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Vehicle-mounted angiography machine of double-mechanical-arm structure

A technology of dual robotic arms and imaging machines, which is applied in the field of medical devices, can solve the problems of large space occupied by DSA, small space occupied, and inability to arrange, so as to save time for transporting patients, occupy small space, and be light in weight.

Active Publication Date: 2021-02-23
GENERAL HOSPITAL OF THE NORTHERN WAR ZONE OF THE CHINESE PEOPLES LIBERATION ARMY +1
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  • Abstract
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  • Claims
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Problems solved by technology

[0005] The present invention aims at the defects existing in the prior art, and provides a vehicle-mounted angiography machine with a dual-arm structure, which is used for interventional surgery diagnosis and treatment of patients on the spot and on the way of cardiovascular diseases, occupies a small space, and solves the problem of angiography under mobile conditions. , the traditional DSA takes up a lot of space and cannot be arranged in the mobile ambulance

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  • Vehicle-mounted angiography machine of double-mechanical-arm structure
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[0061] The robot as a whole has an upper and lower double arm structure, with 7 degrees of freedom for the upper arm and 6 degrees of freedom for the lower arm. And the connection relationship of each degree of freedom. The upper arm has 7 degrees of freedom, and the flat panel detector of the angiography machine is fixed at the end. The lower arm has 6 degrees of freedom, and the anode tube of the angiography machine is fixed at the end. The way to realize telecentric motion is to realize the 45-degree isocenter detection in the plane of a specific point by the second, third and fourth axes, and to realize the detection of the 45-degree cone angle in the space range through the rotation of one axis. Five degrees of freedom realize the influence of errors such as installation, and the upper arm has 6 degrees of freedom. A dual-arm robot and a three-degree-of-freedom movable bed are arranged in the mobile car body. The dual-arm robot realizes isocentric detection at fixed poi...

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Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a vehicle-mounted angiography machine of a double-mechanical-arm structure. The vehicle-mounted angiography machine is used for interventional operation diagnosis and treatment of patients on cardiovascular disease sites and on the way and occupies small space. The vehicle-mounted angiography machine comprises a six-degree-of-freedom robot lower arm located at the lower part of a vehicle body space, a three-degree-of-freedom moving bed located at the middle of the space and used for moving a patient, and a seven-degree-of-freedom robot upper arm located at the upper part of the space. The end of the upper arm is connected with a flat panel detector of the angiography machine, and the end of thelower arm is connected with an anode bulb tube of the angiography machine. Through the central movement of the upper arm and the lower arm and the up-and-down, left-and-right and front-and-back movement of the bed, large-range isocentric detection is achieved, and high-quality contrast images are provided for a minimally invasive surgery process.

Description

technical field [0001] The invention belongs to the technical field of medical devices, in particular to a vehicle-mounted angiography machine with a double mechanical arm structure. Background technique [0002] The most effective way to treat acute myocardial infarction is to quickly open the infarction-related coronary arteries by means of coronary interventional surgery, which needs to be performed in an interventional catheterization laboratory equipped with cardiovascular imaging X-ray machines and other related interventional equipment. The vehicle-mounted mobile shelter with the function of interventional catheterization laboratory studied at present can realize the delivery of equipment and interventional operators to the patient's diagnosis and treatment site, but due to the large volume of the shelter system and the large area before the operation, the deployment time and operation time are limited. It takes a long time to fold up, and during the transportation, s...

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Application Information

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IPC IPC(8): A61B6/00
CPCA61B6/4405A61B6/4441A61B6/481A61B6/4458A61B6/44
Inventor 韩雅玲孙景阳梁明王效增刘浩李洋刘丹林鹏
Owner GENERAL HOSPITAL OF THE NORTHERN WAR ZONE OF THE CHINESE PEOPLES LIBERATION ARMY
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