An image intensifier tube and its control method

Abstract

The present invention discloses an C-arm and a control method. The C-arm includes a vehicle-mounted main body of the C-arm and an intelligent positioning system. The intelligent positioning system includes: a three-wheel omnidirectional motion robot mechanical platform and a drive control unit. The three-wheel omnidirectional motion robot mechanical platform includes: a chassis frame, a front drive mechanism, a rear drive mechanism and omnidirectional wheels. The drive control unit includes: a servo driver, a walking controller and a walking remote controller. The walking controller outputs the motion instructions sent by the walking remote controller to the servo driver, and controls the front drive mechanism and the rear drive mechanism through the servo driver to jointly drag the three-wheel omnidirectional motion robot mechanical platform to move in the motion plane, so that the entire C-arm performs translational motion, rotational motion or a superposition motion of the two motions in the motion plane. In the present invention, the C-arm can automatically move in any direction from a stationary position, thus reducing the burden on medical staff, saving time, reducing the exposure time of patients, and improving the surgical efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically, to an C-arm and its control method. Background Art

[0002] At present, mobile C-arms, including large C-arms, medium C-arms, and small C-arms, are important structural forms of X-ray diagnostic devices and are widely used in orthopedics and interventional diagnosis and treatment. In orthopedic and interventional surgeries, it is usually necessary to perform multiple X-ray exposures at the same angle on the diagnosis and treatment site, or perform multiple exposures at multiple angles on the diagnosis and treatment site, or re-adjust the exposure angle after the patient changes the body position. Therefore, during the surgical process, it is necessary to move and adjust the angle of the C-arm multiple times.

[0003] To ensure that after the C-arm is moved and the angle is adjusted, it does not affect the doctor's surgical operation and can ensure that the C-arm captures the same position, it is required that the C-arm can move flexibly and be accurately positioned. However, the existing C-arms need to be moved manually, which is not only time-consuming and laborious, but also often requires multiple people to cooperate, and the repeated positioning accuracy is not high. At the same time, with the gradual increase of medical devices in the operating room, the movement of the C-arm has become more difficult, which has increased the burden on medical staff to a certain extent, increased the exposure time of patients, and reduced the surgical efficiency. Summary of the Invention

[0004] In view of this, the present invention discloses an C-arm and a control method to enable the C-arm to perform translational motion, rotational motion, or a superimposed motion of translational motion and rotational motion automatically from a stationary position in any direction, thereby not only reducing the burden on medical staff and saving time, but also reducing the exposure time of patients, thus improving the surgical efficiency.

[0005] An C-arm includes: an C-arm vehicle-mounted main body and an intelligent positioning system;

[0006] The intelligent positioning system includes: a three-wheel omnidirectional motion robot mechanical platform and a drive control unit;

[0007] The three-wheel omnidirectional motion robot mechanical platform includes: a chassis frame, a front drive mechanism, a rear drive mechanism, and omnidirectional wheels;

[0008] The front drive mechanism and the rear drive mechanism are both connected to the chassis frame through suspension connecting plates, the omnidirectional wheels are fixed to the chassis frame through fasteners, the C-arm vehicle-mounted main body is fixed to the chassis frame through fasteners, and the front drive mechanism, the rear drive mechanism, and the omnidirectional wheels jointly support the chassis frame and jointly bear the total weight of the C-arm;

[0009] The drive control unit includes: a servo driver, a walking controller, and a walking remote controller. The servo driver and the walking controller are both fixed to the chassis frame by brackets. The walking controller is respectively connected to the servo driver and the walking remote controller, and the servo driver is respectively connected to the front drive mechanism and the rear drive mechanism;

[0010] The walking controller is configured to receive a motion instruction sent by the walking remote controller, and output the motion instruction to the servo driver, and control the front drive mechanism and the rear drive mechanism through the servo driver to jointly drag the three-wheel omnidirectional mobile robot mechanical platform to move within the motion plane, so that the entire C-arm performs translational motion, rotational motion, or a superimposed motion of translational motion and rotational motion within the motion plane.

