珠丝杠(232)上的Z轴滑台(235)，滚珠丝杠(232)通过同步带(234)、减速机与Z轴电机(233)相连，同步带(234)设有张紧机构；
    所述双源机架偏转运动装置(25)包括回转轴承二，回转轴承二内圈安装于Z轴滑台(235)上，回转轴承二外圈设有蜗轮二，蜗轮二与蜗杆二相互啮合，蜗杆二通过行星减速机与双源机架偏转电机相连，开放式支架(31)安装于回转轴承二外圈。
  6. 根据权利要求1所述的一种全向移动式多自由度双源X射线设备，其特征在于：所述电池组(4)和高压发生器(5)后侧安装防护铅玻璃(6)。
  7. 根据权利要求6所述的一种全向移动式多自由度双源X射线设备，其特征在于：所述防护铅玻璃(6)包括铅玻璃(601)、导向滑轨(602)、前端导向器(61)、升降电机(603)、转向滑轮(62)、绕线齿轮(604)、钢丝绳(605)、玻璃底托(606)、绕线轴(607)，导向滑轨(602)通过支架竖直安装在全向移动平台(1)上，玻璃底托(606)安装在导向滑轨(602)上，铅玻璃(601)下端安装在玻璃底托(606)上，前端导向器(61)安装在导向滑轨(602)上端，铅玻璃(601)穿过前端导向器(61)，转向滑轮(62)、绕线齿轮(604)和升降电机(603)安装在支架上部，钢丝绳(605)一端固定在玻璃底托(606)上，另一端绕过转向滑轮(62)与绕线轴(607)相连，绕线轴(607)通过绕线齿轮(604)与升降电机(603)相连。
  8. 根据权利要求1所述的一种全向移动式多自由度双源X射线设备，其特征在于：所述全向移动平台(1)后侧还设有把手，把手上设置把手开关(7)，用于控制麦克纳姆轮(11)速度及方向。
  9. 根据权利要求8所述的一种全向移动式多自由度双源X射线设备，其特征在于：所述把手开关(7)包括按压条(701)、开关连接柱(702)、复位弹簧(703)、导柱(704)、导柱弹簧(705)和力传感器(706)，开关连接柱(702)和导柱(704)相互平行，开 关连接柱(702)后端穿过按压条(701)，前端固定在把手上，复位弹簧(703)套在开关连接柱(702)上，导柱(704)后端固定在按压条(701)上，前端靠近力传感器(706)，力传感器(706)固定在把手上，导柱弹簧(705)套在导柱(704)上。
  10. 如权利要求1所述的一种全向移动式多自由度双源X射线设备在血管造影手术中的应用。
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