Anti-collision housing module and C-arm device

Abstract

The present invention provides an anti-collision housing module and a C-arm device. The anti-collision housing module includes at least one housing assembly. The housing assembly includes a cover shell and a base shell. One side of the cover shell facing the base shell is a first conductive contour surface, and one side of the base shell facing the cover shell is a second conductive contour surface. The anti-collision housing module is configured such that, in at least one housing assembly, when the cover shell and / or the base shell is deformed by an external force, the first conductive contour surface and the second conductive contour surface come into contact to achieve electrical connection and generate an anti-collision instruction. Among them, the anti-collision instruction is used to indicate and / or control the motion state of the C-arm device. With such a configuration, after the C-arm device collides with an obstacle, the cover shell and / or the base shell will be pressed and come into contact, so that the first conductive contour surface contacts the second conductive contour surface to achieve electrical connection, thereby generating an anti-collision instruction. According to this anti-collision instruction, the motion state of the C-arm device can be indicated or controlled, thereby avoiding further collision damage to the C-arm device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an anti-collision housing module and a C-arm device. Background Art

[0002] In a medical imaging system, such as a Digital Subtraction Angiography (DSA) system, the housings at both ends of the C-arm device of the DSA system need to be enhanced with anti-collision functions to prevent the C-arm device from hitting people during movement and to avoid collisions with other collision objects that may cause damage. Generally, the following solutions are adopted in the market to handle the anti-collision of the C-arm device: capacitive sensors are installed inside the housings at both ends of the C-arm device. When the housing approaches an obstacle, the system detects a change in capacitance, thereby determining that a collision of the C-arm device is about to occur. This processing method has a high detection sensitivity, but it is also prone to false triggering, is insensitive to small and sharp objects, and has a relatively high cost. Summary of the Invention

[0003] The purpose of the present invention is to provide an anti-collision housing module and a C-arm device to solve the problems that the existing anti-collision design in the C-arm device is prone to false triggering and has a relatively high cost.

[0004] To solve the above technical problems, based on one aspect of the present invention, the present invention provides an anti-collision housing module applied to a C-arm device. The anti-collision housing module includes at least one housing component; the housing component includes a cover shell and a base shell. The surface of the cover shell facing the base shell is a first conductive contour surface, and the surface of the base shell facing the cover shell is a second conductive contour surface. There is a gap between the first conductive contour surface and the second conductive contour surface.

[0005] The anti-collision housing module is configured such that, when at least one of the cover shell and / or the base shell in the at least one housing component is deformed by an external force, at least a part of the first conductive contour surface and at least a part of the second conductive contour surface come into contact to achieve electrical connection and generate an anti-collision instruction; wherein, the anti-collision instruction is used to indicate and / or control the movement state of the C-arm device.

[0006] Optionally, the anti-collision instruction controlling the movement state of the C-arm device includes stopping the C-arm device or reversely adjusting the movement direction of the C-arm device.

[0007] Optionally, the first conductive contour surface and the second conductive contour surface are respectively electrically connected to a controller. When the first conductive contour surface and the second conductive contour surface come into contact, the first conductive contour surface, the second conductive contour surface, and the controller form a closed loop, and the anti-collision instruction is generated after the closed loop corresponding to at least one housing component is formed.

[0008] Optionally, the anti-collision instruction is configured to indicate at least one of a class signal and an electrical signal; wherein, when the anti-collision instruction is configured as an electrical signal, the controller controls the motion state of the C-arm device according to the electrical signal.

[0009] Optionally, the class signal includes a sensory signal.

[0010] Optionally, the anti-collision housing module includes at least two of the housing components, and the arrangement directions of at least two of the housing components are the same as the arrangement direction between the cover housing and the base housing, and the directions from the cover housing to the base housing in each of the housing components are the same; the anti-collision housing module is configured such that the first conductive profile surfaces and the second conductive profile surfaces in each of at least two of the housing components are in contact with each other respectively to achieve electrical connection and generate the anti-collision instruction.

[0011] Optionally, in at least two adjacent housing components, the base housing of one of the housing components serves as the cover housing of the other housing component.

[0012] Optionally, the anti-collision housing module further includes a plurality of support members, and the plurality of support members are arranged at intervals between the first conductive profile surface and the second conductive profile surface.

[0013] Optionally, the base housing is provided with accommodation holes for mounting the support members.

[0014] Optionally, the cover housing includes a first main body portion and a first side body portion connected to the first main body portion, and the first side body portion protrudes from the first main body portion towards the base housing and extends along the edge of the first main body portion; the first conductive profile surface includes the inner surface of the first main body portion and / or the inner surface of the first side body portion;

[0015] The base housing includes a second main body portion and a second side body portion connected to the second main body portion, and the second side body portion protrudes from the second main body portion away from the cover housing and extends along the edge of the second main body portion; the second conductive profile surface includes the outer surface of the second main body portion and / or the outer surface of the second side body portion.

