Device for disassembling and transporting C-arm assembly

Abstract

The present invention provides a device for disassembling and transporting a C-arm assembly, the device comprises a frame assembly and a bearing assembly, the bearing assembly comprises a first rotating structure, a second rotating structure and a connecting structure; the first rotating structure is rotatably connected to the frame assembly; the second rotating structure is detachably connected to the frame assembly, and the second rotating structure is used to rotate synchronously with the first rotating structure relative to the frame assembly; the connecting structure is used to connect the first rotating structure and the second rotating structure, so as to form at least two limiting structures for relative positioning of the C-arm assembly and the bearing assembly between the first rotating structure and the second rotating structure. The device can make the disassembly and assembly process of the C-arm assembly convenient and simple through the cooperation of the frame assembly and the bearing assembly, and also has the transportation function of the C-arm assembly, ensuring that the C-arm assembly is not damaged during transportation, and can greatly improve the safety and reliability of the C-arm assembly during disassembly and transportation.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to a device for disassembling, assembling and transporting a C-shaped arm assembly. Background Art

[0002] In the field of medical equipment, a C-arm assembly generally includes a C-arm, a base connected to the C-arm, and a tube and a detector respectively mounted at both ends of the C-arm.

[0003] At present, the transportation and disassembly tools of C-arm assemblies are mostly for conventional angiography machines, such as suspended or floor-standing angiography machines, in which the relative movement of the C-arm assembly and the frame is a sliding movement along the circumferential direction of the C-arm. Compared with the conventional integral C-arm, the C-arm of the angiography machine usually includes two separable sections, which are respectively connected to the tube and the detector. Therefore, the fixation requirements for the C-arm during disassembly or transportation are higher, and the two separable sections of the C-arm can move relative to each other, so that the tube and the detector can also move relative to each other, so the installation requirements for the C-arm are also higher.

[0004] Therefore, for the C-arm of the angiography machine having two relatively movable sections, it is necessary to propose a device that can meet the higher fixing and installation requirements of the C-arm to disassemble, assemble and transport the C-arm assembly. Summary of the invention

[0005] The invention provides a device for disassembling, assembling and transporting a C-shaped arm assembly, aiming to improve the safety and reliability of the C-shaped arm assembly during the disassembling, assembling and transporting process.

[0006] To achieve the above objectives and other purposes, the present invention provides a device for disassembling and transporting a C-arm assembly, the device comprising a frame assembly and a bearing assembly, the bearing assembly comprising a first rotating structure, a second rotating structure and a connecting structure;

[0007] The first rotating structure is rotatably connected to the frame assembly;

[0008] The second rotating structure is detachably connected to the frame assembly, and the second rotating structure is used to rotate synchronously with the first rotating structure relative to the frame assembly;

[0009] The connecting structure is used to connect the first rotating structure and the second rotating structure to form at least two limiting structures for connecting to the C-arm assembly between the first rotating structure and the second rotating structure, and the at least two limiting structures are used to position the C-arm assembly relative to the supporting assembly.

[0010] Optionally, the limiting structure is in the shape of a closed ring to enclose the C-arm assembly therein.

[0011] Optionally, at least two of the limiting structures are arranged at intervals in the direction of an arc, and a line connecting two ends of the arc is not perpendicular to the rotation axis of the first rotating structure.

[0012] Optionally, a line connecting two ends of the arc is parallel to the rotation axis of the first rotating structure.

[0013] Optionally, the device is formed with at least three limiting structures, and at least one limiting structure is formed at the top of the arc and on both sides of the arc, and the two sides of the arc are symmetrical about the top of the arc.

[0014] The device includes a rotating handle rotatably arranged on the frame assembly, the rotation axis of the rotating handle is the rotation axis of the first rotating structure, the rotating handle is connected to the first rotating structure to drive the first rotating structure to rotate, and the rotating handle is also used to be detachably connected to the second rotating structure to drive the second rotating structure to rotate synchronously with the first rotating structure.

[0015] Optionally, at least two limiting portions are provided on the frame assembly, and at least two of the limiting portions are circumferentially distributed around the rotation axis of the first rotating structure, and the rotating handle can be selectively connected to one of the limiting portions to limit its own rotational freedom.

[0016] Optionally, the distance angle between one of the limiting portions and the other limiting portion around the rotation axis of the first rotating structure is 90°.

[0017] Optionally, the device further comprises a lifting assembly connected to the frame assembly, wherein the lifting assembly is used to drive the frame assembly to move vertically and to adjust the angle of the rotation axis of the first rotating structure relative to the vertical.

[0018] Optionally, the lifting assembly includes at least three lifting structures that are not arranged in a colinear manner, and the lifting structures include a first lifting member, a second lifting member and a caster, the first lifting member is connected to the frame assembly, the second lifting member is connected to the first lifting member and can move relatively, and the second lifting member is rotatably connected to the caster around the central axis of the caster; the relative movement direction of the first lifting member and the second lifting member is perpendicular to the rotation axis of the first rotating structure and perpendicular to the central axis of the caster.

