C-arm machine cable control device and C-arm machine

Abstract

The present invention discloses a C-arm machine cable control device and its C-arm machine, comprising: a cable restraint member having a cable movement channel provided thereon; a cable extending from a cable outlet of the C-arm, passing through the cable movement channel, and restrained by the cable restraint member to prevent the cable from entering the sterile area defined within the C-arm. The present invention has a simple structure, utilizing a combination of different functional modules to form a closed loop as a cable restraint member, thereby restricting cable movement and preventing the cable from intruding into the sterile work area. The device is low-cost and easy to assemble.

Description

Technical Field

[0001] The present invention relates to the technical field of C-arm machine structures, and in particular to a C-arm machine cable control device and the C-arm machine. Background Art

[0002] A mobile C-arm X-ray machine consists of a series of single-degree-of-freedom modules connected in series, culminating in a C-arm structure with an X-ray source and detector mounted at each end. The combined motion of these modules enables scanning and fluoroscopy of objects between the source and detector. The movement of the C-arm tip relative to the base determines the length of the cable, requiring control over its position. Summary of the Invention

[0003] Purpose of the invention: The present invention designs a C-arm machine integrated cable control device and C-arm machine, which integrates the functions of cable control and armrest.

[0004] Technical solution:

[0005] A C-arm cable control device, comprising:

[0006] a cable limiting member having a cable movement channel for the cable to move;

[0007] The cable is led out from the cable outlet of the C-shaped arm, passed through the cable movement channel, and is restricted by the cable restriction member to prevent the cable from entering the sterile area defined in the C-shaped arm.

[0008] Limiting members for limiting the extension and contraction of the cable in the cable movement channel are fixed on the cable at both sides of the cable movement channel.

[0009] The limiting member is a limiting ring which is fixedly sleeved on the cable and has an outer diameter larger than the width of the cable movement channel.

[0010] The cable moves in translation in the cable motion channel when the C-arm rotates or slides, with the two ends of the cable motion channel serving as the limit positions of its translation.

[0011] The length of the cable movement channel is designed so that the angle between the two ends of the cable movement channel and the cable outlet is 150-180°.

[0012] The cable restraint is located on at least one side of the C-shaped arm to form an armrest.

[0013] The cable limiting member is installed parallel to the plane where the C-shaped arm is located, and the cable movement channel formed at this time is located on at least one side of the inner and outer sides of the C-shaped arm.

[0014] The cable limiting member is installed perpendicular to the plane where the C-shaped arm is located. At this time, the cable movement channel formed is located on at least one of the two sides of the plane where the C-shaped arm is located.

[0015] The cable limiting member is a square structure, wherein two opposite sides are respectively fixedly connected to the C-shaped arm; the other two opposite sides are located on both sides of the C-shaped arm to form armrests, and form a cable movement channel between the C-shaped arm, and the cable is passed through one of the cable movement channels.

[0016] The cable limiting member is designed as an arc-shaped structure corresponding to the C-shaped arm, and the cable movement channel formed by the cable limiting member in cooperation with the C-shaped arm is also a corresponding arc-shaped channel.

[0017] A cable sheath for threading cables is installed at the cable outlet of the C-arm.

[0018] The cable sheath is fixedly installed at the C-arm cable outlet through a clamp; a boss is formed on the outer wall of the inner end of the cable sheath extending radially outward, and a limiting groove is provided at a corresponding position on the inner wall of the clamp, and the cable sheath is rotatably installed at the C-arm cable outlet through the cooperation between its boss and the limiting groove.

[0019] It also includes a fixing part, which is fixedly installed on the sliding motion module of the C-arm machine, and the cable is fixed on the fixing part after passing through the cable limiting part.

[0020] The fixing member is fixedly mounted on the top of the sliding motion module when the C-shaped arm is located at an initial position.

[0021] A harness outlet is provided in the middle of the fixing piece, the cable is passed through the fixing piece, and an opening is provided on the corrugated tube on the outer surface of the cable at a position corresponding to the harness outlet on the fixing piece.

[0022] When the cable is passed through the fixing member, the section of cable is installed perpendicular to the plane where the C-shaped arm is located.

[0023] A C-arm machine using the aforementioned C-arm machine cable control device.