[0016] Optionally, along the direction from the cover housing to the base housing, at least a part of the base housing is covered by the cover housing.

[0017] Based on another aspect of the present invention, the present invention further provides a C-arm device applied to a medical imaging system, and the C-arm device includes a base, a first arm and a second arm mounted on the base, and the anti-collision housing module as described above;

[0018] The anti-collision shell module is mounted on a surface of the first arm other than the surface facing the second arm, and the direction from the cover shell to the base shell is the same as the direction from the first arm to the second arm;

[0019] And / or, the anti-collision shell module is mounted on a surface of the second arm other than the surface facing the first arm, and the direction from the cover shell to the base shell is the same as the direction from the second arm to the first arm.

[0020] In summary, in the anti-collision shell module and the C-arm device provided by the present invention, the anti-collision shell module includes at least one housing assembly; the housing assembly includes a cover shell and a base shell, a surface of the cover shell facing the base shell is a first conductive contour surface, a surface of the base shell facing the cover shell is a second conductive contour surface, and there is a gap between the first conductive contour surface and the second conductive contour surface; the anti-collision shell module is configured such that in at least one of the housing assemblies, the cover shell and / or the base shell is deformed by an external force, so that the first conductive contour surface and the second conductive contour surface are in contact to achieve electrical connection and generate an anti-collision instruction; wherein, the anti-collision instruction is used to indicate and / or control the motion state of the C-arm device.

[0021] With such a configuration, when the C-arm device collides with an obstacle at both ends during movement, the cover shell will be pressed to contact the base shell, so that the first conductive contour surface contacts the second conductive contour surface to achieve electrical connection, thereby generating an anti-collision instruction. According to this anti-collision instruction, the motion state of the C-arm device can be controlled, such as controlling the C-arm device to hover or controlling the C-arm device to move in the reverse direction, thereby avoiding further collision damage to the C-arm device. Compared with the design of capacitive sensors in the prior art, the present invention, through the cooperation of the conductive contour surfaces of the cover shell and the base shell respectively, not only ensures the anti-collision detection sensitivity, but also will not be mis-triggered due to high sensitivity, reduces the cost, and the cover shell will not be stuck with the base shell due to mechanical design after being pressed to contact the base shell.

[0022] It should be noted that since the C-arm device has the anti-collision shell module, it also has the beneficial technical effects brought by the anti-collision shell module, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Those of ordinary skill in the art should understand that the provided drawings are used to better understand the present invention and do not constitute any limitation to the scope of the present invention. Among them:

[0024] Figure 1 is a schematic diagram of a medical imaging system according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of a C-arm device in a medical imaging system according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of an anti-collision housing module according to an embodiment of the present invention;

[0027] Figure 4 is an exploded view of an anti-collision housing module according to an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of a cover housing according to an embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of a base housing according to an embodiment of the present invention;

[0030] Figure 7 is a schematic diagram of the cooperation between an anti-collision housing module and a controller according to an embodiment of the present invention;

[0031] Figure 8 is another schematic diagram of the cooperation between an anti-collision housing module and a controller according to an embodiment of the present invention;

[0032] Figure 9 is another exploded view of an anti-collision housing module according to an embodiment of the present invention.

[0033] In the drawings:

[0034] 10 - base; 20 - C-arm device; 21 - first arm; 22 - second arm; 30 - detector assembly; 40 - radiation source;

[0035] 50 - anti-collision housing module; 51 - cover housing; 511 - first main body part; 512 - first side body part; 501 - first conductive contour surface; 52 - base housing; 520 - mounting hole position; 521 - second main body part; 522 - second side body part; 502 - second conductive contour surface; 53 - support member;

[0036] 60 - controller; 70 - conductive member. Detailed implementation manners

[0037] To make the objectives, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the drawings are all in very simplified forms and are not drawn to scale, only for conveniently and clearly assisting in explaining the objectives of the embodiments of the present invention. In addition, the structures shown in the drawings are often part of the actual structures. In particular, the emphases that each drawing needs to show are different, and sometimes different scales are used.