[0011] Optionally, the rear drive mechanism includes: a first omnidirectional wheel, a second omnidirectional wheel, a first reduction motor, a second reduction motor, a first elastic suspension mechanism, a second elastic suspension mechanism, and a first suspension connecting plate member;

[0012] The first omnidirectional wheel is fixed to the transmission shaft of the first reduction motor. The first omnidirectional wheel and the first reduction motor are connected to the first suspension connecting plate member through the first elastic suspension mechanism. The second omnidirectional wheel is fixed to the transmission shaft of the second reduction motor. The second omnidirectional wheel and the second reduction motor are connected to the first suspension connecting plate member through the second elastic suspension mechanism.

[0013] Optionally, the front drive mechanism includes: a third omnidirectional wheel, a third reduction motor, a third elastic suspension mechanism, and a second suspension connecting plate member;

[0014] The third omnidirectional wheel is fixed to the transmission shaft of the third reduction motor. The third omnidirectional wheel and the third reduction motor are connected to the second suspension connecting plate member through the third elastic suspension mechanism;

[0015] Wherein, the axes of the first omnidirectional wheel and the second omnidirectional wheel are symmetrically arranged with respect to the axis of the third omnidirectional wheel in the motion plane.

[0016] Optionally, the servo driver includes three groups of servo drivers, namely: a first servo driver, a second servo driver, and a third servo driver;

[0017] The first servo driver is connected to the first reduction motor and is used to control the rotation speed of the first reduction motor;

[0018] The second servo driver is connected to the second reduction motor and is used to control the rotation speed of the second reduction motor;

[0019] The third servo driver is connected to the third reduction motor and is used to control the rotation speed of the third reduction motor.

[0020] Optionally, the walking controller is used to separately send different motion information included in the motion instruction to the corresponding first servo driver, second servo driver, and third servo driver;

[0021] The first servo driver controls the rotation speed of the first reduction motor according to the received motion information, and the first reduction motor feeds back the rotation position signal to the walking controller through the first servo driver in real time, so that the walking controller obtains the walking distance and speed data of the first omnidirectional wheel according to the rotation position signal fed back by the first reduction motor;

[0022] The second servo driver controls the rotation speed of the second reduction motor according to the received motion information, and the second reduction motor feeds back the rotation position signal to the walking controller through the second servo driver in real time, so that the walking controller obtains the walking distance and speed data of the second omnidirectional wheel according to the rotation position signal fed back by the second reduction motor;

[0023] The third servo driver controls the rotation speed of the third reduction motor according to the received motion information, and the third reduction motor feeds back the rotation position signal to the walking controller through the third servo driver in real time, so that the walking controller obtains the walking distance and speed data of the third omnidirectional wheel according to the rotation position signal fed back by the third reduction motor.

[0024] Optionally, the walking controller is further used to record the position state data of the C-arm, and the position state data includes: motion starting point data, motion intermediate point data, motion end point data, and motion path data.

[0025] Optionally, the walking controller is further used to preset position data for the C-arm in the motion plane.

[0026] Optionally, the walking controller is further used to control the omnidirectional motion of the C-arm between multiple position points through the servo driver according to the recorded position state data or the preset position data.

[0027] Optionally, the omnidirectional wheel includes a Mecanum wheel.

[0028] A control method for a C-arm, which is applied to the walking controller in the above-mentioned C-arm, and the control method includes:

[0029] Receiving a motion instruction sent by a walking remote controller;

[0030] Output the motion instruction to the servo driver, and control the front drive mechanism and the rear drive mechanism through the servo driver to jointly drag the mechanical platform of the three-wheel omnidirectional mobile robot to move within the motion plane, so that the entire C-arm performs translational motion, rotational motion or a superimposed motion of translational motion and rotational motion within the motion plane.