[0019] Optionally, the device includes a support assembly connected to the frame assembly, and the support assembly is used to support a tube or a detector of the C-arm assembly.

[0020] Optionally, a cable storage assembly for coiling cables is connected to the frame assembly.

[0021] In summary, in the device for disassembling, assembling and transporting a C-arm assembly provided by the present invention, the device includes a frame assembly and a load-bearing assembly, and the load-bearing assembly includes a first rotating structure, a second rotating structure and a connecting structure; the first rotating structure is rotatably connected to the frame assembly; the second rotating structure is detachably connected to the frame assembly, and the second rotating structure is used to rotate synchronously with the first rotating structure relative to the frame assembly; the connecting structure is used to connect the first rotating structure and the second rotating structure to form at least two limiting structures for connecting to the C-arm assembly between the first rotating structure and the second rotating structure, and the at least two limiting structures are used to relatively position the C-arm assembly and the load-bearing assembly.

[0022] On the first aspect, when the C-arm assembly needs to be detached from the robot, the first rotating structure can be rotated with the cooperation of the frame assembly and the first rotating structure to adjust the posture of the first rotating structure so that the plane where the first rotating structure is located is parallel to the horizontal plane, and the first rotating structure is driven to abut against the C-arm assembly in a horizontal position so that the C-arm assembly is placed on the first rotating structure, and then the second rotating structure is placed on the C-arm assembly, and the first rotating structure and the second rotating structure are connected by a connecting structure to form at least two limiting structures connected to the C-arm assembly between the first rotating structure and the second rotating structure, so that the movement of the C-arm assembly can be limited by at least two limiting structures to position the C-arm assembly relative to the support assembly, and finally the C-arm assembly can be detached from the robot, and the C-arm assembly is supported and restricted in the device.

[0023] Secondly, when transportation is required, the C-arm assembly relatively positioned in the supporting assembly can be driven to rotate together with the cooperation of the synchronous rotation of the first rotating structure and the second rotating structure, so as to drive the C-arm assembly to a vertical position with the opening of the C-arm assembly facing downward, and then the C-arm assembly can be transported under the drive of the device.

[0024] On the third aspect, when the C-arm assembly needs to be installed on the robot, the process of the second aspect and the various processes in the first aspect can be executed in reverse order, that is, first, the second rotating structure and the first rotating structure are synchronously rotated to drive the C-arm assembly relatively positioned in the load-bearing assembly to rotate together, thereby driving the C-arm assembly from a vertical position to a horizontal position, and installing the C-arm assembly to the end of the robot's rotating axis, and then removing the connecting structure and the second rotating structure in turn to remove the limiting structure, so that the movement of the C-arm assembly will not be restricted by the limiting structure, and finally, the first rotating structure and the C-arm assembly are separated to complete the installation process of the C-arm assembly on the robot.

[0025] Based on the above, the device can make the disassembly and assembly process of the C-arm assembly convenient and simple through the cooperation of the frame assembly and the load-bearing assembly, and also has the transportation function of the C-arm assembly, ensuring that the C-arm assembly is not damaged during transportation, which can greatly improve the safety and reliability of the C-arm assembly during disassembly and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Those skilled in the art should understand that the drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0027] Figure 1 is a schematic diagram of a medical imaging system according to an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a C-arm assembly in a medical imaging system according to an embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of a device according to an embodiment of the present invention when disassembling and assembling a C-arm assembly;

[0030] Figure 4 It is a schematic diagram of a device transporting a C-arm assembly according to an embodiment of the present invention.

[0031] In the attached figure:

[0032] 10-frame assembly; 100-frame structure; 101-limiting part;

[0033] 20-bearing assembly; 21-first rotating structure; 22-second rotating structure; 221-main branch; 222-branch; 23-connecting structure; 231-first connecting member; 232-second connecting member; 233-base; 200-limiting structure;

[0034] 30- Rotate the handle;

[0035] 40-lifting assembly; 400-lifting structure; 401-first lifting member; 402-second lifting member; 403-castor;

[0036] 50-support assembly;

[0037] 60-wire storage assembly;

[0038] 71-base; 72-C-arm; 720-support arm; 73-tube; 74-detector;

[0039] 80-Robot. DETAILED DESCRIPTION

[0040] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0041] As used in the present invention, the singular forms "one", "an" and "the" include plural objects, the term "or" is generally used to include the meaning of "and / or", the term "several" is generally used to include the meaning of "at least one", and the term "at least two" is generally used to include the meaning of "two or more". In addition, the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "the proximal end" and "the distal end" generally refer to two corresponding parts, which include not only the endpoints, and the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. In addition, as used in the present invention, an element disposed on another element generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements may be direct or indirect through an intermediate element, and cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element may be in any orientation such as inside, outside, above, below or on one side of another element, unless otherwise clearly indicated in the content. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] An embodiment of the present invention provides a device for disassembling, assembling and transporting a C-arm assembly, aiming to improve the safety and reliability of the C-arm assembly during disassembling, assembling and transporting.

