Medical diagnostic apparatus and medical robot

Abstract

The application provides a medical diagnosis device and a medical robot, the device comprising a base, a guide rail set and a C-shaped arm; the guide rail set comprises at least one first guide rail and at least one second guide rail, the first guide rail and the second guide rail are detachably arranged on the base in a separated manner; the C-shaped arm comprises a first arm segment and a second arm segment for mutually assembling to form the C-shaped arm, the first arm segment is mounted on the first guide rail to be movable on the first guide rail, and the second arm segment is mounted on the second guide rail to be movable on the second guide rail. As above, the first guide rail and the second guide rail are detachably arranged on the base in a separated manner, so that the guide rail mounting the first arm segment and the guide rail mounting the second arm segment are separated, when one of the arm segments needs to be disassembled and maintained, only the arm segment and the corresponding guide rail need to be disassembled from the base, so that the disassembly independence of the two arm segments is better, the disassembly and maintenance process of the C-shaped arm is simplified, and the serviceability is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a medical diagnostic device and a medical robot. Background Technology

[0002] In the existing technology, there are medical diagnostic devices used in the fields of angiography, cardiology, and neurology. These devices typically include a C-arm, with a radiation generator (such as an X-ray generator) and a radiation detector positioned at opposite ends of the C-arm. The C-arm itself is mounted on a medical robot and can rotate at any angle in space under the robot's control. Typically, the C-arm is configured as two segments that can be assembled together to form the C-arm.

[0003] In the clinical diagnosis process, in order to obtain greater clinical freedom, C-arms with movable arm segments have been developed on the market. Specifically, one arm segment is fixed relative to the medical robot, while the other arm segment is movable relative to the medical robot. This allows the relative movement of the two arm segments to change the relative distance between them, thereby changing the relative distance between the X-ray generator and the X-ray detector.

[0004] However, with the continuous development of medical technology, in order to obtain greater clinical freedom, that is, to further increase the relative distance between the radiation generator and the radiation detector, it is necessary to movably mount both segments of the C-arm on the medical robot, which can be understood as a C-arm with two movable segments. Although C-arms with two movable segments or related products have appeared on the market, the disassembly, assembly, and maintenance of C-arms with two movable segments are relatively complex and cumbersome, resulting in poor serviceability. Summary of the Invention

[0005] The purpose of this invention is to provide a medical diagnostic device and a medical robot to solve the problem that the C-arm of the existing medical diagnostic device has two movable arm segments, and the disassembly and maintenance of the C-arm is complicated and cumbersome, resulting in poor serviceability.

[0006] To address the aforementioned technical problems, based on one aspect of the present invention, the present invention provides a medical diagnostic device, comprising:

[0007] Base;

[0008] A guide rail assembly includes at least one first guide rail and at least one second guide rail, wherein the extension directions of the first guide rail and the extension directions of the second guide rail are parallel, and the first guide rail and the second guide rail are detachably disposed on the base in a manner separate from each other.

[0009] A C-arm includes a first arm segment and a second arm segment for assembling together to form the C-arm, the first arm segment being mounted on a first guide rail for being movable on the first guide rail, and the second arm segment being mounted on the second guide rail for being movable on the first guide rail.

[0010] Optionally, the first guide rail and the second guide rail are configured to have the same cross-section and be collinear with each other.

[0011] Optionally, the medical diagnostic device includes a bumper block, which is detachably mounted on the first guide rail and / or the second guide rail.

[0012] Optionally, a portion of the anti-collision block is detachably disposed on the first guide rail, and another portion of the anti-collision block is detachably disposed on the second guide rail, and the anti-collision block protrudes from the first guide rail and the second guide rail.

[0013] Optionally, the anti-collision block has a plurality of protrusions protruding toward the base, at least a first portion of the protrusions being positioned with the first guide rail, and at least a second portion of the protrusions being positioned with the second guide rail.

[0014] Optionally, the medical diagnostic device includes a plurality of sliders, wherein the first arm segment is movably connected to the first guide rail via at least one of the sliders, and the second arm segment is movably connected to the second guide rail via at least one of the sliders.