[0031] As can be seen from the above technical solutions, the present invention discloses a C-arm and a control method. The C-arm includes a C-arm vehicle-mounted main body and an intelligent positioning system. The intelligent positioning system includes: a three-wheel omnidirectional mobile robot mechanical platform and a drive control unit. The three-wheel omnidirectional mobile robot mechanical platform includes: a chassis frame, a front drive mechanism, a rear drive mechanism and omnidirectional wheels. The drive control unit includes: a servo driver, a walking controller and a walking remote control. After receiving the motion instruction sent by the walking remote control, the walking controller outputs the motion instruction to the servo driver, and controls the front drive mechanism and the rear drive mechanism through the servo driver to jointly drag the mechanical platform of the three-wheel omnidirectional mobile robot to move within the motion plane, so that the entire C-arm performs translational motion, rotational motion or a superimposed motion of translational motion and rotational motion within the motion plane. The present invention realizes that the C-arm can perform translational motion, rotational motion or a superimposed motion of translational motion and rotational motion from a stationary position to any direction automatically, thereby not only reducing the burden on medical staff and saving time, but also reducing the exposure time of patients, thus improving the surgical efficiency. Brief Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the disclosed drawings without creative efforts.

[0033] Figure 1 It is a schematic structural diagram of a C-arm disclosed in an embodiment of the present invention;

[0034] Figure 2 It is a top view structural schematic diagram of a three-wheel omnidirectional mobile robot mechanical platform disclosed in an embodiment of the present invention;

[0035] Figure 3 It is a side view structural schematic diagram of a three-wheel omnidirectional mobile robot mechanical platform disclosed in an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of the omnidirectional motion principle of a three-wheel omnidirectional mobile robot mechanical platform disclosed in an embodiment of the present invention;

[0037] Figure 5Schematic diagram of the omnidirectional movement of a three-wheeled omnidirectional movement robot mechanical platform disclosed in an embodiment of the present invention;

[0038] Figure 6 Flowchart of a control method for a C-arm disclosed in an embodiment of the present invention. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] An embodiment of the present invention discloses a C-arm and a control method. The C-arm includes a C-arm vehicle-mounted main body and an intelligent positioning system. The intelligent positioning system includes: a three-wheeled omnidirectional movement robot mechanical platform and a drive control unit. The three-wheeled omnidirectional movement robot mechanical platform includes: a chassis frame, a front drive mechanism, a rear drive mechanism, and omnidirectional wheels. The drive control unit includes: a servo driver, a walking controller, and a walking remote control. After receiving the movement instruction sent by the walking remote control, the walking controller outputs the movement instruction to the servo driver, and controls the front drive mechanism and the rear drive mechanism to jointly drag the three-wheeled omnidirectional movement robot mechanical platform to move within the movement plane, so that the entire C-arm performs translational movement, rotational movement, or a superimposed movement of translational movement and rotational movement within the movement plane. The present invention realizes that the C-arm can automatically perform translational movement, rotational movement, or a superimposed movement of translational movement and rotational movement in any direction from a stationary position, thereby not only reducing the burden on medical staff and saving time, but also reducing the exposure time of patients, and thus improving the surgical efficiency.

[0041] See Figure 1 , a schematic structural diagram of a C-arm disclosed in an embodiment of the present invention. The C-arm includes: a C-arm vehicle-mounted main body 10 and an intelligent positioning system 20.

[0042] Among them, the intelligent positioning system 20 includes: a three-wheeled omnidirectional movement robot mechanical platform 21 and a drive control unit 22.

[0043] See Figure 2 , Figure 3 and Figure 4 As shown in

[0044] Among them, both the front drive mechanism 130 and the rear drive mechanism 131 are connected to the chassis frame 111 through suspension connecting plates. The omnidirectional wheels are fixed to the chassis frame 111 through fasteners. The C-arm vehicle-mounted main body 10 is fixed to the chassis frame 11 through fasteners. The front drive mechanism 130, the rear drive mechanism 131, and the omnidirectional wheels jointly support the chassis frame 111 and jointly bear the total weight of the C-arm. Among them, the omnidirectional wheels bear the main weight of the C-arm, and the front drive mechanism 130 and the rear drive mechanism 131 bear part of the weight of the C-arm.

[0045] The drive control unit 22 includes: a servo driver, a travel controller, and a travel remote controller (not shown in the figure). The servo driver and the travel controller are both fixed to the chassis frame 111 through brackets. The travel controller is respectively connected to the servo driver and the travel remote controller. The servo driver is respectively connected to the front drive mechanism 130 and the rear drive mechanism 131;

[0046] The travel controller is used to receive the motion instruction sent by the travel remote controller, and output the motion instruction to the servo driver, and control the front drive mechanism 130 and the rear drive mechanism 131 through the servo driver to jointly drag the three-wheel omnidirectional mobile robot mechanical platform 21 to move in the motion plane, so that the entire C-arm performs translational motion, rotational motion, or a superimposed motion of translational motion and rotational motion in the motion plane.