[0038] As used in the present invention, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally used in a sense that includes "and / or", the term "several" is generally used in a sense that includes "at least one", the term "at least two" is generally used in a sense that includes "two or more", in addition, the terms "first", "second", "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first", "second", "third" may explicitly or implicitly include one or at least two of such features, "one end" and "the other end" as well as "proximal end" and "distal end" generally refer to two corresponding parts, which include not only the endpoints, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication 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 a connection, coupling, cooperation or transmission relationship between the two elements, and the two elements may be directly or indirectly connected, coupled, cooperated or transmitted through an intermediate element, and should not be construed as indicating or implying the spatial position relationship between the two elements, that is, an element may be inside, outside, above, below or on one side of another element in any orientation, unless otherwise explicitly specified in the context. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Figure 1 is a schematic diagram of a medical imaging system according to an embodiment of the present invention, Figure 2 is a schematic diagram of the C-arm device 20 in a medical imaging system according to an embodiment of the present invention. As Figure 1 and Figure 2As shown, the present invention schematically provides a medical imaging system, which includes a C-arm device 20. The C-arm device 20 includes a base 10, a first arm 21 connected to the base 10, a second arm 22, an X-ray source 40 and a detector assembly 30 respectively connected to the first arm 21 and the second arm 22. The detector assembly 30 and the X-ray source 40 are respectively installed on two different arms. For example, the X-ray source 40 is installed on the first arm 21, and the detector assembly 30 is installed on the second arm 22. It can be understood that the X-ray source 40 is a device capable of emitting X-rays, γ-rays, electron beams, etc., and the detector assembly 30 is a device capable of receiving the rays emitted by the X-ray source 40. The cooperation of the X-ray source 40 and the detector assembly 30 can achieve operations such as medical examinations or treatments. In one embodiment, the X-ray source 40 includes an X-ray tube that can emit X-rays, and the detector assembly 30 includes a detector (further a flat panel detector). The X-rays emitted by the X-ray tube pass through the patient and are received by the detector assembly 30 for imaging processing. The medical imaging system is an angiography imaging system (Digital Subtraction Angiography, DSA) system.

[0040] Preferably, one of the first arm 21 and the second arm 22 is movably installed on the base 10, so as to realize the relative movement of the first arm 21 and the second arm 22, and further realize the adjustability of the SID (SID refers to the relative distance between the focus of the X-ray tube of the X-ray source 40 and the imaging surface of the detector of the detector assembly 30). Refer to Figure 2 , the arrangement direction of the first arm 21 and the second arm 22 is the Z direction, the relative movement direction of the first arm 21 and the second arm 22 is also the Z direction, and the Z direction is also the extension direction or the length direction of the base. Preferably, in this embodiment, both the first arm 21 and the second arm 22 can move on the base 10, so that the X-ray source 40 and the detector assembly 30 in the C-arm device 20 can both move relative to each other, thereby obtaining a larger or smaller SID range, and further obtaining a greater clinical freedom to meet the special SID for clinical diagnosis. The medical imaging system in this embodiment can be auxiliary applied to the fields of angiography, cardiology and neurology. The present invention does not limit this.

[0041] Preferably, continue to refer to Figure 1 , the medical imaging system further includes a robot. The robotic arm of the robot is connected to the C-arm device 20, specifically connected to the base 10 of the C-arm device 20. The robot has multiple degrees of freedom and can be used to drive the C-arm device 20 to move within the space range. For example, it can drive the C-arm device 20 to perform linear movement, circumferential rotation, etc., so that the relative spatial positions of the X-ray source 40 and the detector assembly 30 meet the requirements during diagnostic examinations. In one embodiment, the robot is a six-axis robot.