[0015] Optionally, the medical diagnostic device includes a lifting drive assembly, which includes a drive shaft connected to the first arm segment or the second arm segment. The drive shaft rotates under the drive of a drive motor to drive the first arm segment closer to or away from the second arm segment, or to drive the second arm segment closer to or away from the first arm segment.

[0016] Optionally, the lifting drive assembly includes a fixing member, which includes a first fixing part and a second fixing part that are detachable from each other. The first fixing part is used to connect with the first arm segment or the second arm segment, and the second fixing part is used to connect the first fixing part to the drive shaft.

[0017] Optionally, the medical diagnostic device includes a protective cover, the two ends of which are connected to the first arm segment and the second arm segment respectively, and the protective cover is retractable.

[0018] Optionally, the medical diagnostic equipment includes angiography imaging equipment.

[0019] Based on a second aspect of the present invention, the present invention also provides a medical robot, which includes a robot body and a medical diagnostic device as described above, wherein the robot body is connected to the base and is used to drive the base to move within a spatial range.

[0020] In summary, in the medical diagnostic equipment and medical robot provided by this invention, the medical diagnostic equipment includes a base, a guide rail assembly, and a C-shaped arm. The guide rail assembly includes at least one first guide rail and at least one second guide rail, the extension directions of the first guide rail and the second guide rail being parallel. The first guide rail and the second guide rail are detachably mounted on the base in a manner separate from each other. The C-shaped arm includes a first arm segment and a second arm segment for mutual assembly to form the C-shaped arm. The first arm segment is mounted on the first guide rail and is movable on the first guide rail, and the second arm segment is mounted on the second guide rail and is movable on the second guide rail. In this invention, the first guide rail and the second guide rail are detachably mounted on the base in a manner separate from each other, which allows the guide rail for mounting the first arm segment to be separated from the guide rail for mounting the second arm segment. When one arm segment needs to be disassembled and maintained, only this arm segment and the corresponding guide rail need to be disassembled and assembled from the base. This results in better independence of disassembly and assembly of the two arm segments, simplifies the disassembly and maintenance process of the C-shaped arm, and improves serviceability. Attached Figure Description

[0021] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0022] Figure 1 This is a schematic diagram of a medical diagnostic device according to an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 Enlarged view of section A in the middle;

[0024] Figure 3 yes Figure 2 A simplified view from the main perspective;

[0025] Figure 4 This is a schematic diagram of a guide rail assembly, anti-collision block, and slider according to an embodiment of the present invention;

[0026] Figure 5 yes Figure 4 A simplified view of the central anti-collision block from the main view direction;

[0027] Figure 6 This is a schematic diagram of a medical robot according to an embodiment of the present invention.

[0028] In the attached image:

[0029] 100-Medical diagnostic equipment; 110-Base; 120-Guide rail assembly; 121-First guide rail; 122-Second guide rail; 123-Guide rail joint; 130-C-shaped arm; 131-First arm segment; 132-Second arm segment; 141-X-ray generator; 142-X-ray detector; 150-Slider; 160-Lifting drive assembly; 161-Drive shaft; 162-Fixing component; 1621-First fixing part; 1622-Second fixing part; 170-Anti-collision block; 171-Boss; 180-Protective cover;

[0030] 200 - Robot body. Detailed Implementation

[0031] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to 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 facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0032] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature. “One end” and “the other end,” as well as “proximal end” and “distal end,” generally refer to two corresponding parts, including not only endpoints. The terms “installed,” “connected,” and “joined” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral part; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two elements or an interaction between two elements. Furthermore, as used in this invention, the phrase "one element is 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 can be direct or indirect through an intermediate element. It should not be construed as indicating or implying a spatial positional relationship between the two elements, i.e., one element can be located arbitrarily inside, outside, above, below, or to one side of the other element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] This embodiment provides a medical diagnostic device and a medical robot to solve the problem that in the prior art, when the C-arm of a medical diagnostic device has two movable arm segments, the disassembly and maintenance of the C-arm is relatively complicated and cumbersome, resulting in poor serviceability.