[0047] It should be noted that the superimposed motion of translational motion and rotational motion is also a curvilinear motion.

[0048] Among them, the motion information carried in the motion instruction includes: operating speed and operating direction, or stop target position.

[0049] In summary, the present invention discloses a C-arm. The C-arm includes a C-arm vehicle-mounted main body 10 and an intelligent positioning system 20. The intelligent positioning system 20 includes: a three-wheel omnidirectional mobile robot mechanical platform 21 and a drive control unit 22. The three-wheel omnidirectional mobile robot mechanical platform 21 includes: a chassis frame 111, a front drive mechanism 130, a rear drive mechanism 131, and omnidirectional wheels. The drive control unit 22 includes: a servo driver, a travel controller, and a travel remote controller. After the travel controller receives the motion instruction sent by the travel remote controller, it outputs the motion instruction to the servo driver, and controls the front drive mechanism 130 and the rear drive mechanism 131 through the servo driver to jointly drag the three-wheel omnidirectional mobile robot mechanical platform 21 to move in the motion plane, so that the entire C-arm performs translational motion, rotational motion, or a superimposed motion of translational motion and rotational motion in the motion plane. The present invention realizes that the C-arm can automatically perform translational motion, rotational motion, or a superimposed motion of translational motion and rotational motion in any direction from a stationary position, thereby not only reducing the burden on medical staff and saving time, but also reducing the exposure time of patients, thus improving the surgical efficiency.

[0050] In the above embodiments, the walking remote controller is a remote control device that directly controls the movement of the intelligent positioning system 20. The walking remote controller can be portable or fixed. In practical applications, the walking remote controller can be connected to the walking controller by wire or wirelessly. When the walking remote controller is connected to the walking controller by wire, the walking remote controller can be connected to the walking controller through a control cable.

[0051] Optionally, the number of omnidirectional wheels can be four. For example, the omnidirectional wheels include: the first omnidirectional wheel 120, the second omnidirectional wheel 121, the third omnidirectional wheel 122, and the fourth omnidirectional wheel 123. The first omnidirectional wheel 120 and the second omnidirectional wheel 121 are connected to the chassis frame 111 through the first connecting plate member 108. The third omnidirectional wheel 122 is connected to the chassis frame 111 through the second connecting plate member 109. The fourth omnidirectional wheel 123 is connected to the chassis frame 111 through the third connecting plate member 110.

[0052] It should be particularly noted that the number of omnidirectional wheels includes but is not limited to four. In practical applications, the number of omnidirectional wheels can be increased or decreased, depending on actual needs. The present invention does not make any limitations in this regard.

[0053] The specific component structures of each component in the three-wheel omnidirectional mobile robot mechanical platform 21 will be described below as follows:

[0054] See Figure 2 、 Figure 3 and Figure 4 As shown in

[0055]

[0056] The rear drive mechanism 131 includes: the first omnidirectional wheel 101, the second omnidirectional wheel 102, the first reduction motor 104, the second reduction motor 105, the first elastic suspension mechanism 125, the second elastic suspension mechanism 126, and the first suspension connecting plate member 107. The first omnidirectional wheel 101 is fixed on the transmission shaft of the first reduction motor 104. The first omnidirectional wheel 101 and the first reduction motor 104 are connected to the first suspension connecting plate member 107 through the first elastic suspension mechanism 125. The second omnidirectional wheel 102 is fixed on the transmission shaft of the second reduction motor 105. The second omnidirectional wheel 102 and the second reduction motor 105 are connected to the first suspension connecting plate member 107 through the second elastic suspension mechanism 126.

[0055] Among them, in this embodiment, the rear drive mechanism 131 is connected to the chassis frame 111 through the first suspension connecting plate member 107. The first elastic suspension mechanism 125 in the rear drive mechanism 131 can ensure that the first omnidirectional wheel 101 connected thereto can adapt to an uneven movement plane.

