Mini C-arm with increased range of motion

Abstract

The present application discloses a mobile imaging system or miniature C-arm with an increased range of motion. The miniature C-arm includes a movable base, a C-arm assembly, and an arm assembly for coupling the C-arm assembly and the movable base. The arm assembly is coupled to the movable base via a first joint assembly, which enables the arm assembly to move relative to the movable base around a first rotation axis and a second rotation axis. Thus, in use, the first joint assembly enables two degrees of motion: a first vertical pivot or rotational motion and a second horizontal pivot or rotational motion. The first joint assembly is coupled to the movable base via a horizontal rotation axis, which is located at a vertically fixed position, so that the horizontal rotation axis is positioned at a fixed height or distance from the movable base, and therefore positioned at a fixed height or distance from the floor.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is a non-provisional application of and claims the benefit of pending U.S. provisional patent application US62 / 738,149, filed on September 28, 2018, entitled “Mini C-arm with Increased Range of Motion,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates generally to imaging systems and, more particularly, to mobile imaging systems, such as miniature C-arms with increased range of motion. Background Art

[0004] Mobile imaging systems or miniature C-arms are generally referred to as non-invasive devices that provide for imaging the bones and / or tissues of a patient. Conventional imaging systems or miniature C-arms include a movable base, an arm assembly, and a C-arm assembly including an X-ray source and a detector. The range of motion of the C-arm assembly provided by, for example, the arm assembly controls the operator's ability to position the C-arm assembly relative to the patient. Restrictions on the ability to position the C-arm assembly may limit the operator's ability to image the patient in certain positions.

[0005] Therefore, a C-arm with an increased range of motion is desired.With regard to these and other considerations, improvements of the present invention may be useful. Summary of the invention

[0006] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be an aid in determining the scope of the claimed subject matter.

[0007] Disclosed herein is an imaging device or system that provides an increased range of motion. The imaging device includes: a C-arm assembly, the C-arm assembly including an X-ray source and a detector; a movable base; and an arm assembly, the arm assembly coupling the C-arm assembly and the movable base, wherein the arm assembly is coupled to the movable base via a first joint assembly, the first joint assembly enabling the arm assembly to move relative to the movable base about a first rotation axis and a second rotation axis. In one embodiment, the first rotation axis is orthogonal to the second rotation axis. In one embodiment, the first rotation axis is a vertical rotation axis such that the arm assembly can rotate or pivot relative to the movable base, and the second rotation axis is a horizontal rotation axis such that the arm assembly can rotate or pivot relative to the movable base.

[0008] In another embodiment, a mobile imaging device or system is also disclosed. The mobile imaging device includes: a C-arm assembly, the C-arm assembly including an X-ray source and a detector; a movable base, the movable base including a platform; and an arm assembly, the arm assembly is used to connect the C-arm assembly and the movable base, wherein the arm assembly is connected to the movable base via a first joint assembly, the first joint assembly enables the arm assembly to move relative to the movable base around a first vertical rotation axis and a second horizontal rotation axis, the second horizontal rotation axis is located at a vertical fixed position, so that the second horizontal rotation axis is positioned at a fixed height from the top surface of the platform.

[0009] In one embodiment, the first joint assembly includes a first pivot joint and a second pivot joint such that the arm assembly can rotate relative to the base about a vertical rotation axis passing through the first pivot joint and a horizontal rotation axis passing through the second pivot joint.

[0010] In some embodiments, the arm assembly includes a first arm and a second arm, the first arm is coupled to the second arm via a second joint assembly, the second joint assembly being adapted and configured such that the second arm can pivot or rotate relative to the first arm. The second joint assembly may include a link arm having a first end and a second end, the first end of the link arm being coupled to the second end of the first arm via a third pivot joint such that the second arm can rotate or pivot relative to the first arm about a horizontal rotation axis passing through the third pivot joint, the second end of the link arm being coupled to the first end of the second arm via a fourth pivot joint such that the second arm can rotate or pivot relative to the first arm about a horizontal rotation axis passing through the fourth pivot joint.

[0011] In some embodiments, the arm assembly can be coupled to the C-arm assembly via a third joint assembly, the third joint assembly including a fifth pivot joint and a sixth pivot joint, such that the C-arm assembly can rotate or pivot about a horizontal rotation axis passing through the fifth pivot joint and a vertical rotation axis passing through the sixth pivot joint. Additionally, the third joint assembly can include a seventh pivot joint, such that the C-arm assembly can rotate or pivot about a horizontal axis passing through the seventh pivot joint.

[0012] In other embodiments, a mobile imaging device or system is also disclosed. The mobile imaging device includes: a C-arm assembly, the C-arm assembly including an X-ray source and a detector; a movable base, the movable base including a platform; and an arm assembly, the arm assembly connecting the C-arm assembly and the movable base, the arm assembly including a first arm, a second arm and a second joint assembly for connecting the first arm to the second arm, wherein the arm assembly is connected to the movable base via a first joint assembly, the first joint assembly enables the arm assembly to move relative to the movable base around a first vertical rotation axis and a second horizontal rotation axis, the horizontal rotation axis being located at a vertical fixed position so that the horizontal rotation axis is positioned at a fixed height from the top surface of the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] By way of example, specific embodiments of the disclosed apparatus will now be described with reference to the accompanying drawings, in which:

[0014] Figure 1 is a perspective view of an exemplary embodiment of a mobile imaging system or miniature C-arm according to the present disclosure;