[0034] The medical diagnostic device and medical robot of this embodiment will be described below with reference to the accompanying drawings.

[0035] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a medical diagnostic device according to an embodiment of the present invention. Figure 2 yes Figure 1The enlarged view of part A shows that the medical diagnostic device 100 provided in this embodiment includes a base 110, a guide rail assembly 120, and a C-shaped arm 130. The base 110 is used to connect to an external robot body 200 and can move within a spatial range under the drive of the robot body 200, including rotational and linear motion. The guide rail assembly 120 includes at least one first guide rail 121 and at least one second guide rail 122. The extension directions of the first guide rail 121 and the second guide rail 122 are parallel. Furthermore, both the first guide rail 121 and the second guide rail 122 are detachably mounted on the base 110, and the first guide rail 121 and the second guide rail 122 can be separated from each other. This means that the first guide rail 121 and the second guide rail 122 are not integrally formed, but are formed separately, or an integrally formed guide rail is cut into two sub-guide rails. The specific method of detachment can be, for example, mounting to the base 110 with screws, riveting to the base 110, or snap-fitting to the base 110; this embodiment does not limit this. The C-shaped arm 130 includes two arm segments for mutual assembly to form the C-shaped arm 130, namely a first arm segment 131 and a second arm segment 132. The first arm segment 131 is mounted on a first guide rail 121 and can move on the first guide rail 121. The second arm segment 132 is mounted on a second guide rail 122 and can move on the second guide rail 122.

[0036] In this way, the first arm segment 131 and the second arm segment 132 can be independently assembled and disassembled. Specifically, during installation, the base 110 is horizontally positioned under the drive of the external robot body 200. The first guide rail 121 is installed onto the base 110, and then the first arm segment 131 is installed onto the first guide rail 121. Alternatively, the first arm segment 131 can be installed onto the first guide rail 121 first, and then the first arm segment 131 and the first guide rail 121 can be installed onto the base 110 as a whole. During disassembly, the base 110 is horizontally positioned under the drive of the external robot body 200, and the first arm segment 131 and the first guide rail 121 can be removed from the base 110 as a whole. The assembly and disassembly of the second arm segment 132 and the second guide rail 122 are carried out in the same way, and will not be described in detail here. The assembly and disassembly of the second arm segment 132 and the second guide rail 122 can be carried out simultaneously with the assembly and disassembly of the first arm segment 131 and the first guide rail 121 by multiple operators.

[0037] While mounting the two sections of the C-arm movably on the same guide rail is an option, this design requires removing both the guide rail and the other section together when one section needs maintenance. This is not only time-consuming and labor-intensive but also poses safety risks. Furthermore, with this design, the two sections are typically connected to the guide rail first to form a single unit before being mounted together onto the base. In contrast, the first guide rail 121 and the second guide rail 122 in this embodiment are separable. When maintaining one section, only the section and its corresponding guide rail need to be removed from the base 110 as a single unit. They can also be installed separately, significantly reducing workload.

[0038] One of the first arm segment 131 and the second arm segment 132 is equipped with a radiation generator 141, and the other of the first arm segment 131 and the second arm segment 132 is equipped with a radiation detector 142. Understandably, the radiation generator 141 is a device capable of emitting X-rays, gamma rays, or electron beams, and the radiation detector 142 is a device capable of receiving the radiation emitted by the radiation generator 141. The cooperation of the radiation generator 141 and the radiation detector 142 enables medical examinations or treatments. In one embodiment, the radiation generator 141 can emit X-rays, the radiation detector 142 can be a flat panel detector, and the medical diagnostic device 100 is an angiography imaging device. Please continue reading. Figure 1 In this embodiment, the X-ray generator 141 is mounted on the second arm segment 132, and the X-ray detector 142 is mounted on the first arm segment 131. Alternatively, the X-ray generator 141 can be mounted on the first arm segment 131, and the X-ray detector 142 on the second arm segment 132. Typically, an external examination bed is provided, located between the X-ray generator 141 and the X-ray detector 142. During the diagnostic examination, the patient lies supine on the examination bed, with the X-ray generator 141 generally located below the examination bed and the X-ray detector 142 generally located above it. Before the patient's examination, if the X-ray generator 141 is located above the examination bed and the X-ray detector 142 is located below it, the C-arm 130 can be rotated via a robot body 200 externally connected to it, ensuring that the spatial relative positions of the X-ray generator 141 and the X-ray detector 142 meet the requirements for the diagnostic examination.