[0056] The front drive mechanism 130 includes: a third omnidirectional wheel 100, a third reduction motor 103, a third elastic suspension mechanism 124, and a second suspension connecting plate member 106. The third omnidirectional wheel 100 is fixed on the transmission shaft of the third reduction motor 103, and the third omnidirectional wheel 100 and the third reduction motor 103 are connected to the second suspension connecting plate member 106 through the third elastic suspension mechanism 124.

[0057] Among them, in this embodiment, the front drive mechanism 130 is connected to the chassis frame 111 through the second suspension connecting plate member 106. The third elastic suspension mechanism 124 in the front drive mechanism 130 can ensure that the connected third omnidirectional wheel 100 can adapt to an uneven movement plane.

[0058] In this embodiment, the first omnidirectional wheel 101 and the second omnidirectional wheel 102 are symmetrically arranged on the movement plane with respect to the axis of the third omnidirectional wheel 100.

[0059] In this embodiment, assuming that the axis direction of the third omnidirectional wheel 100 in the front drive mechanism 130 is the front-rear direction, the front drive mechanism 130 can drag the chassis frame 111 in the left-right direction on the movement plane, and can follow the movement in the front-rear direction on the movement plane; moreover, the rear drive mechanism 131 can drag the chassis frame 111 in any direction on the plane. Therefore, the front drive mechanism 130 and the rear drive mechanism 131 jointly drag the chassis frame 111 to enable the C-arm to complete any direction translation movement, rotation movement, or the superposition movement of translation movement and rotation movement within the movement plane.

[0060] It should be particularly noted that the first reduction motor 104 and the second reduction motor 105 in the rear drive mechanism 131, as well as the third reduction motor 103 in the front drive mechanism 130, are all controlled by the servo driver in the drive control unit 22.

[0061] In this embodiment, the servo driver in the drive control unit 22 includes three groups of servo drivers, namely: a first servo driver, a second servo driver, and a third servo driver;

[0062] The first servo driver is connected to the first reduction motor 104 and is used to control the rotation speed of the first reduction motor 104;

[0063] The second servo driver is connected to the second reduction motor 105 and is used to control the rotation speed of the second reduction motor 105;

[0064] The third servo driver is connected to the third reduction motor 103 and is used to control the rotation speed of the third reduction motor 103.

[0065] The specific working principles of the first servo driver, the second servo driver, the third servo driver, the travel controller, and the travel remote controller are as follows:

[0066] The walking remote controller is used to send motion instructions to the walking controller. The motion information carried in the motion instructions includes: operating speed and operating direction, or stop target position.

[0067] The walking controller is used to receive the motion instructions and send the different motion information included in the motion instructions to the corresponding first servo driver, second servo driver, and third servo driver respectively;

[0068] The first servo driver controls the rotation speed of the first reduction motor 104 according to the received motion information. The first reduction motor 104 feeds back the rotation position signal to the walking controller through the first servo driver in real time, so that the walking controller obtains the walking distance and speed data of the first omnidirectional wheel 101 according to the rotation position signal fed back by the first reduction motor 104.

[0069] The second servo driver controls the rotation speed of the second reduction motor 105 according to the received motion information. The second reduction motor 105 feeds back the rotation position signal to the walking controller through the second servo driver in real time, so that the walking controller obtains the walking distance and speed data of the second omnidirectional wheel 102 according to the rotation position signal fed back by the second reduction motor 105.

[0070] The third servo driver controls the rotation speed of the third reduction motor 103 according to the received motion information. The third reduction motor 103 feeds back the rotation position signal to the walking controller through the third servo driver in real time, so that the walking controller obtains the walking distance and speed data of the third omnidirectional wheel 100 according to the rotation position signal fed back by the third reduction motor 103.

[0071] For the convenience of understanding the moving principle of the C-arm, the principle parameters of the omnidirectional movement of the three-wheel omnidirectional movement robot mechanical platform 21 in the C-arm are as follows:

[0072] See Figure 4 and Figure 5 the schematic diagram of the omnidirectional movement of a three-wheel omnidirectional movement robot mechanical platform shown in Figure 4 In it, the center point P1 is the center point of the movement of the front drive mechanism 130 and the rear drive mechanism 131. The front drive mechanism 130 has no driving effect in directions 3 and 4 and makes a follow-up movement, and has a driving effect in directions 1 and 2. The rear drive mechanism 131 cannot make a follow-up movement and has a driving effect in all directions 1, 2, 3, and 4, and has a driving effect in any direction on the plane formed by directions 1 to 4.