[0042] Figure 3 is a schematic diagram of an anti-collision housing module according to an embodiment of the present invention, Figure 4 and is an exploded view of the anti-collision housing module according to an embodiment of the present invention. Refer to Figure 3 and Figure 4 , based on the C-arm device 20 in the above medical imaging system, an embodiment of the present invention provides an anti-collision housing module 50 applied to the above C-arm device 20. The anti-collision housing module 50 includes at least one housing assembly. The housing assembly includes two housings, and the shapes of the two housings are substantially the same. One housing is a cover housing 51, and the other housing is a base housing 52. After the anti-collision housing module 50 is installed on the C-arm device 20, the arrangement directions of the cover housing 51 and the base housing 52 are substantially parallel to the Z direction. Therefore Figure 4 the arrangement directions of the cover housing 51 and the base housing 52 in Figure 2 are directly defined as the Z direction. With reference to Figure 1 , there are three cases for installing the anti-collision housing module 50 on the C-arm device 20, namely: (1) The anti-collision housing module 50 is installed on the first arm 21, which is manifested as the anti-collision housing module 50 is installed on the surface of the first arm 21 different from the second arm 22, and the direction from the cover housing 51 to the base housing 52 is substantially the same as the direction from the first arm 21 to the second arm 22, with the base housing 52 inside and the cover housing 51 outside; (2) The anti-collision housing module 50 is installed on the second arm 22, which is manifested as the anti-collision housing module 50 is installed on the surface of the second arm 22 different from the surface facing the first arm 21, and the direction from the cover housing 51 to the base housing 52 is substantially the same as the direction from the second arm 22 to the first arm 21, with the base housing 52 inside and the cover housing 51 outside; (3) The anti-collision housing modules 50 are installed on both the first arm 21 and the second arm 22. The specific installation manifestation can be understood according to (1) and (2), and will not be repeated here. It can be understood that, with reference to Figure 1 , the surface of the first arm 21 different from the surface facing the second arm 22 refers to all the surfaces of the first arm 21 that do not include the surface facing the second arm 22. For example, it can be the surface of the first arm 21 facing away from the second arm 22, or the side surface of the first arm 21; correspondingly, the surface of the second arm 22 different from the surface facing the first arm 21 refers to all the surfaces of the second arm 22 that do not include the surface facing the first arm 21. For example, it can be the surface of the second arm 22 facing away from the first arm 21, or the side surface of the second arm 21. With such a configuration, at least during the relative movement of the first arm 21 and the second arm 22 along the Z direction, the housings of the anti-collision housing module 50 can play a role in anti-collision protection. Both the cover housing 51 and the base housing 52 are made of insulating materials, such as plastics.

[0043] Furthermore, with reference to Figure 4, one side of the cover 51 facing the base case 52 is the first conductive contour surface 501, and one side of the base case 52 facing the cover 51 is the second conductive contour surface 502. The cover 51 and the base case 52 are arranged at intervals, so there is also a gap between the first conductive contour surface 501 and the second conductive contour surface 502. The gap between the cover 51 and the base case 52 can be maintained by a support member 53 arranged therebetween, and the support member 53 is insulating and can also be flexible, and is used to connect the first conductive contour surface 501 and the second conductive contour surface 502. Both the first conductive contour surface 501 and the second conductive contour surface 502 can be used for conducting electricity. When the cover 51 is pressed and deformed by an external force, it can be in pressing contact with the base case 52, so as to realize the electrical connection between at least part of the first conductive contour surface 501 and at least part of the second conductive contour surface 502. Regarding the form of realizing the conductivity of the first conductive contour surface 501 and the second conductive contour surface 502, for example, at least one layer of conductive material is coated on the contour surface of the cover 51 facing the base case 52 to form the first conductive contour surface 501. Correspondingly, at least one layer of conductive material is coated on the contour surface of the base case 52 facing the cover 51 to form the second conductive contour surface 502.

[0044] Figure 5 It is a schematic diagram of the cover in an embodiment of the present invention. Regarding the specific structural form of the first conductive contour surface 501, refer to Figure 5 and refer to in combination Figure 4 , the cover 51 includes a first main body portion 511 and a first side body portion 512 connected to the first main body portion 511. The first side body portion 512 protrudes from the first main body portion 511 towards the base case 52 (that is, the protruding direction of the first side body portion 512 is the direction in which the cover 51 faces the base case 52) and extends along the edge of the first main body portion 511, that is, the first side body portion 512 surrounds at least a part of the edge of the first main body portion 511. The first conductive contour surface 501 includes the inner surface of the first main body portion 511 and / or the inner surface of the first side body portion 512.

[0045] Figure 6 It is a schematic diagram of the base case in an embodiment of the present invention. Regarding the specific structural form of the second conductive contour surface 502, refer to Figure 6 and refer to in combination Figure 4, the base housing 52 includes a second main body portion 521 and a second side body portion 522 connected to the second main body portion 521. The second side body portion 522 protrudes from the second main body portion 521 in a direction away from the cover housing 51 (the protruding direction of the second side body portion 522 is the direction in which the cover housing 51 faces the base housing 52) and extends along the edge of the second main body portion 521, that is, the second side body portion 522 surrounds at least a part of the edge of the second main body portion 521; the second conductive contour surface 502 includes the outer surface of the second main body portion 521 and / or the outer surface of the second side body portion 522.