[0039] Furthermore, in order to adjust the SID (SID refers to the relative distance between the focal point of the X-ray tube inside the X-ray generator 141 and the imaging surface of the X-ray detector 142), this embodiment configures the first arm segment 131 to be movable on the first guide rail 121, and the second arm segment 132 to be movable on the second guide rail 122. This allows both the X-ray generator 141 and the X-ray detector 142, arranged on the C-shaped arm 130, to move relative to each other, thereby obtaining a larger SID range and thus greater clinical freedom to meet the specific SID requirements of clinical diagnosis. The medical diagnostic device 100 in this embodiment can be used in the fields of angiography, cardiology, and neurology, and this invention is not limited thereto.

[0040] Understandably, the planar structure of the first guide rail 121 is roughly strip-shaped or plate-shaped. The extension direction of the first guide rail 121 can be its length direction, and its width direction is perpendicular to the extension direction in the same plane. The second guide rail 122 is similar. In practice, during installation, in order to meet the width requirements of the first arm segment 131 and the second arm segment 132, and to make the installation of the first arm segment 131 and the second arm segment 132 more stable and prevent derailment, technicians usually provide at least two first guide rails 121 to cooperate with the first arm segment 131, and at least two first guide rails 121 are arranged at intervals along the width direction of the first guide rail 121, and at least two first guide rails 121 are parallel to each other in their length directions; at least two second guide rails 122 are provided to cooperate with the second arm segment 132, and at least two second guide rails 122 are arranged at intervals along the width direction of the second guide rail 122, and at least two second guide rails 122 are parallel to each other in their length directions. In addition, the number of first guide rails 121 and second guide rails 122 can be equal.

[0041] For further details on the specific moving arrangement of the boom sections on the guide rails, please refer to [link / reference needed]. Figure 2 And in conjunction with reference Figure 3 , Figure 3 yes Figure 2 In a simplified view from the main perspective, the medical diagnostic device 100 includes multiple sliders 150. The first arm segment 131 is movably connected to the first guide rail 121 via at least one slider 150, and the second arm segment 132 is movably connected to the second guide rail 122 via at least one slider 150. Specifically, the sliders 150 are disposed on the first guide rail 121 / second guide rail 122 and are movable along the direction of the guide rails. The sliders 150 are fixedly connected to their corresponding arm segments, thereby driving the corresponding arm segments to move on the guide rails. During disassembly and maintenance, the arm segments, corresponding guide rails, and sliders 150 are removed from the base 110 as a whole.