[0043] The device for disassembling and transporting the C-arm assembly of this embodiment will be described in detail below with reference to the accompanying drawings.

[0044] Figure 1 is a schematic diagram of a medical imaging system according to an embodiment of the present invention, Figure 2 FIG. 1 is a schematic diagram of a C-arm assembly in a medical imaging system according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, the medical imaging system generally includes a robot 80 and a C-arm assembly detachably mounted on the robot 80, the C-arm assembly includes a base 71, a tube 73, a detector 74 and a C-arm 72, the C-arm 72 is mounted on the base 71, and the tube 73 and the detector 74 are respectively arranged at both ends of the C-arm 72. Preferably, in order to obtain greater clinical freedom, the C-arm 72 includes two arms 720 that can be assembled to form the C-arm 72, and at least one of the two arms 720 is movably mounted on the base 71 (preferably, both arms 720 are movably mounted on the base 71), so as to achieve relative movement of the two arms 720. The tube 73 is mounted on one of the arms 720, and the detector 74 is mounted on the other arm 720. The tube 73 and the detector 74 can be driven to move closer to or farther from each other by the relative movement of the two arms 720, so as to adjust the distance between the two.

[0045] The base 71 is detachably mounted (e.g., detachably mounted by screws) on the robot 80, and the robot 80 can be used to drive the base 71 to move within a spatial range, thereby driving the C-arm assembly to move within a spatial range, including rotational movement and linear movement, so that the C-arm assembly has a high degree of flexibility and meets different clinical examination requirements. For example, the robot 80 can be a six-axis robot 80, and the end of the rotation axis of the robot 80 is connected to the base 71.

[0046] It is understandable that the tube 73 is a device capable of emitting X-rays, gamma rays or electron beams, etc., and the detector 74 is a device capable of receiving the rays emitted by the tube 73. Through the cooperation of the tube 73 and the filler, medical examination or treatment operations can be achieved. In one embodiment, the tube 73 emits X-rays, the detector 74 receives X-rays, and the medical imaging system is a digital subtraction angiography system (DSA).

[0047] Based on the above-mentioned medical imaging system, an embodiment of the present invention provides a device capable of disassembling, assembling and transporting a C-arm assembly. Figure 3 is a schematic diagram of the disassembly and assembly of the C-arm assembly of an embodiment of the present invention, see Figure 3The device for disassembling and transporting a C-arm assembly of this embodiment includes a frame assembly 10 and a bearing assembly 20, and the bearing assembly 20 includes a first rotating structure 21, a second rotating structure 22 and a connecting structure 23. The first rotating structure 21 is rotatably connected to the frame assembly 10. This embodiment defines the rotation axis between the first rotating structure 21 and the frame assembly 10 as the reference axis A, that is, the first rotating structure 21 is rotatable with the frame assembly 10 around the reference axis A. Further, the reference axis A is not perpendicular to the horizontal direction. Preferably, the reference axis A can be configured to be parallel to the horizontal direction. The second rotating structure 22 is detachably connected to the frame assembly 10, and the second rotating structure 22 is used to rotate synchronously with the first rotating structure 21 relative to the frame assembly 10, that is, when the second rotating structure 22 is connected to the frame assembly 10, the second rotating structure 22 can rotate synchronously with the first rotating structure 21 around the reference axis A. The connecting structure 23 is used to connect the first rotating structure 21 and the second rotating structure 22 to form at least two limiting structures 200 for connecting to the C-arm assembly between the first rotating structure 21 and the second rotating structure 22, and the at least two limiting structures 200 cooperate with each other to limit the movement of the C-arm assembly to relatively position the C-arm assembly and the supporting assembly 20 (here the specific state of the supporting assembly 20 is that the first rotating structure 21, the second rotating structure 22 and the connecting structure 23 are connected to each other to form a limiting structure 200).

[0048] The specific shape of the limiting structure 200 is not limited in this embodiment. In an exemplary embodiment, the limiting structure 200 is in a closed ring shape or a closed frame shape, thereby enclosing the C-arm assembly, such as a closed circular frame shape, a closed square frame shape (for example, in this embodiment). Figure 3 Demonstrates a closed rectangular frame).