[0024] Beneficial effects:

[0025] 1. The present invention integrates the functions of cable control and armrest. When the doctor needs to manually adjust the posture of the C-arm, the degrees of freedom of each module are unlocked, and it serves as a fulcrum for the doctor to grasp, with an open appearance. It also serves as a collision boundary to protect valuable components.

[0026] 2. The present invention has a simple structure and utilizes a combination of different functional modules to form a closed loop as a cable limiter, which limits the movement of the cable and prevents the cable from intruding into the sterile working area. It is low in cost and easy to assemble.

[0027] 3. The present invention does not require a power device to control the state of the cable. The cable moves in the cable channel by relying on gravity and the relative position of the cable limiter to achieve control of position and length. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the installation of the device of the present invention on a C-arm machine;

[0029] Figure 2 An exploded view of the cable interface of the present invention;

[0030] Figure 3 is a cross-sectional view of the cable interface of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the cable restraint of the present invention;

[0032] Figure 5 An exploded view of the first fixing member of the present invention;

[0033] Figure 6 is a structural diagram of the second fixing member of the present invention;

[0034] Figure 7 is the cable control state diagram of sliding motion; Figure 7 (a) is the cable control state diagram of clockwise sliding motion; Figure 7 (b) is the cable control state diagram of counterclockwise sliding motion;

[0035] Figure 8 is the cable control state diagram for rotational motion; Figure 8 (a) is the cable control state diagram for clockwise rotation motion; Figure 8 (b) is the cable control state diagram for counterclockwise rotation motion.

[0036] In the figure, 100. C-arm machine, 1. base, 2. swing motion module, 3. vertical motion module, 4. horizontal motion module, 5. rotation motion module, 6. sliding motion module, 7. C-arm, 8. X-ray detector, 9. X-ray source, 10. cable, 11. cable interface, 12. cable limiter, 13. first fixing member, 14. second fixing member;

[0037] 1101, interface base, 1102, cable sheath, 1103, left clamp, 1104, right clamp, 1105, housing;

[0038] 11021, boss, 11022, cable channel;

[0039] 1201, handrail, 1202, first limiting ring, 1203, second limiting ring;

[0040] 1301, first fixing seat, 1302, first fixing block;

[0041] 1401. Second fixing seat, 1402. Second fixing block. DETAILED DESCRIPTION

[0042] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0043] Figure 1 This is a schematic diagram of the installation of the device of the present invention on a C-arm machine, as shown in Figure 1 As shown, the C-arm machine of the present invention includes a base 1 standing on the ground. The C-arm machine can move on the ground through rollers on the base 1. A series of modules that can move relative to each other are connected in series on the base 1, namely a swing motion module 2, a vertical motion module 3, a horizontal motion module 4, a rotation motion module 5 and a sliding motion module 6. The movements of each motion module correspond to rotation around the Y-axis of the C-arm machine coordinate system, translation along the Y-axis of the C-arm machine coordinate system, translation along the X-axis of the C-arm machine coordinate system, rotation around the X-axis of the C-arm coordinate system and rotation around the Z-axis of the C-arm coordinate system; wherein the C-arm machine coordinate system is a coordinate system established with the base as the origin, the vertical direction as the Y-axis, the horizontal forward direction as the X-axis, and the Z-axis determined by the right-hand rule; the C-arm coordinate system is a coordinate system established with the sliding center of the C-arm as the origin, the sliding axis of the C-arm as the Z-axis, the vertical direction as the Y-axis, and the X-axis determined by the right-hand rule. The end of the kinematic chain is a C-arm 7, with opposing X-ray detectors 8 and X-ray sources 9 fixedly mounted at each end, respectively, with the object to be fluoroscopically examined positioned between them. The X-ray detectors 8 and X-ray sources 9 are connected to a power source within the base 1 via a cable 10 threaded through the C-arm 7. The cable 10 exists between the C-arm 7 and the base 1. Due to the relative motion, when the sliding motion module 6 rotates the C-arm 7, the cable 10 between the C-arm 7 and the base 1 can intrude into the sterile operating area. Therefore, the state of the cable 10 must be controlled during motion. This control and limitation is achieved through the cable restraint 12 designed in the present invention.