[0046] Based on Figure 5 the demonstrated cover housing 51 and Figure 6 the demonstrated base housing 52, in combination with Figure 2 , the inner surface of the first main body portion 511 refers to the surface of the first main body portion 511 that faces the second main body portion 521, and the inner surface of the first side body portion 512 refers to the surface of the first side body portion 512 that is vertically inward in the direction substantially along the Z direction; correspondingly, the outer surface of the second main body portion 521 refers to the surface that faces the first main body portion 511, and the outer surface of the second side body portion 522 refers to the surface of the second side body portion 522 that is vertically outward in the direction substantially along the Z direction. Refer to Figure 3 and Figure 4 , along the direction from the cover housing 51 to the base housing 52, at least a part of the base housing 52 is covered by the cover housing 51. It can also be understood that, substantially along the vertical direction of the Z direction, the first side body portion 512 and the second side body portion 522 have an overlapping part, so that the cover housing 51 can not only make the first main body portion 511 contact the second main body portion 521 after being pressed along the Z direction, but also make the first side body portion 512 contact the second side body portion 522 after being pressed substantially along the vertical direction of the Z direction. It can be understood that, based on the above structural forms of the cover housing 51 and the base housing 52, along Figure 2 the sectional view in the Z direction in

[0047] and the section is perpendicular to the vertical direction of the base 10 (the base 10 is substantially plate-shaped, and the vertical direction of the base 10 is substantially parallel to the opening direction of the C-arm device 20), the cover housing 51 and the base housing 52 are substantially U-shaped. In addition, the cover housing 51 and the base housing 52 configured in this way can not only provide anti-collision protection during the relative movement of the first arm 21 and the second arm 22 along the Z direction, but also provide anti-collision protection during the circular motion of the C-arm device 20 (specifically considered as the C-arm device 20 performing circular motion around the length direction of the base 10).

[0048] (1) The inner surface of the first main body part 511 is conductive, the inner surface of the first side body part 512 is non-conductive or a part of the inner surface of the first side body part 512 is conductive; the outer surface of the second main body part 521 is conductive, the outer surface of the second side body part 522 is non-conductive, or at least a part of the outer surface of the second side body part 522 is conductive. Then, when there is a gap between the first conductive profile surface 501 and the second conductive profile surface 502, it means that there is a gap between the first main body part 511 and the second main body part 522, there is a gap between the conductive parts of the first side body part 512 and the second side body part 522 respectively, and the non-conductive parts of the first side body part 512 and the second side body part 522 can be in contact (for example, the inner surface of the first side body part 512 can be attached to the outer surface of the second side body part 522), or there can be a gap. It can be understood that the first side body part 512 and the second side body part 522 can originally have a conductive function, but an insulating material can be coated on their surfaces to shield conductivity.

[0049] (2) The inner surface of the first main body part 511 is non-conductive, and at least part of the inner surface of the first side body part 512 is conductive. For example, the entire inner surface of the first side body part 512 can be conductive; at least part of the outer surface of the second side body part 522 is conductive. For example, the entire outer surface of the second side body part 522 can be conductive. Then, when there is a gap between the first conductive profile surface 501 and the second conductive profile surface 502, it means that there is a gap between the conductive parts of the first side body part 512 and the second side body part 522 respectively, the non-conductive parts of the first side body part 512 and the second side body part 522 can be in contact or there can be a gap, and there can be a gap between the first main body part 511 and the second main body part 522, or the two can be directly in contact and connected. It can be understood that the first main body part 511 and the second main body part 521 can originally have a conductive function, but an insulating material can be coated on their surfaces to shield conductivity.

[0050] (3) The inner surface of the first main body part 511 is conductive, and the inner surface of the first side body part 512 is conductive; the outer surface of the second main body part 521 is conductive, and the outer surface of the second side body part 522 is conductive. Then, when there is a gap between the first conductive profile surface 501 and the second conductive profile surface 502, it means that there is a gap between the first main body part 511 and the second main body part 522, and there is a gap between the first side body part 512 and the second side body part 522.

[0051] Preferably, in this embodiment, the third case of the above-mentioned gap arrangement form is preferably selected, so that the collision protection range can be increased. Whether the two arms in the C-arm device 20 move linearly along the Z-axis or the C-arm device 20 rotates around the Z-axis in a circular motion, anti-collision protection can be achieved.

[0052] Optionally, the gap between the first conductive profile surface 501 and the second conductive profile surface 502 does not exceed 5 cm, and those skilled in the art can configure it accordingly according to the actual situation.