[0015] Figure 2A-2E Shown with Figure 1 A perspective view of an exemplary embodiment of an arm assembly for use with a mobile imaging system or a mini C-arm is shown; FIG. 2A to FIG. 2E showing a first arm and a second arm of an arm assembly in different positions relative to each other;

[0016] Figure 3 yes Figure 1 A side view of a mobile imaging system or miniature C-arm shown in various possible positions;

[0017] Figure 4 yes Figure 1 A partial schematic side view of a mobile imaging system or miniature C-arm is shown positioned to image a patient's ankle;

[0018] Figure 5A-5D A side view of an exemplary embodiment of an anti-tipping mechanism is shown, which can be used with Figure 1 Used in conjunction with the mobile imaging system or miniature C-arm shown, Figure 5A-5D The anti-tipping mechanism is shown in various positions; and

[0019] Figure 6 Shows that it can be Figure 1 A cross-sectional view of an exemplary embodiment of a self-balancing mechanism for use in conjunction with a mobile imaging system or a miniature C-arm is shown.

[0020] The accompanying drawings are not necessarily drawn to scale. The accompanying drawings are merely illustrative and are not intended to depict specific parameters of the present disclosure. The accompanying drawings are intended to depict exemplary embodiments of the present disclosure and are therefore not to be considered limiting of the scope. In the accompanying drawings, the same reference numerals represent the same elements. DETAILED DESCRIPTION

[0021] Several embodiments of a mobile imaging system or a miniature C-arm (used interchangeably herein without intent to be limiting) according to the present disclosure will now be described more fully below with reference to the accompanying drawings, wherein preferred embodiments of the present disclosure are presented. However, the miniature C-arm of the present disclosure may be embodied in many different forms and should not be construed as being limited to the embodiments presented herein. Rather, these embodiments are provided so that the present disclosure conveys certain exemplary aspects of the miniature C-arm to those skilled in the art. In the accompanying drawings, similar reference numerals refer to similar elements throughout unless otherwise specified.

[0022] A disadvantage of conventional miniature C-arms is that the range of motion is limited. As a result, the operator is often limited in the ability to position imaging components (e.g., X-ray source and detector). For example, conventional miniature C-arms limit the operator's ability to position the X-ray source and detector close to the ground, thereby limiting the operator's ability to scan, for example, a standing knee, ankle, or foot (e.g., limiting the operator's ability to image a knee that is weight-bearing or an ankle that is falling sideways). In use, when imaging a patient's ankle, the injured patient may need to stand on a step to accommodate the imaging components (e.g., X-ray source and detector). This requires the patient to stand, thereby applying additional weight to the patient's injured foot, ankle, etc.

[0023] For example, a known miniature C-arm includes a base or cabinet, an imaging component (e.g., an X-ray source and an X-ray sensor), and an arm assembly for connecting the imaging component to the cabinet. In use, the arm assembly is connected to the cabinet via a shoulder joint so that the arm assembly can move vertically and rotationally relative to the cabinet. That is, the shoulder joint includes a vertically extending rod connected to the cabinet so that the arm assembly can move vertically along the length of the rod (and therefore along the cabinet), thereby providing movement in the vertical direction along the longitudinal axis of the rod. One disadvantage of the prior art system is that by connecting the arm assembly to the cabinet in a slidable vertical position, the operator's ability to position the imaging component close to the floor is limited.

[0024] In contrast, according to one aspect of the present disclosure, the mini C-arm of the present disclosure is adapted and configured to provide an increased range of motion so that imaging components (e.g., X-ray sources and detectors) can be positioned closer to the floor to eliminate or at least minimize the required step height. By providing an increased range of motion, particularly an increased vertical range of motion, the operator is provided with increased versatility in positioning the imaging components relative to the patient. For example, in one embodiment, the mini C-arm allows the operator to position the imaging components at any position along the length of the patient, for example, the imaging components can be positioned closer to the floor to image the patient's feet, ankles, knees, etc., while still being able to position the imaging components adjacent to the shoulder area. By providing an increased range of motion, the mini C-arm according to the present disclosure provides increased versatility.

[0025] According to one aspect of the present disclosure, as will be described in more detail below, the miniature C-arm of the present disclosure includes: a C-arm assembly, which includes an X-ray source and a detector; a movable or movable base, etc.; and an arm assembly for connecting the C-arm assembly and the movable base. In some embodiments, the arm assembly is connected to the movable base via a first joint assembly, which enables the arm assembly to move relative to the movable base around a first rotation axis and a second rotation axis. That is, the arm assembly is connected to the movable base via a first joint assembly, which includes a first pivot joint and a second pivot joint, so that two degrees of movement can be achieved: a first vertical pivot or rotation movement and a second horizontal pivot or rotation movement (pivot and rotation are used interchangeably herein without intending to be limiting). In this way, the first rotation axis is a vertical rotation axis passing through the first pivot joint, so that the arm assembly can rotate or pivot relative to the movable base, and the second rotation axis is a horizontal rotation axis passing through the second pivot joint, so that the arm assembly can rotate or pivot relative to the movable base. The arm assembly is adapted and configured to provide an increased range of motion by providing a first vertical rotational motion and a second horizontal rotational motion.

[0026] In addition, a second pivot joint is coupled to the base at a vertically fixed position such that a horizontal axis of rotation passing through the second pivot joint is positioned at a fixed height or distance from the base and, therefore, from the floor. By incorporating a first joint assembly including a second pivot joint that enables the arm assembly to be coupled to the base via a horizontal axis of rotation located at a vertically fixed position, the mini C-arm provides an operator with an increased range of motion and increases the versatility of positioning imaging components (e.g., an X-ray source and detector) relative to the patient to provide a more convenient and adaptable system. In particular, the operator can position the imaging components closer to the floor to image the patient's feet, ankles, knees, etc., thereby eliminating or at least minimizing the step height required to image the patient's feet / ankles. By providing the mini C-arm with a greater range of motion, the operator can minimize the risk of the patient falling.