[0073] In Figure 5Among them, Θ1 is the angle between the axis of the third omnidirectional wheel 100 and the axis of the first omnidirectional wheel 101, Θ2 is the angle between the axis of the third omnidirectional wheel 100 and the axis of the second omnidirectional wheel 102, Θ1 is equal to 45° and Θ1 is equal to Θ2. d1 is the distance between the driving force application points of the driving wheels of the front driving mechanism 130 and the driving force application points of the driving wheels of the rear driving mechanism 131, d2 is the distance between the driving force application points of the two driving wheels of the rear driving mechanism 131, and d1 is greater than d2.

[0074] It should be noted that Figure 4 and Figure 5 the "direction" in

[0075] is a relative concept. "Direction 3" is a direction of the axis of the omnidirectional wheel in the front driving mechanism 130, "Direction 4" is another direction of the axis of the omnidirectional wheel in the front driving mechanism 130, and the four directions of "Direction 1, Direction 2, Direction 3, and Direction 4" are evenly arranged in the same plane, and the adjacent angular intervals are all 90°. Figure 4 and Figure 5 are combined to elaborate the basic motion relationships in the present invention as follows:

[0076] Embodiment 1

[0077] Assume: Direction 1 is the positive half-axis of the X-axis in the motion plane coordinate system, Direction 3 is the positive half-axis of the Y-axis, the position of the center point P1 is the coordinate origin, the initial motion target direction of the center point P1 is P2(x, y), the speed of the third omnidirectional wheel 100 is s1, the speed of the first omnidirectional wheel 101 is s2, the speed of the second omnidirectional wheel 102 is s3, and the speed difference between the front driving mechanism 130 and the rear driving mechanism 131 is ds. Among them, if the motion path T is a curve, the direction of P2(x, y) is the tangent direction of the motion path curve at the current coordinate position; if the motion path T is a straight line, the direction of P2(x, y) is the motion path direction.

[0078] Then:

[0079]

[0080] When ds is equal to 0 and x is not equal to 0 or y is not equal to 0, the C-arm moves translationally from the starting position to the ending position;

[0081] When ds is not equal to 0 and x is equal to 0 and y is equal to 0, the C-arm rotates around the center point P1;

[0082] When ds is not equal to 0 and x is not equal to 0 or y is not equal to 0, the C-arm makes a superposition motion of translational motion and rotational motion from the starting position to the ending position.

[0083] As Figure 4As shown in the figure, in the present invention, the control of the C-arm is based on the basic structural form of the three-wheel omnidirectional mobile robot mechanical platform 21. According to the basic motion relationships existing in the C-arm, through the control of the walking controller, the C-arm can perform a translational motion or a superimposed motion of translational and rotational motions from the starting position to the ending position, or a rotational motion around the center point P1. The motions between multiple position points and the motion of the composite curve are composed of three basic motions: translational motion, superimposed motion of translational and rotational motions, and rotational motion. During the motion of the C-arm, the walking controller can record the position state data of the C-arm, and the position state data includes: starting point data of the motion, intermediate point data of the motion, ending point data of the motion, and motion path data. The walking controller can also preset the position data for the C-arm within the motion plane. The walking controller controls the omnidirectional motion of the C-arm between multiple position points according to the recorded position motion data of the C-arm or the preset position data for the C-arm through the servo driver.

[0084] Among them, the starting point data of the motion, the intermediate point data of the motion, and the ending point data of the motion include: the relative moving distance data of the front drive mechanism 130 and the rear drive mechanism 131 and the direction angle data of the chassis frame 111.

[0085] The motion path data includes: a set of description methods for the moving speeds and speed change data of the front drive mechanism 130 and the rear drive mechanism 131.

[0086] Embodiment 2

[0087] The Mecanum wheel belongs to a structural form of omnidirectional wheels. Therefore, omnidirectional wheels include Mecanum wheels.

