X-ray imaging robot and mechanical arm thereof

Abstract

The invention provides an X-ray imaging robot which comprises a fixed platform used for fixing an X-ray imaging robot body, a movable platform, a parallel mechanism, a serial mechanism, a supporting frame, a C-shaped rail, an X-ray source and an image detector. The movable platform has one translational moving freedom degree and two rotational freedom degrees, the parallel mechanism is arranged between the fixed platform and the movable platform and is composed of a plurality of branched chains in a parallel connection mode, the serial mechanism comprises a plurality of supporting arms, the movable platform and the supporting arms are in series connection through revolute pairs in sequence, the supporting frame is connected to the end, far away from the movable platform, in the serial mechanism through a revolute pair, the C-shaped rail and the supporting frame are connected though a sliding pair in circular arc tracks, and the X-ray source and the image detector are arranged on the inner wall of the C-shaped rail and are arranged oppositely. The X-ray imaging robot can effectively carries out imaging in different directions in a three-dimensional space, and has the advantages of being large in moving space, and high in precision and rigidity. The invention further provides a mechanical arm of the X-ray imaging robot.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to an X-ray imaging robot and its mechanical arm. Background technique [0002] With the popularity of minimally invasive surgery, doctors have increasingly strong demand for medical equipment that can accurately locate the affected area and provide fast three-dimensional imaging during surgery. Fast 3D imaging requires the imaging device to independently perform large-scale rapid movement and multi-angle continuous shooting, which puts forward higher requirements for the imaging device's motion flexibility and imaging stability. [0003] At present, the intraoperative X-ray imaging equipment used clinically is mainly various types of C-arms. The traditional C-arm is mainly operated manually or electrically, and the movement is relatively inflexible. Only a few models can provide very limited 3D imaging functions, and the operation is still very inconvenient. For this ...

AI Technical Summary

Problems solved by technology

The traditional C-arm is mainly operated manually or electrically, and the movement is relatively inflexible. Only a few models can provide very limited 3D imaging functions, and the operation is still very inconvenient

For this reason, some researchers improved the traditional C arm, such as Binder N et al. (Binder N., Bodensteiner C., L., et al.. The Surgeon's Third Hand an Interactive Robotic C-Arm Fluoroscope. Mobile Robotics–Moving Intelligence, 2007, 403-418) to improve the controllability of the C-arm by increasing the drive link and kinematic modeling, but Still does not change the limitations of the traditional C-arm in terms of mechanism and degree of freedom configuration

At the same time, some foreign manufacturers have also carried out related research. For example, the miniature C-arm launched by OrthoScan HD with Flat Detector (http: / / orthoscan.com / mini-c-arms / fd / fd-summary) in the United States adopts the robot arm bracket To improve the flexibility of the C-arm, but most of the joints do not have driving links, and are mainly aimed at X-ray imaging of limbs and other parts, requiring manual operation, making it difficult to achieve 3D imaging

In addition, the Chinese patent application with the application number CN200910002386.9 proposes a C-arm placed on the robot arm and applied to Siemens Artis Zeego. Although it can improve the flexibility of large angiography machines, the tandem mechanism used The arm is bulky and can only be installed in very large operating rooms

Images