[0044] like Figure 1 As shown, the device for adaptive control of the cable of the C-arm machine of the present invention includes a second fixing part 14 fixed on the end face of the base 1 facing the C-arm, a first fixing part 13 fixed on the sliding motion module 6, a cable interface 11 fixed at the cable outlet set in the middle of the inner side of the C-arm 7, and a cable limiting part 12 fixedly installed on the C-arm 7 and located on the side of the cable interface 11.

[0045] Figure 2 This is an exploded view of the cable interface of the present invention. Figure 3 is a cross-sectional view of the cable interface of the present invention, as shown Figure 2、 3 As shown, the cable interface 11 of the present invention includes an interface base 1101 fixedly mounted at the cable outlet provided at the middle portion of the inner side of the C-shaped arm 7, and a cable sheath 1102 rotatably mounted on the interface base 1101 through a clamp. The cable 10 extends out from the cable outlet provided at the middle portion of the inner side of the C-shaped arm 7 and is passed through a cable channel 11022 formed in the cable sheath 1102. The cable sheath 1102 plays a protective role and supports the cable 10 to maintain a certain bending strength at the cable outlet. Figure 3 As shown, the clamp includes a left clamp 1103 and a right clamp 1104. The left clamp 1103 and the right clamp 1104 are semicircular ring structures that cooperate with each other. Both are sleeved outside the cable sheath 1102 and fixed to the interface base 1101 by screws. A boss 11021 is formed on the outer wall of the inner end of the cable sheath 1102, extending radially outward. Corresponding limiting grooves are formed at corresponding positions on the inner walls of the left clamp 1103 and the right clamp 1104. When the left clamp 1103 and the right clamp 1104 are installed on the interface base 1101 through an interference fit, the cable sheath 1102 engages with the limiting grooves on the left clamp 1103 and the right clamp 1104 through its boss 11021 to prevent axial movement. The cable sheath 1102 frictionally engages with the cable 10 inserted therein.

[0046] In the present invention, a housing 1105 is fixedly mounted outside the clamp to protect the entire cable interface 11 .

[0047] In the present invention, the cable sheath 1102 is rotatably mounted on the interface base 1101 , but the present invention is not limited thereto. The present invention can also directly fix the cable sheath 1102 on the interface base 1101 .

[0048] Furthermore, the cable sheath 1102 is made of silicone or rubber.

[0049] Figure 4 FIG. 1 is an exploded view of the cable restraint of the present invention, as shown in FIG. Figure 4As shown, the cable restraint 12 of the present invention includes an armrest 1201 fixedly mounted on the C-arm 7 on the side of the cable interface 11. In this embodiment, the armrest 1201 has a square structure, with two opposing sides fixedly connected to the C-arm 7. The other two opposing sides form a cable motion channel with a width greater than the diameter of the cable 10. The cable 10 is threaded through one of the cable motion channels, as required. A first retaining ring 1202 and a second retaining ring 1203 are fixed to the cable 10 on either side of the channel, with the first retaining ring 1202 being closer to the cable interface 11. The first and second retaining rings 1202, 1203 are designed to at least prevent the cable 10 from sliding along the cable 10. The outer diameters of the first and second retaining rings 1202, 1203 are greater than the width of the channel, ensuring that they remain positioned on either side of the channel.

[0050] The position of the first limiting collar 1202 on the cable 10 is determined based on the cable's inherent bending properties and the relative position between the cable interface and the cable's motion channel at its maximum distance, adapting to the cable's natural state and thus preventing bending and stretching. The position of the second limiting collar 1203 on the cable 10 is determined based on the cable's inherent bending properties and the change in length of the cable 10 as the C-arm swings and rotates.

[0051] When the doctor needs to manually adjust the posture of the C-arm, after the degrees of freedom of each module are unlocked, the armrest designed by the present invention can be used as a fulcrum for the doctor to grasp, and has an open appearance.