[0042] Preferably, please refer to Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of a guide rail, anti-collision block, and slider according to an embodiment of the present invention. Figure 5 yes Figure 4 A simplified view of the anti-collision block from the front view shows that the first arm segment 131 is located on the first guide rail 121, and the second arm segment 132 is located on the second guide rail 122. The cross-sections of the first guide rail 121 and the second guide rail 122 are configured to be identical (including identical shape and size), and the first guide rail 121 and the second guide rail 122 are arranged collinearly and abut against each other. It should be understood that the cross-section here refers to the cross-section along the width direction of the guide rail. In this way, the first guide rail 121 and the second guide rail 122 can be connected with a large degree of fit. The medical diagnostic device also includes an anti-collision block 170, which is disposed on the first guide rail 121 and / or the second guide rail 122 and protrudes from the first guide rail 121 and / or the second guide rail 122 to limit the range of movement of the arm segments. When the C-arm 130 is in a non-operating state (e.g., service mode or assembly mode), the C-arm 130 is horizontally arranged with the base 110. After removing the anti-collision block 170, the first arm segment 131 can be moved from the first guide rail 121 to the range of the second guide rail 122, or the second arm segment 132 can be moved from the second guide rail 122 to the range of the first guide rail 121 (e.g., by using the slider 150 to slide on the first guide rail 121 and the second guide rail 122 to increase the range of movement of the arm segment). This allows for simple inspection and maintenance of the C-arm 130, such as inspecting and maintaining components (e.g., internal cables) within the original coverage area of ​​the first arm segment 131 or the second arm segment 132. Please refer to [link to relevant documentation]. Figure 4 The first guide rail 121 and the second guide rail 122 are installed independently and spliced ​​together, with the splice point being the guide rail joint 123. If it is necessary to detach the first arm segment 131 from the base 110 for maintenance, or to replace the original first arm segment 131 with a new one, simply remove the corresponding first guide rail 121 and the first arm segment 131 together from the base 110 before replacement or maintenance. The second arm segment 132 is handled similarly. In addition, the base 110 has a pre-reserved positioning shoulder, which can be understood as the installation path of the first guide rail 121 and the second guide rail 122, facilitating the installation of the first guide rail 121 and the second guide rail 122 according to this path, so that the first guide rail 121 and the second guide rail 122 are collinearly arranged and connected abutting against each other.

[0043] Please continue reading. Figure 4 and Figure 5The medical diagnostic device 100 includes a bumper block 170. Optionally, a portion of the bumper block 170 is detachably mounted on the first guide rail 121, and a second portion is detachably mounted on the second guide rail 122. The bumper block 170 protrudes from both the first and second guide rails 121 and 122, specifically protruding towards the opening of the C-shaped arm 130, and covers the guide rail joint 123. During the operation of the C-shaped arm 130 in conjunction with the X-ray generator 141 and the X-ray detector 142, the bumper block 170 can be positioned between the first arm segment 131 and the second arm segment 132. Both ends of the bumper block 170 can respectively abut against the first arm segment 131 and the second arm segment 132, specifically against the slider 150, limiting the movement range of the slider 150. This prevents the first arm segment 131 and the second arm segment 132 from colliding during the operation of the medical diagnostic device 100, ensuring safety. Furthermore, the anti-collision block 170 can also strengthen the connection between the first guide rail 121 and the second guide rail 122. It should be noted that if simple local inspection and maintenance of the C-arm 130 is required, the anti-collision block 170 needs to be removed from the guide rail assembly 120 first, then one arm segment can be pushed onto the guide rail containing the other arm segment, and subsequently, the components originally covered by the C-arm 130 can be inspected and maintained. In this embodiment, the anti-collision block 170 can be a rubber part or a metal part; the present invention is not limited in this regard.

[0044] For a better option, please continue reading. Figure 5 The anti-collision block 170 has a direction toward the base 110 ( Figure 5 Multiple protrusions 171 (in the vertically downward direction shown in the figure) are provided. At least a first portion of the protrusions 171 are used for positioning with the first guide rail 121, and at least a second portion of the protrusions 171 are used for positioning with the second guide rail 122. This configuration strengthens the connection between the first guide rail 121 and the second guide rail 122 during the operation of the C-arm 130, preventing derailment.

[0045] For further information, please refer to [link / reference]. Figure 2Regarding the driving method for the movement of the first arm segment 131 and / or the second arm segment 132, the medical diagnostic device 100 of this embodiment is equipped with at least one lifting drive assembly 160 for driving the first arm segment 131 and / or the second arm segment 132 to generate relative movement. Specifically, the lifting drive assembly 160 includes a drive shaft 161, which is connected to the first arm segment 131 or the second arm segment 132. The drive shaft 161 is used to rotate around its own central axis to drive the first arm segment 131 to move closer to or away from the second arm segment 132, or to drive the second arm segment 132 to move closer to or away from the first arm segment 131. Specifically, the lifting drive assembly 160 also includes a motor, which is connected to the drive shaft 161 and is used to drive the drive shaft 161 to rotate. The drive shaft 161 converts its own rotational motion into linear motion (linear motion) of the arm segment, causing the arm segment connected to the drive shaft 161 to move along the direction of the corresponding guide rail. For example, when the motor rotates forward, it drives the first arm segment 131 away from the second arm segment 132; when the motor rotates in reverse, it drives the first arm segment 131 closer to the second arm segment 132. In an illustrative embodiment, the structure in which the drive shaft 161 drives the first arm segment 131 or the second arm segment 132 includes a ball screw structure.