[0053] In this embodiment, the anti-collision housing module 50 is formed with an anti-collision mechanism, which is configured such that after at least one of the cover housing 51 and the base housing 52 in the housing assembly is deformed by an external force, that is, when the C-arm device is collided during movement and the two housings inside the anti-collision housing module are deformed, at least part of the first conductive contour surface 501 and at least part of the second conductive contour surface 502 come into contact to achieve electrical connection and then generate an anti-collision instruction; wherein, the anti-collision instruction is used to indicate and / or control the movement state of the C-arm device 20. Further, the anti-collision instruction controlling the movement state of the C-arm device 20 includes stopping the C-arm device 20 or reversely adjusting the movement direction of the C-arm device 20, that is, controlling the C-arm device 20 to stop moving or controlling the C-arm device 20 to move in a direction opposite to the previous movement direction. For example, if the previous movement mode of the C-arm device 20 is that the first arm 21 and the second arm 22 move away from each other along the Z direction, after the anti-collision instruction is generated, the first arm 21 and the second arm 22 will stop moving or the first arm 21 and the second arm 22 will move closer to each other. Another example is that if the C-arm device 20 was previously making a clockwise circular motion around the length direction of the base 10, after the anti-collision instruction is generated, the C-arm device 20 will stop moving or the C-arm device 20 will make a counterclockwise circular motion around the length direction of the base 10.

[0054] Figure 7 It is a schematic diagram of the cooperation between the anti-collision housing module and the controller according to an embodiment of the present invention. Further, regarding the specific generation form of the anti-collision instruction, refer to Figure 7 , the first conductive contour surface 501 and the second conductive contour surface 502 are respectively electrically connected to the controller 60 through a conductive member 70. When the first conductive contour surface 501 and the second conductive contour surface 502 come into contact, the (the conductive member 70 can be a conductive wire or a conductive sheet, which is not limited here) first conductive contour surface 501, the second conductive contour surface 502 and the controller 60 form a closed loop, and the anti-collision instruction is generated after at least one corresponding closed loop of the housing assembly is formed. It should be noted that the anti-collision instruction can be generated by the controller 60 or by other similar devices in the medical imaging system.

[0055] In one embodiment, the anti-collision instruction is configured to indicate a type of signal for indicating the current motion state of the C-arm device 20 to the operator. For example, the indicating type of signal is a sensory signal. Understandably, the sensory signal generally includes visual signals (such as image information, text information, color information, etc.), auditory signals (audio information, sound, etc.) or audiovisual signals (combination of visual signals and auditory signals). Thus, the motion state of the C-arm device 20 can be manually controlled according to the sensory signal. When a collision occurs during the movement of the C-arm device 20, causing the cover 51 to be pressed into contact with the base case 52, the two conductive profile surfaces are electrically connected and an anti-collision instruction is generated. This sensory signal type of anti-collision instruction prompts the operator that a collision has occurred to the C-arm device 20. Subsequently, the operator can actively and manually control the motion state of the C-arm device 20 to avoid further subsequent collision situations.

[0056] In another embodiment, the anti-collision instruction is configured as an electrical signal, and the controller 60 controls the motion state of the C-arm device 20 according to the electrical signal. Thus, when an electrical signal type of anti-collision instruction is generated, the controller 60 can respond to the electrical signal and directly control the motion state of the C-arm device 20 according to the electrical signal, without the need for manual active control, improving the response rate and ensuring that the C-arm device 20 quickly avoids subsequent collisions.

[0057] As a preferred embodiment, the anti-collision instruction is configured as a combination of an indicating type of signal and an electrical signal, which can not only prompt the operator whether a collision has occurred to the C-arm device 20 currently, but also quickly avoid the generation of subsequent further collisions after a collision occurs.

[0058] Preferably, the anti-collision housing module 50 includes at least two of the housing components, and the arrangement directions of at least two of the housing components are the same as the arrangement direction between the cover 51 and the base case 52, and the directions from the cover 51 towards the base case 52 in each of the housing components are the same. In other words, after the anti-collision housing module 50 is installed on the corresponding support arm, at least two housing components are arranged at intervals in the Z direction, and the arrangement directions of the cover 51 and the base case 52 in each of the housing components are the same. For example, Figure 2 taking the anti-collision housing module 50 on the second support arm 22 as an example, the directions from the cover 51 towards the base case 52 in each of the housing components are generally downward along the Z direction. The anti-collision housing module 50 is further configured such that the first conductive profile surfaces 501 and the second conductive profile surfaces 502 in at least two of the housing components are respectively in contact to achieve electrical connection and generate the anti-collision instruction. Further combining Figure 8It can be understood that the anti-collision instruction is generated after the closed circuits corresponding to at least two of the housing components are formed respectively. In other words, after the anti-collision housing module 50 and the controller 60 cooperate to form at least two closed circuits, the anti-collision instruction will be generated. In this way, the probability of the anti-collision mechanism of the anti-collision housing module 50 being triggered by mistake can be greatly reduced, and the fault tolerance rate can be improved. In specific applications, taking Figure 2 the anti-collision housing module 50 on the second arm 22 in

[0059] as an example, when the upper housing component is pressed, the first closed circuit is formed. After the C-arm device 20 is continuously collided and pressed, the upper housing component will press the lower housing component, so that the lower housing component forms the second closed circuit. During the continuous collision and pressing process, each of the lower housings will successively form the corresponding third closed circuit, fourth closed circuit,..., until the number of closed circuits reaches the set value, the anti-collision instruction will be generated.