[0049] Regarding the arrangement of the limiting structures 200, in order to make the two limiting structures 200 formed adapt to the shape of the C-arm assembly, this embodiment configures all the limiting structures 200 to be arranged in the direction of an arc (this embodiment defines this arc as a reference arc). It can be understood that the reference arc passes through each limiting structure 200 in sequence. Further, the line between the two ends of the reference arc (the straight line where the two ends of the reference arc are located) is not perpendicular to the reference axis A. In addition, regarding the reference arc, after the line between the two ends of the reference arc is translated to the top of the reference arc, the line between the two ends of the reference arc will be aligned with the tangent line B ( Figure 3The reference arc is symmetrical about the top of the arc, and specifically, the reference arc is symmetrical about the vertical line of the tangent line B at the top of the arc. Furthermore, the opening of the reference arc can be configured to face the reference axis A. In this way, when the second rotating structure 22 is connected to the frame assembly 10, and the first rotating structure 21 and the second rotating structure 22 are connected through the connecting structure 23 to form at least two limiting structures 200, the synchronous rotation of the first rotating structure 21 and the second rotating structure 22 can drive the reference arc (which can be further considered as the top of the arc tangent line B) to rotate around the reference axis A, thereby driving at least two limiting structures 200 to rotate around the reference axis A as well.

[0050] The reference arc defined in this embodiment is further described below when the C-arm assembly is located on the device. Figure 2 and Figure 3 When the C-arm assembly needs to be detached from the robot 80, first, the C-arm assembly is adjusted to a horizontal position (i.e., the plane where the C-arm 72 is located is parallel to the horizontal plane) under the drive of the rotation axis of the robot 80; then, the first rotation structure 21 is rotated to adjust the posture of the first rotation structure 21 under the cooperation of the frame assembly 10 and the first rotation structure 21, so as to drive the plane where the reference arc is located to be parallel to the horizontal plane, and drive the first rotation structure 21 to abut against the C-arm assembly in the horizontal position, so that the C-arm assembly is placed on the first rotation structure 21. structure 21; then, the second rotating structure 22 is placed on the C-arm assembly, and the first rotating structure 21 and the second rotating structure 22 are connected by the connecting structure 23, so that at least two limiting structures 200 arranged along the direction of the reference arc are formed between the first rotating structure 21 and the second rotating structure 22, so that the C-arm assembly is inserted into the at least two limiting structures 200 formed, so that the movement freedom of the C-arm assembly can be limited; finally, the C-arm assembly is detached from the robot 80, and the C-arm assembly is confined in the device.

[0051] Based on this, when the C-arm assembly is located on the device, the reference arc can be approximately understood as being equivalent to the arc of the C-arm 72 in the C-arm assembly. In the C-arm assembly, the base 71 is located at the top of the arc. Therefore, the line between the two ends of the reference arc can be approximately understood as being equivalent to the line between the two ends of the C-arm. The direction of the arc top tangent B of the reference arc can be approximately understood as being equivalent to the extension direction of the base 71, that is, the relative movement direction of the two arms 720. Further, the arc top tangent B is not perpendicular to the reference axis A, including the arc top tangent B and the reference axis A being arranged at an angle in the same plane (the angle is, for example, 15°, 30°), or the arc top tangent B and the reference axis A are not in the same plane. In order to facilitate the rotation control of each structure and simplify the overall device, preferably, the arc top tangent B and the reference axis A are configured to be parallel to each other in this embodiment.

[0052] Preferably, the device is formed with at least three limiting structures 200, and at least one limiting structure 200 is formed at the arc top of the reference arc and at both sides of the arc top of the reference arc. The limiting structures 200 on both sides of the arc top are respectively connected to the two support arms 720, and act on the two support arms 720 respectively, which can limit the movement of the C-arm assembly as a whole and play a role in fixing the C-arm assembly. The limiting structure 200 at the arc top acts on the base 71, further improving the limiting and fixing effect on the C-arm assembly, and relatively positioning the C-arm assembly on the bearing assembly 20.

[0053] This embodiment does not limit the specific forms of the first rotating structure 21, the second rotating structure 22 and the connecting structure 23, nor does it limit the specific form of the first rotating structure 21, the second rotating structure 22 and the connecting structure 23 that cooperate to form the limiting structure 200. Figure 3 For example, the first rotating structure 21 and the second rotating structure 22 have the same structure. For the sake of convenience of description, the first rotating structure 21 and the second rotating structure 22 are collectively referred to as rotating structures. Taking the closed frame shape of the limiting structure 200 as an example, the rotating structure includes a main branch 221 and at least two branch portions 222. The extension direction of the main branch 221 is parallel to the direction of the reference axis A. The branch portions 222 are connected to the main branch 221 and all the branch portions 222 are coplanar. Furthermore, the branch portions 222 are arranged at an angle to the main branch 221. For example, when the rotating structure includes two branch portions 222, the two branch portions 222 are connected to the main branch portion 221 to form a "π" shape, and the connecting structure 23 includes multiple first connecting members 231. The branch portions 222 of the first rotating structure 21 and the branch portions 222 located at the same position on the second rotating structure 22 are connected by two first connecting members 231 to form a closed limiting structure 200, thereby finally forming two limiting structures 200, which are surrounded by two arms 720. In this way, the number of limiting structures 200 and the arrangement position of the limiting structures 200 on the reference arc can be configured accordingly by configuring the number of branches 222 on the rotating structure and the distribution orientation arrangement.