[0088] As Figure 5 shown, in practical applications, Figure 5 in, the first omnidirectional wheel 101 and the second omnidirectional wheel 102 are both replaced with Mecanum wheels, and the included angles Θ1 and Θ2 are both adjusted to 90° right angles, and other relative positions remain unchanged. Then, the basic structural form of the three-wheel omnidirectional mobile robot mechanical platform 21 remains unchanged, and the basic motion relationships described in Embodiment 1 still exist.

[0089] It should be noted that the motion results of Embodiment 2 and Embodiment 1 are equivalent.

[0090] Embodiment 3

[0091] This embodiment is a similar substitution and adjustment in details based on Embodiment 1 and Embodiment 2. The positions of the front drive mechanism 130 and the rear drive mechanism 131 on the chassis frame 111 are mutually replaced. From the basic characteristics of the omnidirectional motion described in Embodiment 1 or Embodiment 2, it can be seen that the motion results of this embodiment and Embodiment 1 or Embodiment 2 are equivalent.

[0092] It should be noted that in the present invention, the movement process of the C-arm can be corrected by an external sensor signal, or interrupted, paused or restarted by an external safety signal. Among them, the external sensor refers to a position-related sensor, such as an electronic gyro angle meter, a laser range finder, a laser navigation radar, a position switch (mechanical or electromagnetic), etc.; the added external sensor is an enhancement and functional expansion of the safety of the system and the positioning accuracy of the actual device. One signal transmission path that must exist is that the position sensor signal needs to be directly or indirectly transmitted to the motion control unit.

[0093] Corresponding to the above device embodiment, the present invention also discloses a control method for a C-arm.

[0094] See Figure 6 , a flowchart of a control method for a C-arm disclosed in an embodiment of the present invention. This control method is applied to Figures 1 to 5 the walking controller in the embodiment shown, and the control method includes:

[0095] Step S101, receiving a motion instruction sent by the walking remote controller;

[0096] Step S102, outputting the motion instruction to the servo driver, and controlling the front drive mechanism and the rear drive mechanism to jointly drag the mechanical platform of the three-wheel omnidirectional mobile robot to move in the motion plane through the servo driver, so that the entire C-arm performs translational motion, rotational motion or a superposition of translational motion and rotational motion in the motion plane.

[0097] In summary, a control method for a C-arm is disclosed. After the walking controller receives the motion instruction sent by the walking remote controller, it outputs the motion instruction to the servo driver, and controls the front drive mechanism and the rear drive mechanism to jointly drag the mechanical platform of the three-wheel omnidirectional mobile robot to move in the motion plane through the servo driver, so that the entire C-arm performs translational motion, rotational motion or a superposition of translational motion and rotational motion in the motion plane. The present invention realizes that the C-arm can automatically perform translational motion, rotational motion or a superposition of translational motion and rotational motion in any direction from a stationary position, thereby not only reducing the burden on medical staff and saving time, but also reducing the exposure time of patients, thus improving the surgical efficiency.

[0098] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0099] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0100] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An C-arm, characterized in that, Comprising: A C-arm vehicle-mounted main body and an intelligent positioning system; The intelligent positioning system includes: a three-wheeled omnidirectional mobile robot mechanical platform and a drive control unit; The three-wheeled omnidirectional mobile robot mechanical platform includes: a chassis frame, a front drive mechanism, a rear drive mechanism, and omnidirectional wheels; Both the front drive mechanism and the rear drive mechanism are connected to the chassis frame through suspension connecting plates, the omnidirectional wheels are fixed to the chassis frame by fasteners, the C-arm vehicle-mounted main body is fixed to the chassis frame by fasteners, and the front drive mechanism, the rear drive mechanism, and the omnidirectional wheels jointly support the chassis frame and jointly bear the total weight of the C-arm; The drive control unit includes: a servo driver, a walking controller, and a walking remote control. The servo driver and the walking controller are both fixed to the chassis frame by brackets. The walking controller is respectively connected to the servo driver and the walking remote control, and the servo driver is respectively connected to the front drive mechanism and the rear drive mechanism; The walking controller is configured to receive a motion instruction sent by the walking remote control, and output the motion instruction to the servo driver, and control the front drive mechanism and the rear drive mechanism to jointly drag the three-wheeled omnidirectional mobile robot mechanical platform to move in a motion plane, so that the entire C-arm performs translational motion, rotational motion, or a superimposed motion of translational motion and rotational motion in the motion plane.