[0052] In the present invention, the armrest 1201 can be designed as an arc-shaped structure corresponding to the C-arm, and the cable movement channel formed by the armrest and the C-arm is also a corresponding arc-shaped channel. However, the present invention is not limited to this. The armrest 1201 of the present invention can be designed into other shapes, as long as it cooperates with the C-arm to form a cable movement channel on at least one side of the C-arm. For example, the cable restraint can be designed as a square structure, with two opposing sides respectively fixed to the C-arm; the other two opposing sides are located on both sides of the C-arm to form the armrest, and the cable movement channel is formed between the armrest and the C-arm, and the cable is installed in one of the cable movement channels.

[0053] In the present invention, the installation plane of the armrest 1201 can be installed perpendicular to the plane where the C-arm is located, and the cable movement channel formed at this time is located on at least one side of the two sides of the plane where the C-arm is located; but the present invention is not limited to this. In the present invention, the installation plane of the armrest 1201 can also be installed parallel to the plane where the C-arm is located, and the cable movement channel formed at this time is located on at least one side of the inner and outer sides of the C-arm, wherein the inner and outer sides of the C-arm respectively represent the inner side of the inner circumference of the C-arm and the outer side of the outer circumference of the C-arm.

[0054] In the present invention, the length of the cable movement channel is designed so that the angle between the two ends of the cable movement channel and the cable interface 11 is 150-180°.

[0055] Figure 5 This is an exploded view of the first fixing member of the present invention, as shown in FIG. Figure 1 、 5 As shown, the first fixing member 13 of the present invention is fixedly installed on the sliding motion module 6, including a first fixing seat 1301 and a first fixing block 1302, wherein the first fixing seat 1301 is fixedly installed on the sliding motion module 6, and an installation groove for installing the cable 10 is provided thereon, and corresponding installation grooves are provided on the opposite sides of the first fixing block 1302 and the first fixing seat 1301. The first fixing block 1302 and the first fixing seat 1301 are fixedly installed in cooperation, and the cable 10 is arranged in the accommodating cavity formed by the two, and is installed by the friction between the corrugated tube arranged on its outer surface and the accommodating cavity formed by the two.

[0056] Furthermore, the first fixing member 13 of the present invention is fixedly mounted on the top of the sliding motion module 6 via the first fixing seat 1301 when the C-arm is located at the initial position.

[0057] Furthermore, the first fixing member 13 is installed perpendicular to the plane of the C-arm, so that the cable 10 section arranged in the accommodating cavity formed by the first fixing block 1302 and the first fixing seat 1301 is perpendicular to the plane of the C-arm.

[0058] Furthermore, a wiring harness outlet is provided in the middle of first fixing seat 1301. The corresponding corrugated tube, which is sleeved over cable 10, is disconnected at a corresponding position, and an annular protrusion extending radially outward is provided at the disconnection point. A corresponding arcuate groove is provided in the mounting grooves of first fixing seat 1301 and first fixing block 1302. The corrugated tube, through its arcuate protrusion, engages with the arcuate groove provided in the mounting grooves of first fixing seat 1301 and first fixing block 1302, thereby being rotatably mounted within the accommodating cavity formed by the first fixing block 1302 and first fixing seat 1301. In the present invention, the provision of a wiring harness outlet facilitates the introduction or extraction of cables from the cable bundle, allowing them to connect to corresponding modules to achieve electrical connection and signal transmission between different modules.

[0059] Figure 6 is a structural diagram of the second fixing member of the present invention, as shown in FIG. Figure 6 As shown, the second fixing member 14 of the present invention includes a second fixing seat 1401 and a second fixing block 1402 , wherein the structures of the second fixing seat 1401 and the second fixing block 1402 are similar to those of the first fixing member 13 and are not described again.

[0060] In the present invention, after the exposed cable 10 is led out through the cable interface 11, it is passed through the cable movement channel formed between the armrest 1201 and the C-shaped arm 7 through the first limiting ring 1202 and the second limiting ring 1203 in cooperation with the limiting movement, and is passed through the first fixing member 13 and the second fixing member 14 in turn and then connected to the power supply or control unit in the base 1.

[0061] When the end of the C-arm moves relative to the base 1, there is a risk that the exposed cable will invade the sterile operating area. The C-arm cable control device of the present invention can constrain the cable state. The cable interface 11 of the present invention is arranged on the C-arm as the starting point of the exposed cable 10. The cable 10 is exposed to a certain length through the limit control part 12 and then constrained to extend only a certain distance within the cable movement channel. The limit distance of extension is the distance between the first limit ring 1202 and the second limit ring 1203, and it can only move along the cable movement channel. Its limit position of movement is at both ends of the cable movement channel, so that the cable state can be constrained so that it does not invade the sterile operating area.