[0054] Furthermore, in addition to the formation method of the branch portion 222 of the first rotating structure 21, the branch portion 222 of the second rotating structure 22 and the first connecting member 231, the limiting structure 200 located at the top of the reference arc can also be formed in the following form. Specifically, the connecting structure 23 also includes at least one second connecting member 232 in the shape of a door frame and a base 233. The base 233 connects the main branch 221 of the first rotating structure 21 and the main branch 221 of the second connecting structure 23. The projection of the base 233 on the C-arm assembly along the vertical direction of the arc top tangent line B is roughly located at the arc top position. At least one second connecting member 232 is connected to the base 233, so that at least one limiting structure 200 can be formed at the arc top. In addition, refer to Figure 4 , Figure 4 It is a schematic diagram of a device according to an embodiment of the present invention transporting a C-arm assembly. When the support assembly 20 rotates to drive the C-arm assembly to rotate synchronously and the C-arm assembly is in a vertical position (i.e., the plane where the C-arm 72 is located is parallel to the direction of gravity), the base 233 can also play a supporting role for the pedestal 71.

[0055] The device of this embodiment also includes a lifting assembly 40 connected to the frame assembly 10, and the lifting assembly 40 is used to drive the frame assembly 10 to move vertically and to adjust the angle of the reference axis A relative to the vertical. On the one hand, the frame assembly 10 adjusts the angle of the reference axis A relative to the vertical, and can synchronously adjust the angle of the arc top tangent B relative to the vertical. For example, when the arc top tangent B is parallel to the reference axis A, adjusting the angle of the reference axis A relative to the vertical is equivalent to adjusting the angle of the arc top tangent B relative to the vertical, and the plane where the reference arc is located can be adjusted to be parallel to the horizontal plane when the first rotating structure 21 rotates, so as to adjust the positions of at least two limiting structures 200 formed subsequently, so as to adapt the position to the C-arm assembly in the horizontal position. On the other hand, after the plane where the reference arc is located is parallel to the horizontal plane, the frame assembly 10 can be driven to move vertically under the action of the lifting assembly 40, so as to drive the bearing assembly 20 to move vertically synchronously, until the first rotating structure 21 is in contact with the C-arm assembly in the horizontal position.

[0056] Specifically, the lifting assembly 40 includes at least three lifting structures 400 that are not arranged in a colinear manner (for example, four lifting structures 400 are configured in this embodiment, and the four lifting structures 400 are located at the four corners of the frame assembly 10), and the lifting structure 400 includes a first lifting member 401, a second lifting member 402, and a caster 403, wherein the first lifting member 401 is connected to the frame assembly 10, the second lifting member 402 is connected to the first lifting member 401 and can move relatively, and the second lifting member 402 is rotatably connected to the caster 403 around the central axis of the caster 403; the relative movement direction of the first lifting member 401 and the second lifting member 402 is perpendicular to the reference axis A, and perpendicular to the central axis of the caster 403, and the central axis of the caster 403 is parallel to the horizontal direction. Preferably, the caster 403 is a universal wheel. In addition, when the caster 403 is not a universal wheel, this embodiment can limit the central axes of all casters 403 to be perpendicular to the reference axis A. It is understandable that the second lifting member 402 extends along the axial direction of the lifting structure 400, the relative movement direction of the first lifting member 401 and the second lifting member 402 is also the axial direction of the second lifting member 402, and the relative movement distance between the first lifting member 401 and the second lifting member 402 is also the lifting stroke of the lifting structure 400; since the second lifting member 402 is rotatably connected to the caster 403, the axial direction of the lifting structure 400 can be parallel to the vertical direction, or at an angle to the vertical direction. With such a configuration, the frame assembly 10 can be driven to move vertically by configuring each lifting structure 400 to have the same lifting stroke, and the posture of the frame assembly 10 relative to the horizontal plane can be adjusted by configuring a part of the lifting structures 400 to have different lifting strokes, thereby adjusting the angle between the reference axis A and the horizontal plane, and then the reference axis A can be adjusted to be parallel to the horizontal plane. It is understandable that when a portion of the lifting structure 400 has different lifting strokes, the lifting structure 400 is not parallel to the vertical direction (for example, the angle between the two is 5° or 10°).

[0057] In this embodiment, the lifting structure 400 can be realized by, for example, a male screw lifting method, that is, the second lifting member 402 rotates to drive the first lifting member 401 to move linearly, so that the first lifting member 401 and the second lifting member 402 move relative to each other, that is, the second lifting member 402 moves on the first lifting member 401. Regarding the rotation method of the second lifting member 402, for example, the user can rotate Figure 3 The cross structure on the upper part of the second lifting member 402 is used to drive the second lifting member 402 to move. In some other embodiments, the lifting structure 400 can also be realized by hydraulic lifting or electric lifting.