[0060] Preferably, in at least two adjacent housing components, the base shell 52 of one housing component serves as the cover shell 51 of the other housing component, that is, the base shell 52 of one housing component and the cover shell 51 of an adjacent other housing component share the same housing. It can be understood that the shared housing has both the first conductive contour surface 501 and the second conductive contour surface 502.

[0061] Figure 9 is another schematic diagram of the anti-collision housing module according to an embodiment of the present invention. Taking Figure 9 the three demonstrated housings as an example for illustration, the three housings from top to bottom are respectively marked as A, B, and C. Then, for two adjacent housing components, one housing component includes A and B (A serves as the cover shell and B serves as the base shell), and the other housing component includes B and C (B serves as the cover shell and C serves as the base shell). B serves as the housing shared by these two housing components. The surface of A facing B is the first conductive contour surface 501 configured in A, the surface of B facing A is the second conductive contour surface 502 configured in B, the surface of B facing C is the first conductive contour surface 501 configured in B, and the surface of C facing B is the second conductive contour surface 502 configured in C. After the collision, A is pressed to contact B, and after B is pressed by A, it contacts C, thus forming two closed circuits with the controller.

[0062] Refer to Figure 4 and Figure 7, the anti-collision housing module 50 further includes a plurality of support members 53, and the plurality of support members 53 are arranged at intervals between the first conductive profile surface 501 and the second conductive profile surface 502. The support members 53 are substantially columnar. The arrangement of the support members 53 can maintain the gap between the housing 51 and the base housing 52, ensuring that the first conductive profile surface 501 and the second conductive profile surface 502 cannot be in contact and connected under normal circumstances, and thus no corresponding closed circuit will be formed. After a collision occurs, a large pressing force will be generated, causing the housing 51 to deform and come into contact with the base housing 52. In this way, it is avoided that the housing 51 comes into contact with the base housing 52 after being accidentally pressed, thereby preventing the anti-collision mechanism of the anti-collision housing module 50 from being accidentally triggered. In this embodiment, the support members 53 can be rigid or flexible (such as rubber columns). When the support members 53 are rigid, after the housing 51 is collided and pressed, the housing 51 is squeezed and deformed to contact the base housing 52, and the support members 53 will not deform; when the support members 53 are flexible members, after the housing 51 is collided and pressed, the housing 51 is squeezed and deformed to contact the base housing 52, and the support members 53 will correspondingly produce elastic deformation and apply an elastic force to the housing 51, and the direction of this elastic force is from the base housing 52 towards the housing 51. It should be noted that the material of the support members 53 is an insulating material, so as to achieve electrical insulation from the first conductive profile surface 501 and the second conductive profile surface 502 respectively.

[0063] Regarding the installation form of the support members 53, this embodiment does not make any restrictions. For example, a plurality of mounting holes 520 are provided on the second conductive profile surface 502 of the base housing 52, and the support members 53 are accommodated in the mounting holes 520. In some other embodiments, it can also be that the support members 53 are bonded to the second conductive profile surface 502.

[0064] Optionally, various colors of paint or graffiti can be sprayed on the side of the housing 51 facing away from the base housing 52 to improve the aesthetics. If problems such as accidental triggering or non-triggering of the anti-collision mechanism occur during the production process of the anti-collision housing module 50, the housing 51 and the base housing 52 can be disassembled for maintenance until the function is normal, so as to ensure the supply quality.

[0065] In summary, in the anti-collision housing module and the C-arm device provided by the present invention, the anti-collision housing module includes at least one housing assembly; the housing assembly includes a cover housing and a base housing, one side of the cover housing facing the base housing is a first conductive contour surface, one side of the base housing facing the cover housing is a second conductive contour surface, and there is a gap between the first conductive contour surface and the second conductive contour surface; the anti-collision housing module is configured such that in at least one of the housing assemblies, when the cover housing and / or the base housing is deformed by an external force, the first conductive contour surface and the second conductive contour surface come into contact to achieve electrical connection and generate an anti-collision instruction; wherein, the anti-collision instruction is used to indicate and / or control the motion state of the C-arm device. With such a configuration, when the C-arm device collides with an obstacle at both ends during movement, the cover housing will be pressed to contact the base housing, causing the first conductive contour surface to contact the second conductive contour surface to achieve electrical connection, thereby generating an anti-collision instruction. According to this anti-collision instruction, the motion state of the C-arm device can be controlled, such as controlling the C-arm device to hover or controlling the C-arm device to move in the reverse direction, so as to avoid further collision damage to the C-arm device. Compared with the design of capacitive sensors in the prior art, the present invention, through the cooperation of the conductive contour surfaces of the cover housing and the base housing respectively, not only ensures the anti-collision detection sensitivity, but also will not be mis-triggered due to high sensitivity, reduces the cost, and the cover housing will not be stuck with the base housing due to mechanical design after being pressed to contact the base housing.