[0062] When the C-arm 7 is in the initial state, the exposed cables face downwards due to gravity. Figure 1 As shown. Because the first fixing member 13 is located outside the C-arm 7, the cable 10 faces outward, vertically until it contacts the lower end of the cable movement channel, and horizontally until it is limited by the interference of the first limiting ring 1202 of the cable 10 and the armrest 1201; the lower end of the cable movement channel that is in contact with the cable at this time is set as the first limit position, and the position opposite to the first limit position, that is, the upper end of the cable movement channel, is set as the second limit position. The present invention can reserve more cable length from the cable interface 11 to the first limiting ring 1202. This section of cable is not pulled by other cable sections in the initial state because the force is applied to the first limiting ring 1202.

[0063] In the present invention, the cable can perform telescopic motion in the cable motion channel until the first limiting ring 1202 or the second limiting ring 1203 interferes with the limiting device (e.g., the handrail 1201), thereby stopping the telescopic motion. The cable can perform translational motion between a first extreme position and a second extreme position of the cable motion channel.

[0064] Figure 7 The cable control state diagram for sliding motion is as follows: Figure 7As shown, when the sliding movement occurs clockwise, the cable 10 will move with the C-arm 7, and the armrest 1201 will also move clockwise. When the horizontal critical point is exceeded, due to the existence of the gravity of the cable 10, the cable 10 will slide downward from the cable movement channel. At this time, the first limiting ring 1202 will move away from the armrest 1201. As the sliding angle increases, the distance will continue until the second limiting ring 1203 contacts the limiting device (such as the armrest 1201). At this time, the limiting is achieved, thereby restricting the cable 10. This movement can be described as the expansion and contraction of the cable 10 in the cable movement channel; the role of the second limiting ring 1203 is to prevent too much cable 10 from entering the C-arm 7 through the cable movement channel, causing it to invade the sterile operating area. However, on the other hand, this action of the cable 10 entering the C-arm 7 through the cable movement channel is necessary. The reason is that due to the existence of relative movement, the distance between the cable interface 11 and the first fixing member 13 continues to increase, and the overlapping line segments between them can only be pulled, such as Figure 7 As shown in (a).

[0065] When the sliding motion occurs counterclockwise, due to gravity and the pull of the first fixing member 13, the direction of the cable 10 does not change, and the cable moves from the first limit position to the second limit position until the cable moves to the second limit position. This motion can be described as the translation of the cable 10 in the cable movement channel. Figure 7 (b) shown.

[0066] Figure 8 The cable control state diagram for rotational motion is as follows: Figure 8 As shown, when the rotational movement occurs clockwise, a portion of the cable 10 will contact the sliding motion module 6. As the rotation angle increases, the sliding motion module 6 will bear the gravity of a portion of the cable 10. When the rotational movement exceeds the critical point of 90 degrees, the cable 10 will approach and pass the first fixing member 13 due to gravity. At this time, the cable 10 is limited by the first limiting ring 1202, so that the cable cannot be extended or retracted relative to the cable movement channel. As the clockwise rotation angle of the C-arm machine gradually increases, the cable 10 will undergo a translational movement from the first extreme position to the second extreme position in the cable movement channel until the cable stops at the second extreme position. The C-arm machine rotates 90 degrees clockwise from the initial state as shown in FIG. Figure 8 As shown in (a).

[0067] When the rotation movement occurs counterclockwise, due to gravity and the pull of the first fixing member 13, the direction of the cable 10 does not change. The cable 10 is limited by the first limiting ring 1202, so that the cable cannot be extended or retracted relative to the cable movement channel. As the counterclockwise rotation angle of the C-arm machine increases, the cable 10 undergoes a translational movement from the first limit position to the second limit position in the cable movement channel until the cable stops at the second limit position. The C-arm machine rotates 90 degrees counterclockwise from the initial state as shown in FIG. Figure 8 (b) shown.