[0058] Regarding the specific implementation method of the rotation of the first rotating structure 21 and the synchronous rotation of the second rotating structure 22 along with the first rotating structure 21, the device of this embodiment includes a rotating handle 30 rotatably provided on the frame assembly 10, and the rotation axis of the rotating handle 30 is the reference axis A. The rotating handle 30 is connected to the first rotating structure 21 to drive the first rotating structure 21 to rotate around the reference axis A, and is used to be detachably connected to the second rotating structure 22. In this way, when the first rotating structure 21 and the second rotating structure 22 are connected through the connecting structure 23, the rotating handle 30 can drive the first rotating structure 21 and the second rotating structure 22 to rotate synchronously around the reference axis A. In this way, when the C-arm assembly is placed on the first rotating structure 21, the second rotating structure 22 is then placed on the C-arm assembly, and the second rotating structure 22 is connected to the rotating handle 30, and then the first rotating structure 21 and the second rotating structure 22 are connected through the connecting structure 23 to fix the C-arm assembly. After the C-arm assembly is detached from the robot 80, the bearing assembly 20 can be driven to rotate the C-arm assembly under the control of the rotating handle 30. The rotational matching method of the rotating handle 30 and the frame assembly 10 can be, for example, a rotational matching method of a shaft hole.

[0059] In practice, the frame assembly 10 includes two left and right frame structures 100, and a rotating handle 30 is disposed on each of the two frame structures 100. The rotating handles 30 on the two frame structures 100 are coaxially arranged (i.e., the rotation axes of the two rotating handles 30 are both reference axis A), and the first rotating structure 21 connects the two rotating handles 30 (for example, the two ends of the main branch 221 of the first rotating structure 21 are respectively connected to the left and right rotating handles 30), thereby connecting the left and right frame structures 100 through the first rotating structure 21. The first rotating structure 21 and the rotating handle 30 can be fixed, for example, by screws.

[0060] Further, at least two limiting parts 101 are provided on the frame assembly 10, and at least two limiting parts 101 are circumferentially distributed around the reference axis A, and the rotating handle 30 is detachably connected to the limiting parts 101 (for example, a detachable connection is achieved by screws), and the rotating handle 30 can be selectively connected to one of the limiting parts 101 to limit its own rotational freedom. In this way, when the C-arm assembly is fixed on the bearing assembly 20, the rotating handle 30 can be connected to one of the limiting parts 101 to lock the rotation angle of the rotating handle 30, thereby locking the posture of the C-arm assembly relative to the horizontal plane (i.e., locking the angle between the plane where the C-arm assembly is located and the horizontal plane). In addition, when the C-arm assembly is not yet fixed on the bearing assembly 20, the plane where the reference arc is located can be locked and parallel to the horizontal plane by the cooperation of the rotating handle 30 and the first rotating structure 21, which can be further understood as locking the plane shared by at least two branches 222 on the first rotating structure 21 to be parallel to the horizontal plane.

[0061] Furthermore, the distance angle between one of the limiting parts 101 and the other limiting part 101 around the reference axis A is 90°. Specifically, when the reference axis A is parallel to the horizontal direction, the perpendicular line from one of the limiting parts 101 to the reference axis A is parallel to the vertical direction, and the perpendicular line from the other limiting part 101 to the reference axis A is parallel to the horizontal direction. In this way, the C-shaped arm 72 fixed on the bearing assembly 20 can be limited to a horizontal position ( Figure 3 shown) or vertical position ( Figure 4 shown).

[0062] The application of the device of this embodiment is described in detail below with the above-listed structures. In this description, the reference axis A is parallel to the arc top tangent line B.

[0063] When the C-arm assembly needs to be detached from the robot 80, first, the posture of the frame assembly 10 is adjusted by the lifting assembly 40 so that the reference axis A is parallel to the horizontal direction; then, the first rotating structure 21 is driven to rotate by the rotating handle 30 so that the plane where the reference arc is located is parallel to the horizontal plane, that is, the plane shared by at least two branches 222 of the first rotating structure 21 is parallel to the horizontal plane, and the rotational freedom of the first rotating structure 21 is locked by the cooperation of the rotating handle 30 and one of the limiting parts 101; then, the frame assembly 10 is driven to move vertically by the lifting assembly 40 so that the first rotating structure 21 and The C-arm assembly in a horizontal position (the robot 80 has pre-adjusted the C-arm assembly to a horizontal position) is brought into contact with each other so that the C-arm assembly is placed on the first rotating structure 21; then, the second rotating structure 22 is placed above the C-arm assembly and connected to the second rotating structure 22; subsequently, the first rotating structure 21 and the second rotating structure 22 are connected via the connecting structure 23 so that the C-arm assembly is inserted into at least two limiting structures 200 formed, thereby limiting the movement of the C-arm assembly; finally, the C-arm assembly is detached from the end of the rotating axis of the robot 80, and the C-arm assembly is fixed in the supporting assembly 20.