[0027] Now refer to Figure 1 , an illustrative exemplary embodiment of a miniature C-arm 100 according to the present disclosure is shown. In use, the miniature C-arm 100 is adapted and configured to provide an increased range of motion to position an imaging component relative to a patient. As shown, the miniature C-arm 100 includes a base 120, a C-arm assembly 150, and an arm assembly 200 for coupling the C-arm assembly 150 to the base 120.

[0028] Reference Figure 1 In one embodiment, the base 120 may include a platform 122 and a plurality of wheels 124 extending from a bottom surface of the platform 122, so that the base 120, and thus the micro C-arm 100, may be movably positioned as desired by an operator. In an exemplary embodiment, the wheels 124 may be selectively locked by a user, and are adapted and configured such that the wheels 124, when in a locked state, allow the operator to manipulate the arm assembly 200 without changing the position or orientation of the base 120. The base 120 may also include a cabinet 126. In use, as will be appreciated by one of ordinary skill in the art, the size and configuration of the cabinet 126 may be used to store, for example, controls (not shown) for operating the micro C-arm 100, electrical components (not shown) required to operate the micro C-arm 100, counterweights (not shown) required to balance the extension of the C-arm assembly 150, a brake system, a cable winder, etc. The cabinet 126 may also include, for example, a keyboard, one or more monitors, a printer, etc.

[0029] In use, the miniature C-arm 100 of the present disclosure may be used with any suitable base 120 now known or later developed. As such, details regarding the construction, operation, etc. of the base 120 are omitted for the sake of brevity of the present disclosure. In this regard, it should be understood that, unless otherwise stated, the present disclosure should not be limited to the details of the base 120 disclosed and shown herein, and any suitable base may be used in conjunction with the principles of the present disclosure.

[0030] Reference Figure 1 And as previously mentioned, in one embodiment, the miniature C-arm 100 also includes a C-arm assembly 150. The C-arm assembly 150 can be any suitable imaging system now known or developed later. For example, as shown, the C-arm assembly 150 includes a source 152, a detector 154, and an intermediate body portion 156 for connecting to the source 152 and the detector 154. The source 152 and the detector 154 can be any suitable source and detector now known or developed later. For example, the source 152 can be, for example, an X-ray source. The detector 154 can be, for example, a flat panel detector, which includes, but is not limited to, an amorphous silicon detector, an amorphous selenium detector, a plasma-based detector, and the like. In use, the source 152 and the detector 154 are adapted and configured to create images of the patient's anatomical structures (e.g., hands, knees, ankles, etc.).

[0031] That is, as is readily known to those of ordinary skill in the art, in use, the imaging components (e.g., X-ray source 152 and detector 154) receive photons, convert the photons / X-rays into manipulable electrical signals, which are sent to an image processing unit (not shown). The image processing unit can be any suitable hardware and / or software system now known or later developed to receive and convert electrical signals into images. Next, the image can be displayed on a monitor or television screen. The image can also be stored, printed, etc. The image can be a single image or multiple images.

[0032] Reference Figure 1 In the illustrated embodiment of the C-arm assembly 150, the intermediate body portion 156 of the C-arm assembly 150 can be configured to have a generally "C" or "U" shape, although other shapes are contemplated. In the illustrated embodiment, the intermediate body portion 156 includes a body portion 158 and a first end 160 and a second end 162 for coupling to the source 152 and the detector 154, respectively. In addition, the C-arm assembly 150 may include a track mount 170 for coupling to the arm assembly 200, as will be described in more detail below. In use, the track mount 170 can be coupled to the body portion 158 of the intermediate body portion 156 so that the body portion 158 and therefore the source 152 and the detector 154 can be rotated or orbited relative to the track mount 170, so that the operator has increased versatility in positioning the imaging components relative to the patient. In use, the intermediate body portion 156 can be integrally formed. Alternatively, the arm 156 can be formed separately and coupled together.

[0033] In use, the miniature C-arm 100 of the present disclosure may be used with any suitable C-arm assembly 150 now known or later developed. As such, details regarding the construction, operation, etc. of the C-arm assembly 150 including the source 152 and the detector 154 are omitted for the sake of brevity. In this regard, it should be understood that, unless otherwise stated, the present disclosure should not be limited to the details of the C-arm assembly 150 disclosed and shown herein, and any suitable C-arm assembly may be used in conjunction with the principles of the present disclosure.

[0034] Reference Figure 1 And as previously mentioned, in one embodiment, the mini C-arm 100 also includes an arm assembly 200 for coupling the C-arm assembly 150 to the base 120. In use, the arm assembly 200 is adapted and configured to provide an increased range of motion so that the C-arm assembly 150 can be positioned as desired by the operator. Positioning can be performed manually by the operator.