2. The C-arm according to claim 1, characterized in that, The rear drive mechanism includes: a first omnidirectional wheel, a second omnidirectional wheel, a first reduction motor, a second reduction motor, a first elastic suspension mechanism, a second elastic suspension mechanism, and a first suspension connecting plate; The first omnidirectional wheel is fixed to the transmission shaft of the first reduction motor. The first omnidirectional wheel and the first reduction motor are connected to the first suspension connecting plate through the first elastic suspension mechanism. The second omnidirectional wheel is fixed to the transmission shaft of the second reduction motor. The second omnidirectional wheel and the second reduction motor are connected to the first suspension connecting plate through the second elastic suspension mechanism.

3. The C-arm according to claim 2, characterized in that, The front drive mechanism includes: a third omnidirectional wheel, a third reduction motor, a third elastic suspension mechanism, and a second suspension connecting plate; The third omnidirectional wheel is fixed to the transmission shaft of the third reduction motor. The third omnidirectional wheel and the third reduction motor are connected to the second suspension connecting plate through the third elastic suspension mechanism; Wherein, the axes of the first omnidirectional wheel and the second omnidirectional wheel are symmetrically arranged with respect to the axis of the third omnidirectional wheel in the motion plane.

4. The C-arm according to claim 3, characterized in that, The servo driver includes three groups of servo drivers, namely: a first servo driver, a second servo driver, and a third servo driver; The first servo driver is connected to the first reduction motor and is configured to control the rotation speed of the first reduction motor; The second servo driver is connected to the second reduction motor and is configured to control the rotation speed of the second reduction motor; The third servo driver is connected to the third reduction motor and is configured to control the rotation speed of the third reduction motor.

5. The C-arm according to claim 4, characterized in that, The walking controller is used to separately send different motion information contained in the motion instruction to the corresponding first servo driver, second servo driver, and third servo driver; The first servo driver controls the rotation speed of the first reduction motor according to the received motion information, and the first reduction motor feeds back the rotation position signal to the walking controller through the first servo driver in real time, so that the walking controller obtains the walking distance and speed data of the first omnidirectional wheel according to the rotation position signal fed back by the first reduction motor; The second servo driver controls the rotation speed of the second reduction motor according to the received motion information, and the second reduction motor feeds back the rotation position signal to the walking controller through the second servo driver in real time, so that the walking controller obtains the walking distance and speed data of the second omnidirectional wheel according to the rotation position signal fed back by the second reduction motor; The third servo driver controls the rotation speed of the third reduction motor according to the received motion information, and the third reduction motor feeds back the rotation position signal to the walking controller through the third servo driver in real time, so that the walking controller obtains the walking distance and speed data of the third omnidirectional wheel according to the rotation position signal fed back by the third reduction motor.

6. The C-arm according to claim 1, characterized in that, The walking controller is further used to record the position status data of the C-arm, and the position status data includes: motion starting point data, motion intermediate point data, motion end point data, and motion path data.

7. The C-arm according to claim 6, characterized in that, The walking controller is further used to preset position data for the C-arm in the motion plane.

8. The C-arm according to claim 7, characterized in that, The walking controller is further used to control the omnidirectional motion of the C-arm between multiple position points through the servo driver according to the recorded position status data or the preset position data.

9. The C-arm according to claim 1, characterized in that, The omnidirectional wheel includes a Mecanum wheel.

10. A control method for an C-arm, characterized in that, Applied to the walking controller in the C-arm according to claim 1, the control method includes: Receiving a motion instruction sent by a walking remote control; Outputting the motion instruction to the servo driver, and controlling the front drive mechanism and the rear drive mechanism to jointly drag the mechanical platform of the three-wheel omnidirectional mobile robot to move in the motion plane through the servo driver, so that the entire C-arm performs translational motion, rotational motion, or a superimposed motion of translational motion and rotational motion in the motion plane.

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