[0064] When transporting the C-arm assembly, after completing the process of removing the C-arm assembly from the robot 80 and fixing it to the supporting assembly 20, first, separate the rotating handle 30 from one of the limiting portions 101 to release the restriction on the horizontal position of the C-arm assembly; then, rotate the rotating handle 30 to drive the supporting assembly 20 to drive the C-arm assembly to rotate synchronously, and finally fix the rotating handle 30 to the other limiting portion 101, thereby locking the C-arm assembly in a vertical position with the opening of the C-arm 72 facing downward; finally, the C-arm assembly can be transported under the action of the casters 403.

[0065] When the C-arm assembly needs to be installed on the robot 80, first, the C-arm assembly is moved to the end of the rotation axis of the robot 80 under the action of the casters 403; then, under the action of the lifting assembly 40, the reference axis A is adjusted to be parallel to the horizontal direction, and the rotating handle 30 is rotated to allow the bearing assembly 20 to drive the C-arm assembly to rotate, and after the C-arm assembly is rotated to the horizontal position, the rotating handle 30 is connected to the limit portion 101 to limit the rotational freedom of the C-arm assembly; then, under the action of the lifting assembly 40, the frame assembly 10 is driven to move vertically until the base 71 is aligned with the machine. The end of the rotating shaft of the robot 80 is in contact with the base 71; then, the base 71 is installed on the rotating shaft of the robot 80 to complete the installation of the C-arm assembly; then, the connecting structure 23 is removed, and the second rotating structure 22 is separated from the rotating handle 30, and the connecting structure 23 and the first rotating structure 21 are taken off the C-arm assembly, so that the limiting structure 200 can be removed so that the movement of the C-arm assembly is not restricted; finally, the device of this embodiment can be moved away from the C-arm assembly under the action of the casters 403, or the C-arm assembly can be moved away from the first rotating structure 21 under the drive of the robot 80.

[0066] As a preferred embodiment, the device further includes a support assembly 50 connected to the frame assembly 10, and the support assembly 50 is used to support the tube 73 or the detector 74 of the C-arm assembly. When the C-arm assembly is fixed on the device and the C-arm assembly is in a vertical state and needs to be transported, the setting of the support assembly 50 can prevent the tube 73 or the detector 74 from swinging due to vibration during transportation. Preferably, an elastic pad can also be provided on the surface of the support assembly 50 to better protect the tube 73 or the detector 74. As a further preferred embodiment, the support assembly 50 can have a lifting function through the internal mechanical structure design, so as to adapt to the height of the tube 73 or the detector 74. In practice, considering that the weight and volume of the tube 73 are both larger than the detector 74, this embodiment can be configured with only one support assembly 50 to support the tube 73.

[0067] As a preferred embodiment, the frame assembly 10 is connected with a cable storage assembly 60 for winding cables, so that when the C-arm assembly is disassembled or transported, the device also has the function of storing the cables in the C-arm assembly. Figure 3 and Figure 4 There is no restriction on the shape and position of the wire storage assembly 60 , for example, it can be arranged above the frame assembly 10 , or it can be located between two frame structures 100 .

[0068] As a preferred embodiment, buffer components such as elastic foam may be added at the contact positions between the connecting structure 23, the first rotating structure 21, the second rotating structure 22 and the C-arm assembly to protect the C-arm assembly.

[0069] In summary, in the device for disassembling, assembling and transporting a C-arm assembly provided by the present invention, the device includes a frame assembly and a load-bearing assembly, and the load-bearing assembly includes a first rotating structure, a second rotating structure and a connecting structure; the first rotating structure is rotatably connected to the frame assembly; the second rotating structure is detachably connected to the frame assembly, and the second rotating structure is used to rotate synchronously with the first rotating structure relative to the frame assembly; the connecting structure is used to connect the first rotating structure and the second rotating structure to form at least two limiting structures for connecting to the C-arm assembly between the first rotating structure and the second rotating structure, and the at least two limiting structures are used to relatively position the C-arm assembly and the load-bearing assembly.

[0070] On the first aspect, when the C-arm assembly needs to be detached from the robot, the first rotating structure can be rotated with the cooperation of the frame assembly and the first rotating structure to adjust the posture of the first rotating structure so that the plane where the first rotating structure is located is parallel to the horizontal plane, and the first rotating structure is driven to abut against the C-arm assembly in a horizontal position so that the C-arm assembly is placed on the first rotating structure, and then the second rotating structure is placed on the C-arm assembly, and the first rotating structure and the second rotating structure are connected by a connecting structure to form at least two limiting structures connected to the C-arm assembly between the first rotating structure and the second rotating structure, so that the movement of the C-arm assembly can be limited by at least two limiting structures to position the C-arm assembly relative to the support assembly, and finally the C-arm assembly can be detached from the robot, and the C-arm assembly is supported and restricted in the device.