[0035] Reference Figure 1 and Figure 2A-2E , the illustrated exemplary embodiment of the arm assembly 200 includes a first arm 220 and a second arm 240, although it is contemplated that the arm assembly 200 may include a greater number of arms, such as three, four, etc. The first arm 220 and the second arm 240 are substantially linear. As will be described in more detail below, the first arm 220 may be coupled to the base 120 via a first joint assembly 300, which may include a first pivot joint 302 and a second pivot joint 304, such that the first arm 220, and therefore the arm assembly 200 and the C-arm assembly 150, may be moved relative to the base 120, more specifically, such that the first arm 220 may rotate or pivot about a vertical rotation axis 303 passing through the first pivot joint 302 and about a horizontal rotation axis 305 passing through the second pivot joint 304. Incorporating a vertical rotation axis 303 through the first pivot joint 302 enables the arm assembly 200 to pivot or rotate to either side of the base 120, thereby enabling a patient to be positioned on either side of the base 120 without having to move the base 120 to reach the patient.

[0036] As in Figure 2A-2EAs best shown in the figure, the first arm 220 and the second arm 240 are movably positioned relative to each other. As shown, the first arm 220 may include a first end 222 and a second end 224. Similarly, the second arm 240 may include a first end 242 and a second end 244. The first arm 220 and the second arm 240 may be coupled to each other by any mechanism now known or later developed. As shown, the first end 242 of the second arm 240 is coupled to the second end 224 of the first arm 220. For example, as shown, the first arm 220 and the second arm 240 may be coupled to each other via a second joint assembly 310. In use, the second joint assembly 310 may include a link arm 312. In use, the second end 224 of the first arm 220 can be coupled to the first end 313 of the link arm 312 via the third pivot joint 315, and the first end 242 of the second arm 240 can be coupled to the second end 314 of the link arm 310 via the fourth pivot joint 316, although as previously mentioned, the first arm 220 and the second arm 240 can be coupled by alternative mechanisms, for example, the first arm can be directly pivotably coupled to the second arm (e.g., without an intervening link arm). In use, the third pivot joint 315 and the fourth pivot joint 316 enable the second arm 240 to move relative to the first arm 220, and more specifically, enable the second arm 240 to rotate or pivot about horizontal axes 317, 318 passing through the third pivot joint 315 and the fourth pivot joint 316, respectively. As such, the axis 317 enables the link arm 312 and the second arm 240 coupled to the link arm 312 to rotate or pivot relative to the first arm 220. Similarly, axis 318 enables linkage arm 312 and first arm 220 coupled to linkage arm 312 to rotate or pivot relative to second arm 240. Incorporating a dual-axis joint assembly provides the operator with versatility in positioning imaging components (e.g., x-ray source and detector) relative to the patient. For example, the dual-axis joint assembly allows first arm 220 and second arm 240 to be folded together (e.g., as Figure 2A ). This allows the arm assembly 200 to be folded closer to the base 120 to image the patient's limbs closer to the base 120. In addition, the second joint assembly 310 allows the imaging component to be positioned closer to the floor to image a standing ankle or knee. In some embodiments, it is contemplated that the second joint assembly may also be adapted and configured to enable the first arm and the second arm to rotate about a vertical rotation axis passing through the second joint assembly.

[0037] Additionally, as shown, in one embodiment, the second end 244 of the second arm 240 can be coupled to the C-arm assembly 150 via a third joint assembly 320. For example, in one embodiment, the second end 244 of the second arm can be pivotally coupled to the track support 170 via a fifth pivot joint 322, such that the C-arm assembly 150 can pivot about a horizontal rotation axis 323 passing through the fifth pivot joint 322.

[0038] In addition, as will be appreciated by those skilled in the art, the second end 244 of the second arm 240 may be connected to the hinged joint assembly 330 ( Figure 1 ) is connected to the C-arm assembly 150. In use, the articulated joint assembly 330 includes a sixth pivot joint 331, which is adapted and configured to enable the C-arm assembly 150 to pivot around and through the sixth pivot joint 331 ( Figure 1 ) about the vertical rotation axis 332 of the second arm 240. In this manner, by pivotably coupling the second end 244 of the second arm 240 to the articulated joint assembly 330, the C-arm assembly 150 is able to pivot or rotate about the horizontal rotation axis 323 passing through the fifth pivot joint 322 and rotationally pivot or rotate about the vertical rotation axis 332 passing through the sixth pivot joint 331 to provide the operator with greater versatility in positioning the C-arm assembly 150 relative to the patient. Although it is contemplated that the arm assembly 200 may be coupled to the C-arm assembly 150 via any other mechanism, including, for example, pivotally coupling the C-arm assembly 150 to the second end 244 of the second arm 240. Additionally, the third joint assembly 320 may also include a seventh pivot joint 340 ( Figure 1 and Figure 3 ), the seventh pivot joint 340 enables the C-arm assembly 150 to rotate or pivot about a horizontal rotation axis 341, which passes through the seventh pivot joint 340, so that the C-arm assembly can rotate or pivot between an upright position and a lateral position (e.g., between a vertical plane and a lateral plane), such as Figure 3 Positions A and B and Figure 3 position C).

[0039] Reference Figure 1 , Figure 2A-2E, and as previously mentioned, in one embodiment, the arm assembly 200 is coupled to the base 120 via a first joint assembly 300. As will be described in more detail, the first joint assembly 300 may be any mechanism configured to enable the arm assembly 200 to pivot or rotate relative to the base 120 about, in particular, a horizontal axis of rotation. For example, as shown and as previously mentioned, the first joint assembly 300 may include a first pivot joint 302 and a second pivot joint 304 so that the arm assembly 200, and therefore the C-arm assembly 150, may move relative to the base 120. More specifically, in use, the first pivot joint 302 enables the arm assembly 200 to rotate or pivot about a vertical axis of rotation 303 passing through the first pivot joint 302 and to rotate or pivot about a horizontal axis of rotation 305 passing through the second pivot joint 305. In this way, the arm assembly 200 may pivot or rotate relative to the base 120 about two axes of rotation (a vertical axis of rotation and a horizontal axis of rotation). In one embodiment, the two axes of rotation are orthogonal relative to each other. By providing a first vertical rotational motion and a second horizontal rotational motion, the arm assembly 200 is adapted and configured to provide an increased range of motion. For example, rotation about the vertical axis 303 allows the C-arm to have a lateral or left-right range of motion, while rotation about the horizontal axis 305 facilitates motion in the vertical plane (e.g., in and out and up and down motion relative to the base 120 at the same time).