[0046] Preferably, see below. Figure 2 The lifting drive assembly 160 further includes a fixing member 162, which includes a detachable first fixing part 1621 and a second fixing part 1622. The first fixing part 1621 is used to connect with the first arm segment 131 or the second arm segment 132, and the second fixing part 1622 is used to connect the first fixing part 1621 to the drive shaft 161. Taking the movable first arm segment 131 as an example, the lifting drive assembly 160 corresponding to the first arm segment 131 includes a fixing member 162. The first fixing part 1621 of the fixing member 162 is connected to the first arm segment 131, and the second fixing part 1622 is connected to the drive shaft 161. The first fixing part 1621 and the second fixing part 1622 are detachably connected. When the first arm segment 131 needs to be moved by a motor, the first fixing part 1621 and the second fixing part 1622 are assembled together, and the first arm segment 131 can be moved under the drive of the second fixing part 1622. When the medical diagnostic equipment 100 needs to be maintained, the first fixing part 1621 and the second fixing part 1622 are disassembled, and after removing the anti-collision block 170, the first arm segment 131 can be manually pushed to move into the range of the second guide rail 122. The lifting drive assembly 160 corresponding to the second arm segment 132 is similar to the lifting drive assembly 160 corresponding to the first arm segment 131, and will not be described in detail here.

[0047] In one illustrative embodiment, the fixing member 162 includes a right-angle connecting component and a fixing block. The right-angle connecting component and the fixing block are connected by screws. The right-angle connecting component is connected to the first arm segment 131, and the fixing block is connected to the drive shaft 161. Taking the first arm segment 131 as an example, when the motor needs to drive the first arm segment 131 to move, the right-angle connecting component and the fixing block are connected together by screws. When maintenance is required, the screws are removed to separate the right-angle connecting component and the fixing block, and the first arm segment 131 can be pushed manually. If it is necessary to push the first arm segment 131 onto the second guide rail 122, the anti-collision block 170 must first be removed from the first guide rail 121 and the second guide rail 122. After pushing the two arm segments onto the same guide rail, maintenance can be performed. Furthermore, if the fixing member 162 is located within the range of the base 110, the height of the fixing block (the height along the vertical direction of the base 110) should be less than the height of the inner surface of the first arm segment 131. This will prevent the first arm segment 131 from colliding with the fixing block when the first arm segment 131 is manually pushed, and will allow the first arm segment 131 to cover the fixing block.

[0048] Preferably, please refer to Figure 1 The medical diagnostic device 100 also includes a protective cover 180. It should be noted that... Figure 2 yes Figure 1 Enlarged view of part A in the middle. Figure 2 This is a view after removing the protective cover 180. The two ends of the protective cover 180 are connected to the first arm segment 131 and the second arm segment 132, respectively. The protective cover 180 is telescopic, expanding or contracting with the relative movement of the first arm segment 131 and the second arm segment 132. When the first arm segment 131 and the second arm segment 132 move relative to each other, a space appears between them. Without a protective element, components located in this space would be exposed. By configuring the protective cover 180, this space can be covered, ensuring the aesthetics of the equipment. Understandably, when the protective cover 180 is fully retracted, it corresponds to the minimum SID (Surface Area Diameter) of the first arm segment 131 and the second arm segment 132; when the protective cover 180 is fully extended, it corresponds to the maximum SID of the first arm segment 131 and the second arm segment 132. When maintenance and inspection are required, such as when maintaining components inside the protective cover 180 (e.g., anti-collision block 170, guide rail, lifting drive assembly 160, cables, etc.), or when maintenance is required on the C-arm 130, the protective cover 180 must be removed first.