[0071] Secondly, when transportation is required, the C-arm assembly relatively positioned in the supporting assembly can be driven to rotate together with the cooperation of the synchronous rotation of the first rotating structure and the second rotating structure, so as to drive the C-arm assembly to a vertical position with the opening of the C-arm assembly facing downward, and then the C-arm assembly can be transported under the drive of the device.

[0072] On the third aspect, when the C-arm assembly needs to be installed on the robot, the process of the second aspect and the various processes in the first aspect can be executed in reverse order, that is, first, the second rotating structure and the first rotating structure are synchronously rotated to drive the C-arm assembly relatively positioned in the load-bearing assembly to rotate together, thereby driving the C-arm assembly from a vertical position to a horizontal position, and installing the C-arm assembly to the end of the robot's rotating axis, and then removing the connecting structure and the second rotating structure in turn to remove the limiting structure, so that the movement of the C-arm assembly will not be restricted by the limiting structure, and finally, the first rotating structure and the C-arm assembly are separated to complete the installation process of the C-arm assembly on the robot.

[0073] Based on the above, the device can make the disassembly and assembly process of the C-arm assembly convenient and simple through the cooperation of the frame assembly and the load-bearing assembly, and also has the transportation function of the C-arm assembly, ensuring that the C-arm assembly is not damaged during transportation, which can greatly improve the safety and reliability of the C-arm assembly during disassembly and transportation.

[0074] The above description is only a description of the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A device for disassembling and transporting a C-arm assembly, characterized in that: It comprises a frame assembly (10) and a bearing assembly (20), wherein the bearing assembly (20) comprises a first rotating structure (21), a second rotating structure (22) and a connecting structure (23); The first rotating structure (21) is rotatably connected to the frame assembly (10); The second rotating structure (22) is detachably connected to the frame assembly (10), and the second rotating structure (22) is used to rotate synchronously with the first rotating structure (21) relative to the frame assembly (10); The connecting structure (23) is used to connect the first rotating structure (21) and the second rotating structure (22) to form at least two limiting structures (200) for connecting to a C-arm assembly between the first rotating structure (21) and the second rotating structure (22), and the at least two limiting structures (200) are used to position the C-arm assembly relative to the supporting assembly (20).

2. The device for disassembling and transporting a C-arm assembly according to claim 1, characterized in that: The limiting structure (200) is in the shape of a closed ring so as to enclose the C-arm assembly therein.

3. The device for disassembling and transporting a C-arm assembly according to claim 1, characterized in that: At least two of the limiting structures (200) are arranged at intervals in the direction of an arc, and the line connecting the two ends of the arc is not perpendicular to the rotation axis of the first rotating structure (21).

4. The device for disassembling and transporting a C-arm assembly according to claim 3, characterized in that: The line connecting the two ends of the arc is parallel to the rotation axis of the first rotating structure (21).

5. The device for disassembling and transporting a C-arm assembly according to claim 1, characterized in that: The device comprises a rotating handle (30) rotatably arranged on the frame assembly (10); the rotating handle (30) is connected to the first rotating structure (21) and is used to be detachably connected to the second rotating structure (22).

6. The device for disassembling and transporting a C-arm assembly according to claim 5, characterized in that: At least two limiting portions (101) are provided on the frame assembly (10), and at least two of the limiting portions (101) are circumferentially distributed around the rotation axis of the first rotating structure (21), and the rotating handle (30) can be selectively connected to one of the limiting portions (101) to limit its own rotational freedom.

7. The device for disassembling and transporting a C-arm assembly according to claim 6, characterized in that: The distance angle between one of the limiting portions (101) and the other limiting portion (101) around the rotation axis of the first rotating structure (21) is 90°.

8. According to the device for disassembling, assembling and transporting a C-arm assembly according to claim 1, the device also includes a lifting assembly (40) connected to the frame assembly (10), and the lifting assembly (40) is used to drive the frame assembly (10) to move vertically and to adjust the angle of the rotation axis of the first rotating structure (21) relative to the vertical.

9. The device for disassembling and transporting a C-arm assembly according to claim 8, characterized in that: The lifting assembly (40) includes at least three lifting structures (400) that are not arranged in a colinear manner. The lifting structure (400) includes a first lifting member (401), a second lifting member (402) and a caster (403). The first lifting member (401) is connected to the frame assembly (10), the second lifting member (402) is connected to the first lifting member (401) and can move relatively, and the second lifting member (402) is rotatably connected to the caster (403) around the central axis of the caster (403); the relative movement direction of the first lifting member (401) and the second lifting member (402) is perpendicular to the rotation axis of the first rotating structure (21) and perpendicular to the central axis of the caster (403).

10. The device for disassembling and transporting a C-arm assembly according to claim 1, characterized in that: The device comprises a support assembly (50) connected to the frame assembly (10), wherein the support assembly (50) is used to support a tube (73) or a detector (74) of a C-arm assembly.

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