[0040] Thus, in contrast to known miniature C-arm assemblies that couple the arm assembly to the base via a vertically adjustable connection and thus limit their ability to position the imaging component close to the floor, the arm assembly 200 of the present disclosure couples to the base 120 via a joint assembly (such as the first joint assembly 300) that is positioned at a fixed height from the top surface 123 of the platform 122, and thus, at a fixed height H from the floor. Figure 3As shown, the C-arm assembly 150 is located in a variety of different possible positions. For example, as shown in the embodiment shown in the figure, the C-arm assembly 150 can be positioned to image the patient's upright shoulder. In an exemplary embodiment, the C-arm can be rotated to image the upright shoulder (e.g., the C-arm can be rotated as schematically shown in position C). In an exemplary embodiment, the C-arm can reach a vertical height from the floor to the center of rotation of the C-arm, which is approximately 55 inches to 59 inches, and the preferred height is approximately 56.2 inches. Additionally and / or alternatively, in an exemplary embodiment, with reference to position B, the C-arm assembly 150 can be arranged and constructed to have a horizontal range of approximately 55 inches to 62 inches, preferably a horizontal range of approximately 55 inches, so as to image, for example, a patient lying on an operating table or to image a hand or elbow positioned at those limbs of the patient, and the C-arm assembly 150 is shown as reaching a fixed height of 10.5 inches from the floor in position C to image the patient's standing ankle. That is, according to one of the principles of the present disclosure, the miniature C-arm 100 includes an arm assembly 200, which is connected to the base 120 via a rotatable or pivotable connection located at a vertically fixed position (for example, when the first joint assembly 300 enables the arm assembly 200 to rotate about the horizontal rotation axis 305 and the vertical rotation axis 303, the position of the horizontal rotation axis 305 relative to the base 120 is fixed (for example, a fixed distance or height from the top surface 123 of the platform 122, and therefore a fixed distance or height H from the floor)).

[0041] By providing a fixed distance or height between the horizontal rotation axis 305 of the first joint assembly 300 and the top surface 123 of the platform 122, and thus a fixed distance or height H from the floor, the arm assembly 200 provides an increased range of motion useful for positioning closer to the floor to image, for example, a patient's ankle. Figure 4 It has been discovered that by providing a fixed distance or height ( Figure 3) and thereby providing a fixed distance or height H from the floor, the miniature C-arm 100 is able to position the center of the detector at a distance D from the floor, which, in use, requires the use of a step S to image the patient's ankle. In one embodiment, the minimum fixed distance or height H from the floor to the horizontal rotation axis 305 can be approximately 15 inches. The maximum length of the first arm 220 can be approximately 17 inches, while the maximum length of the second arm 240 can be approximately 21 inches. As a result, it has been found that the imaging component can be positioned at a distance D of approximately 10.5 inches from the floor, which requires a step S of approximately 6 inches to image the patient's ankle. In another embodiment, it has been found that the distance D can be approximately 4.5 inches from the floor, thereby requiring a step S of approximately 2 inches to image the patient's ankle.

[0042] By providing an arm assembly 200 according to the present disclosure, and in particular, by providing a fixed distance or height between the horizontal rotation axis 305 of the first joint assembly 300 and the top surface 123 of the platform 122 and thus a fixed distance or height from the ground, it has been discovered that the arm assembly 200 provides an increased range of motion suitable for positioning closer to the floor, for example, to provide for the patient's ankle ( Figure 3 C) in the image, while the patient's shoulder area can still be imaged ( Figure 3 Position A).

[0043] Additionally, in some embodiments, in order to control the movement of the arm assembly 200 and prevent the risk of tipping, particularly when the arm assembly 200 is rotated laterally about the vertical rotation axis 303, the mini C-arm 100 may include one or more stop mechanisms to control or limit the movement of the arm assembly 200. That is, for example, in use, when the arm assembly 200 is fully extended, the size and weight of the base 120 may be configured to prevent the mini C-arm 100 from tipping forward about the front wheels 124. For example, in one embodiment, the base 120 may be provided with a counterweight to prevent forward tipping. However, due to size limitations (e.g., the ability to fit through a doorway), the lateral or sideways rotation of the arm assembly 200 should be limited to prevent sideways tipping of the mini C-arm 100. For example, placing the C-arm assembly 150 in a lateral or side position while the arm assembly is fully extended may cause the mini C-arm 100 to tip over. In order to prevent or limit the placement of the C-arm assembly 150, one or more stop mechanisms may be incorporated to limit the extension and / or lateral displacement of the arm assembly 200. The stop mechanism may be any suitable mechanism now known or later developed, and may be in the form of one or more mechanical stops. Alternatively, the stop may be in the form of software that limits the movement of the arm assembly 200. For example, if the arm assembly 200 is positioned in a manner that creates a tipping hazard, the software may automatically raise the arm assembly 200 as the arm assembly 200 is further extended. Similarly, a mechanical stop may be incorporated that prevents the arm assembly 200 from overextending in a manner that creates a tipping hazard.