[0068] The present invention only constrains the exposed cable exit point and a point after the cable has reached its natural length. During the movement of the C-arm 7, there is no constraint or interference with the movement of the cable 10. The cable restraint does not need to follow the path of the cable 10, and it restricts the movement of the cable, preventing it from intruding into the sterile work area. Furthermore, the armrest of the present invention integrates the functions of cable control and armrest. When the doctor needs to manually adjust the posture of the C-arm, the degrees of freedom of each module are unlocked, serving as a grip point for the doctor, with an open appearance. It also serves as a collision boundary, protecting valuable components.

[0069] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations (such as quantity, shape, position, etc.) can be made to the technical solution of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. A C-arm cable control device, characterized by: include: a cable limiting member having a cable movement channel for the cable to move; On the cable, there are respectively fixed on both sides of the cable movement channel a limiting member for limiting the extension and contraction of the cable in the cable movement channel, wherein the limiting member is a limiting ring fixedly sleeved on the cable and having an outer diameter greater than the width of the cable movement channel; The cable is led out from the cable outlet of the C-shaped arm, passed through the cable movement channel, and is restricted by the cable restriction member to prevent the cable from entering the sterile area defined in the C-shaped arm; The cable moves in translation in the cable motion channel when the C-arm rotates or slides, with the two ends of the cable motion channel serving as the limit positions of its translation.

2. The C-arm cable control device according to claim 1, characterized in that: The length of the cable movement channel is designed so that the angle between the two ends of the cable movement channel and the cable outlet is 150-180°.

3. The C-arm cable control device according to claim 1, characterized in that: The cable restraint is located on at least one side of the C-shaped arm to form an armrest.

4. The C-arm cable control device according to claim 3, characterized in that: The cable limiting member is installed parallel to the plane where the C-shaped arm is located, and the cable movement channel formed at this time is located on at least one side of the inner and outer sides of the C-shaped arm.

5. The C-arm cable control device according to claim 3, characterized in that: The cable limiting member is installed perpendicular to the plane where the C-shaped arm is located. At this time, the cable movement channel formed is located on at least one of the two sides of the plane where the C-shaped arm is located.

6. The C-arm cable control device according to claim 3, characterized in that: The cable limiting member is a square structure, wherein two opposite sides are respectively fixedly connected to the C-shaped arm; the other two opposite sides are located on both sides of the C-shaped arm to form armrests, and form a cable movement channel between the C-shaped arm, and the cable is passed through one of the cable movement channels.

7. The C-arm cable control device according to claim 3, characterized in that: The cable limiting member is designed as an arc-shaped structure corresponding to the C-shaped arm, and the cable movement channel formed by the cable limiting member in cooperation with the C-shaped arm is also a corresponding arc-shaped channel.

8. The C-arm cable control device according to claim 1, characterized in that: A cable sheath for threading cables is installed at the cable outlet of the C-arm.

9. The C-arm cable control device according to claim 8, characterized in that: The cable sheath is fixedly installed at the C-arm cable outlet through a clamp; a boss is formed on the outer wall of the inner end of the cable sheath extending radially outward, and a limiting groove is provided at a corresponding position on the inner wall of the clamp, and the cable sheath is rotatably installed at the C-arm cable outlet through the cooperation between its boss and the limiting groove.

10. The C-arm cable control device according to claim 1, characterized in that: It also includes a fixing part, which is fixedly installed on the sliding motion module of the C-arm machine, and the cable is fixed on the fixing part after passing through the cable limiting part.

11. The C-arm cable control device according to claim 10, characterized in that: The fixing member is fixedly mounted on the top of the sliding motion module when the C-shaped arm is located at an initial position.

12. The C-arm cable control device according to claim 11, characterized in that: A harness outlet is provided in the middle of the fixing piece, the cable is passed through the fixing piece, and an opening is provided on the corrugated tube on the outer surface of the cable at a position corresponding to the harness outlet on the fixing piece.

13. The C-arm cable control device according to claim 12, characterized in that: When the cable is passed through the fixing member, the section of cable is installed perpendicular to the plane where the C-shaped arm is located.

14. A C-arm machine using the C-arm machine cable control device according to any one of claims 1 to 13.

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