[0066] The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes and modifications made by those of ordinary skill in the technical field of the present invention according to the above disclosure shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An anti-collision shell module (50), applied to a C-arm device (20), characterized in that, It includes at least two housing components; each of the housing components includes a cover housing (51) and a base housing (52). One side of the cover housing (51) facing the base housing (52) is a first conductive profile surface (501), and one side of the base housing (52) facing the cover housing (51) is a second conductive profile surface (502). There is a gap between the first conductive profile surface (501) and the second conductive profile surface (502); the arrangement direction of at least two of the housing components is the same as the arrangement direction between the cover housing (51) and the base housing (52), and the direction from the cover housing (51) towards the base housing (52) in each of the housing components is the same; in at least some adjacent two of the housing components, the base housing (52) of one of the housing components serves as the cover housing (51) of the other housing component; The anti-collision housing module (50) is configured such that the cover housing (51) and / or the base housing (52) in at least two of the housing components are deformed by an external force, so that at least part of the first conductive profile surface (501) and at least part of the second conductive profile surface (502) in each of the housing components come into contact to achieve electrical connection and then generate an anti-collision instruction; wherein, the anti-collision instruction is used to indicate and / or control the motion state of the C-arm device (20).

2. The anti-collision housing module (50) according to claim 1, characterized in that, In each of the housing components, the first conductive profile surface (501) and the second conductive profile surface (502) are electrically connected to the controller (60) respectively. The contact between the first conductive profile surface (501) and the second conductive profile surface (502) causes the first conductive profile surface (501), the second conductive profile surface (502) and the controller (60) to form a closed loop, and the anti-collision instruction is generated after at least two closed loops corresponding to the housing components are formed.

3. The anti-collision shell module (50) according to claim 2, characterized in that, The anti-collision instruction is configured to indicate at least one of an indication signal and an electrical signal; wherein, when the anti-collision instruction is configured as an electrical signal, the controller (60) controls the motion state of the C-arm device (20) according to the electrical signal.

4. The anti-collision housing module (50) according to claim 1, wherein, The anti-collision instruction controlling the motion state of the C-arm device (20) includes stopping the C-arm device (20) or reversely adjusting the motion direction of the C-arm device (20).

5. The anti-collision shell module (50) according to claim 1, characterized in that, The anti-collision housing module (50) further includes a plurality of support members (53), and the plurality of support members (53) are arranged at intervals between the first conductive profile surface (501) and the second conductive profile surface (502) in each of the housing components.

6. The anti-collision housing module (50) according to claim 1, wherein In each of the housing components, the cover housing (51) includes a first main body portion (511) and a first side body portion (512) connected to the first main body portion (511). The first side body portion (512) protrudes from the first main body portion (511) towards the base housing (52) and extends along the edge of the first main body portion (511); the first conductive profile surface (501) includes the inner surface of the first main body portion (511) and / or the inner surface of the first side body portion (512); The base housing (52) includes a second main body portion (521) and a second side body portion (522) connected to the second main body portion (521). The second side body portion (522) protrudes from the second main body portion (521) away from the cover housing (51) and extends along the edge of the second main body portion (521); the second conductive contour surface (502) includes the outer surface of the second main body portion (521) and / or the outer surface of the second side body portion (522).

7. The anti-collision shell module (50) according to claim 1 or 6, characterized in that, In each of the housing assemblies, in the direction from the cover housing (51) to the base housing (52), at least a part of the base housing (52) is covered by the cover housing (51).

8. A C-arm device (20), characterized in that, It includes a base (10), a first arm (21) and a second arm (22) mounted on the base (10), and a collision-proof housing module (50) according to any one of claims 1-7; The collision-proof housing module (50) is mounted on a surface of the first arm (21) other than the surface facing the second arm (22), and in each housing assembly, the direction from the cover housing (51) to the base housing (52) is the same as the direction from the first arm (21) to the second arm (22); and / or, the collision-proof housing module (50) is mounted on a surface of the second arm (22) other than the surface facing the first arm (21), and in each housing assembly, the direction from the cover housing (51) to the base housing (52) is the same as the direction from the second arm (22) to the first arm (21).

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