[0044] In one embodiment, the arm assembly 200 may include an anti-tipping mechanism that is suitable and configured to prevent the mini C-arm 100 from tipping over by limiting the range of motion of the arm assembly 200 (particularly limiting lateral or sideways rotation of the arm assembly 200) when the C-arm assembly 150 extends outward beyond a predetermined position or angle.

[0045] Reference Figure 5A-5D As shown, the arm assembly 200 may include a linkage assembly 400. In use, the linkage assembly 400 is adapted and configured to convert an angular rotation of the arm assembly 200 into a vertical displacement or movement of a stop shaft 450, such that, for example, lateral rotation or sideways rotation of the arm assembly 200 is limited or restrained in conjunction with the arm assembly 200 being angularly rotated beyond a predetermined position or angle. That is, as will be described in more detail, the stop shaft 450 is movably or slidably coupled relative to the base portion 155 of the arm assembly 200. In use, the stop shaft 450 is vertically displaceable relative to the base portion 155, such that when the stop shaft 450 is lowered below the bottom plane 460 of the base portion 155, lateral rotation or sideways rotation of the arm assembly 200 about the vertical rotation axis 303 is limited by a corresponding recess (not shown) formed in the platform 122 of the base 120.

[0046] In 5A- Figure 5D In the exemplary embodiment of the present invention, the linkage assembly 400 includes a first rod or link (used interchangeably herein) 410 coupled to a stop shaft 450, a second rod 420 pivotally coupled to the first rod 410, and a third rod 430 pivotally coupled to the second rod 420 and the first arm 220 of the arm assembly 200. That is, in the exemplary embodiment shown, the stop shaft 450 is slidably coupled to the base portion 155 of the arm assembly 200 and is pivotally coupled to the first rod 410. The first rod 410 is pivotally coupled to the stop shaft 450 and the second rod 420. The second rod 420 is pivotally coupled to the first rod 410, the base portion 155, and the third rod 430. The third rod 430 is pivotally coupled to the second rod 420 and the first arm 220 of the arm assembly 200. In use, the platform 122 of the base 120 includes an end 452 ( Figure 5C and Figure 5D )) of the recess (not shown), the stop shaft 450 extends vertically beyond the bottom plane 460 of the base portion 155).

[0047] In use, angular rotation of the first arm 220 of the arm assembly 200 about the horizontal rotation axis 305 causes the first rod 410 of the linkage 400 to move downwardly relative to the base portion 155, as shown by comparing Figure 5A-5D This in turn causes the stop shaft 450 to move vertically downward relative to the base portion 155. As the first arm 220 of the arm assembly 200 rotates beyond a predetermined angle, the stop shaft 450 moves vertically downward until the end 452 passes through the bottom plane 460 (eg, Figure 5C and Figure 5D shown).

[0048] Reference Figure 5A and Figure 5B , in a case where the first arm 220 of the arm assembly 200 is positioned within a predetermined rotation angle around the horizontal rotation axis 305, the end 452 of the stopper shaft 450 is located within the base portion 155 (e.g., located above the bottom plane 460 of the base portion 155). As a result, since the stopper shaft 450 does not contact the recess formed in the platform 122 of the base 120, the movement of the arm assembly 200 is not restricted. That is, in a case where the first arm 220 of the arm assembly 200 is angularly rotated within a predetermined rotation angle around the horizontal rotation axis 305, the lateral rotation of the arm assembly 200 around the vertical rotation axis 303 is not inhibited.

[0049] However, referring to Figure 5C and Figure 5DAs the first arm 220 of the arm assembly 200 further rotates about the horizontal rotation axis 305, such that the angular position of the first arm 220 begins to exceed the predetermined rotation angle, the end 452 of the stop shaft 450 extends beyond the bottom plane 460 and extends into a recess formed in the platform 122 of the base 120. In this position, lateral rotation of the arm assembly 200 about the vertical rotation axis 303 causes the stop shaft 450 to contact the recess, so that lateral movement or side movement of the arm assembly 200 is inhibited and / or prevented. In an exemplary embodiment, in the event that the first arm 220 of the arm assembly 200 is located outside the predetermined rotation angle, the lateral rotation of the arm assembly 200 about the vertical rotation axis 303 causes the end 452 of the stop shaft 450 to contact the recess formed in the platform 122 of the base 120, thereby forcing the stop shaft 450 to move vertically upward, thereby causing the first arm 220 to angularly move back to an acceptable position.

[0050] During use, if the first arm 220 of the arm assembly 200 is angularly moved upward so that the predetermined angle is no longer exceeded, the stop shaft 450 moves above the bottom plane 460 of the base portion 155 so that lateral or sideways rotation is no longer inhibited. However, with the arm assembly 200 rotated in the lateral position, if the first arm 220 of the arm assembly 200 is subsequently rotated outward about the horizontal rotation axis 305, the stop shaft 450 will encounter an area of ​​the platform 122 outside of the pocket, thereby restricting or limiting the angular rotation of the first arm 220 beyond the bottom plane 460 (e.g., lowering), thereby preventing the arm assembly 200 from fully extending.

[0051] In this manner, the linkage assembly 400 and the recess formed in the platform 122 of the base 120 are arranged and configured to selectively allow and prevent the stop shaft 450 from moving (e.g., extending vertically downward beyond the bottom plane 460 of the base portion 155) depending on the position of the arm assembly 200. That is, the linkage assembly 400 and the recess are arranged and configured so that when the arm assembly 200 is positioned within an acceptable range of motion, the stop shaft 450 can extend vertically downward into the recess. However, if the arm assembly 200 is positioned so that the extension of the arm assembly 200 exceeds the acceptable range, the linkage assembly 400 and the recess are arranged and configured to prevent the stop shaft 450 from moving vertically downward into the recess and thus prevent the first arm 220 from pivoting beyond an acceptable angle. For example, in one embodiment shown, the recess can be in the form of an opening having an arc shape centered on the vertical rotation axis 303 so that when the stop shaft 450 hits either end of the arc, the base portion 155 and therefore the arm assembly 200 is prevented from further rotation.

[0052] As will be appreciated by one of ordinary skill in the art, the predetermined rotation angle and acceptable range of motion will vary depending on other characteristics of the micro C-arm 100. For example, the predetermined rotation angle and acceptable range of motion will depend on, among other things, the size and weight of the first and second arms 220, 240, the base 120, and the like.

[0053] According to another aspect of the present disclosure, the arm assembly 200 may include a self-balancing mechanism so that once the C-arm assembly 150 is positioned and oriented in its desired position, the first arm 220 and the second arm 240 of the arm assembly 200 remain in their respective positions without the need for a braking mechanism. That is, it is known that miniature C-arms incorporate braking mechanisms to hold or maintain the position of the arms. This is primarily due to the fact that in current miniature C-arms, the force of gravity is not balanced with the spring force of the arm assembly as the arm moves throughout its range of motion. Therefore, a braking mechanism is provided to fix or lock the position of the arm.

[0054] Reference Figure 6 In one embodiment, the arm assembly 200 is adapted and configured to support and maintain the position and orientation of the C-arm assembly 150 without a brake assembly. That is, the arm assembly 200 is adapted and configured to maintain the position and orientation of the C-arm assembly 150 by balancing the spring force within the arm assembly 200 with gravity throughout the range of motion of the arm assembly 200. As shown, the first arm 220 and the second arm 240 each include a four-bar mechanism 500 and an extension spring 510 to maintain the orientation and position of the C-arm assembly 150. Incorporating the four-bar mechanism 500 into the first arm 220 and the second arm 240 enables the orientation of the C-arm assembly 150 to be maintained when the arm assembly 200 moves throughout its range of motion. This is primarily due to the equal length of the sides of the four-bar mechanism 500. However, in order to ensure that the position of the C-arm assembly 150 is also maintained, a tension spring 510 is required to maintain balance with gravity. To this end, the first arm 220 and the second arm 240 each include a tension spring 510.

[0055] As shown, the second arm 240 can include an extension spring 510 mounted across the diagonal of the four-bar mechanism 500. By properly balancing the initial force and spring stiffness of the extension spring 510 to substantially match the weight force on the C-arm assembly 150, the arm assembly 200 can be allowed to maintain its position without the need to engage a brake assembly. It should be noted that variations in parts (e.g., the weight of the C-arm assembly 150, the strength and stiffness of the spring 510, etc.) mean that the forces are not perfectly matched, but any variations are small and can be masked by friction in the arm assembly 200. As shown, the spring 510 located in the first arm 220 is offset relative to the diagonal to accommodate the vertical axis of rotation.

[0056] Although the present disclosure refers to certain embodiments, various modifications, changes and variations may be made to the described embodiments without departing from the scope of the present disclosure as defined by the appended claims. Therefore, it is intended that the present disclosure is not limited to the described embodiments, but has the full scope defined by the language of the appended claims and their equivalents. The discussion of any embodiment is meant to be illustrative only and is not intended to imply that the scope of the present disclosure, including the claims, is limited to these embodiments. In other words, although illustrative embodiments of the present disclosure have been described in detail herein, it should be understood that the concepts of the present invention may be differently embodied and utilized in other ways, and the appended claims are intended to be interpreted as including these variations (except as limited by the prior art).

[0057] The foregoing discussion has been given for the purpose of illustration and description, and is not intended to limit the present disclosure to one or more forms disclosed herein. For example, for the purpose of simplifying the present disclosure, various features of the present disclosure are grouped together in one or more aspects, embodiments or configurations. However, it should be understood that the various features of certain aspects, embodiments or configurations of the present disclosure can be combined in alternative aspects, embodiments or configurations. In addition, the following claims are hereby incorporated by reference into this detailed description, wherein each claim independently serves as a separate embodiment of the present disclosure.

[0058] As used herein, an element or step recited in the singular and beginning with the word "a" or "an" should be understood as not excluding a plurality of elements or steps, unless such exclusion is explicitly stated. In addition, reference to "one embodiment" of the present disclosure is not intended to be interpreted as excluding the existence of other embodiments that also incorporate the recited features.

[0059] As used herein, the phrases "at least one," "one or more," and "and / or" are open-ended expressions that have the same meaning as and or both in terms of operation. The terms "a" (or "an"), "one or more," and "at least one" may be used interchangeably herein. All directional references (e.g., proximal, distal, up, down, upward, downward, left, right, lateral, longitudinal, front, back, top, bottom, above, below, vertical, horizontal, radial, axial, clockwise, and counterclockwise) are used only for identification purposes to assist the reader in understanding the present disclosure and do not impose limitations, particularly on the position, orientation, or use of the present disclosure. Unless otherwise indicated, connection references (e.g., joined, attached, coupled, connected, and joined) are to be construed broadly and may include intermediate members between a collection of elements as well as intermediate members that move relative to each other. As such, connection references do not necessarily infer that two elements are directly connected and in fixed relation to each other. All rotation references describe relative movement between the respective elements. Identification references (e.g., primary, secondary, first, second, third, fourth, etc.) are not intended to indicate importance or priority, but rather are used to distinguish one feature from another. The drawings are for illustrative purposes only, and the size, position, order, and relative sizes reflected in the attached drawings may vary.

Claims

1. An imaging device, comprising: A C-arm assembly, the C-arm assembly comprising an X-ray source and a detector; Removable base; and an arm assembly coupling the C-arm assembly and the movable base; wherein the arm assembly is coupled to the movable base via a first joint assembly, the first joint assembly enabling the arm assembly to pivot relative to the movable base about a first rotation axis and a second rotation axis; wherein the arm assembly comprises a first arm and a second arm, the first arm being coupled to the second arm via a second joint assembly; The second joint assembly includes a link arm having a first end and a second end, the first end of the link arm being connected to the second end of the first arm via a third pivot joint, so that the second arm can rotate relative to the first arm around a horizontal rotation axis passing through the third pivot joint, and the second end of the link arm being connected to the first end of the second arm via a fourth pivot joint, so that the second arm can rotate relative to the first arm around a horizontal rotation axis passing through the fourth pivot joint, whereby the second joint assembly forms a dual-axis joint assembly with two parallel horizontal rotation axes to allow the first arm and the second arm to be folded close together.

2. The imaging device according to claim 1, wherein The first rotation axis is orthogonal to the second rotation axis.

3. The imaging device according to claim 1, wherein: The first joint assembly includes a first pivot joint and a second pivot joint, so that the first rotation axis is a vertical rotation axis passing through the first pivot joint so that the arm assembly can rotate relative to the movable base, and the second rotation axis is a horizontal rotation axis passing through the second pivot joint so that the arm assembly can pivot relative to the movable base.

4. The imaging device according to claim 1, wherein The second joint assembly includes at least one pivot joint such that the second arm can pivot relative to the first arm about a horizontal axis passing through the pivot joint.

5. The imaging device according to claim 1, wherein The second arm is coupled to the C-arm assembly via a third joint assembly.

6. The imaging device according to claim 5, wherein: The third joint assembly is adapted and configured to enable the C-arm assembly to pivot relative to the second arm.

7. The imaging device according to claim 6, wherein: The third joint assembly includes at least one pivot joint.

8. A mobile imaging system, comprising: A C-arm assembly, the C-arm assembly comprising an X-ray source and a detector; a movable base, the movable base comprising a platform; and an arm assembly, the arm assembly being used to connect the C-arm assembly and the movable base; wherein the arm assembly is coupled to the movable base via a first joint assembly, the first joint assembly enabling the arm assembly to move relative to the movable base about a first vertical rotation axis and a second horizontal rotation axis, the second horizontal rotation axis being located in a vertically fixed position such that the second horizontal rotation axis is located at a fixed height from a top surface of the platform; wherein the arm assembly comprises a first arm and a second arm, the first arm being coupled to the second arm via a second joint assembly; The second joint assembly includes a link arm having a first end and a second end, the first end of the link arm being connected to the second end of the first arm via a third pivot joint, so that the second arm can rotate relative to the first arm around a horizontal rotation axis passing through the third pivot joint, and the second end of the link arm being connected to the first end of the second arm via a fourth pivot joint, so that the second arm can rotate relative to the first arm around a horizontal rotation axis passing through the fourth pivot joint, whereby the second joint assembly forms a dual-axis joint assembly with two parallel horizontal rotation axes to allow the first arm and the second arm to be folded close together.

9. The mobile imaging system according to claim 8, wherein: The first joint assembly includes a first pivot joint including the first vertical rotation axis and a second pivot joint to enable the arm assembly to rotate relative to the movable base, the first pivot joint including the first vertical rotation axis and the second pivot joint including the second horizontal rotation axis.

10. The mobile imaging system according to claim 8, wherein: The second end of the second arm is coupled to the C-arm assembly via a third joint assembly, and the third joint assembly includes a fifth pivot joint so that the C-arm assembly can rotate about a horizontal rotation axis passing through the fifth pivot joint.

11. An imaging device, comprising: A C-arm assembly, the C-arm assembly comprising an X-ray source and a detector; a movable base, the movable base comprising a platform; and an arm assembly, the arm assembly coupling the C-arm assembly and the movable base, the arm assembly comprising a first arm, a second arm, and a second joint assembly for coupling the first arm to the second arm; wherein the arm assembly is coupled to the movable base via a first joint assembly, the first joint assembly enabling the arm assembly to move relative to the movable base about a first horizontal rotation axis and a second vertical rotation axis, the first horizontal rotation axis being located at a vertically fixed position such that the first horizontal rotation axis is located at a fixed height from a top surface of the platform; Wherein, the second joint assembly includes a link arm, which includes a first end and a second end. The first end of the link arm is connected to the second end of the first arm so that the second arm can rotate around a horizontal rotation axis relative to the first arm. The second end of the link arm is connected to the first end of the second arm so that the second arm can rotate around the horizontal rotation axis relative to the first arm. The second joint assembly forms a dual-axis joint assembly with two parallel horizontal rotation axes to allow the first arm and the second arm to be folded close together.

12. The imaging device according to claim 11, wherein The second arm is coupled to the C-arm assembly via a third joint assembly, the third joint assembly being adapted and configured to enable the C-arm assembly to pivot relative to the second arm.

Images