[0049] Please see Figure 6 , Figure 6This is a schematic diagram of a medical robot according to an embodiment of the present invention. Based on the aforementioned medical diagnostic device 100, this embodiment also provides a medical robot. The medical robot includes a robot body 200 and the medical diagnostic device 100 as described above. The robot body 200 is connected to the base 110 and is used to drive the base 110 to move within a spatial range, thereby enabling the C-shaped arm 130 to move within a spatial range, including rotational and linear movements. This gives the C-shaped arm 130 high flexibility to meet different clinical examination needs. Thus, the robot body 200 can be a six-axis robot, with its end connected to the medical diagnostic device 100.

[0050] It is understood that since the medical robot includes the medical diagnostic device 100, the medical robot also has the beneficial effects brought by the medical diagnostic device 100. This embodiment does not elaborate on the working principle and other related structures of the medical robot, which can be learned by those skilled in the art based on the prior art.

[0051] In summary, in the medical diagnostic equipment and medical robot provided by this invention, the medical diagnostic equipment includes a base, a guide rail assembly, and a C-shaped arm. The guide rail assembly includes at least one first guide rail and at least one second guide rail, the extension directions of the first guide rail and the second guide rail being parallel. The first guide rail and the second guide rail are detachably mounted on the base in a manner separate from each other. The C-shaped arm includes a first arm segment and a second arm segment for mutual assembly to form the C-shaped arm. The first arm segment is mounted on the first guide rail for movement on the first guide rail, and the second arm segment is mounted on the second guide rail for movement on the second guide rail. In this invention, the first guide rail and the second guide rail are detachably mounted on the base in a manner separate from each other, allowing the guide rail for mounting the first arm segment and the guide rail for mounting the second arm segment to be separated. When one arm segment needs to be disassembled and maintained, only this arm segment and the corresponding guide rail need to be disassembled and assembled from the base, resulting in better independence of disassembly and assembly of the two arm segments, simplifying the disassembly and maintenance process of the C-shaped arm, and improving serviceability.

[0052] The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A medical diagnostic device (100), characterized in that, include: Base (110); The guide rail assembly (120) includes at least one first guide rail (121) and at least one second guide rail (122), the extension direction of the first guide rail (121) and the extension direction of the second guide rail (122) are parallel, and the first guide rail (121) and the second guide rail (122) are detachably disposed on the base (110) in a manner separate from each other; A C-arm (130) includes a first arm segment (131) and a second arm segment (132) for mutual assembly to form the C-arm (130), the first arm segment (131) being mounted on a first guide rail (121) for being movable on the first guide rail (121), and the second arm segment (132) being mounted on a second guide rail (122) for being movable on the second guide rail (122).

2. The medical diagnostic device (100) according to claim 1, characterized in that, The first guide rail (121) and the second guide rail (122) are configured to have the same cross section and be collinear with each other.

3. The medical diagnostic device (100) according to claim 1, characterized in that, The medical diagnostic device (100) includes a bumper (170) which is detachably mounted on the first guide rail (121) and / or the second guide rail (122).

4. The medical diagnostic device (100) according to claim 3, characterized in that, A portion of the anti-collision block (170) is detachably disposed on the first guide rail (121), and another portion of the anti-collision block (170) is detachably disposed on the second guide rail (122), and the anti-collision block (170) protrudes from the first guide rail (121) and the second guide rail (122).

5. The medical diagnostic device (100) according to claim 4, characterized in that, The anti-collision block (170) has a plurality of protrusions (171) protruding toward the base (110), at least a first portion of the protrusions (171) being used for positioning with the first guide rail (121), and at least a second portion of the protrusions (171) being used for positioning with the second guide rail (122).

6. The medical diagnostic device (100) according to claim 1, characterized in that, The medical diagnostic device (100) includes a plurality of sliders (150), the first arm segment (131) is movably connected to the first guide rail (121) via at least one of the sliders (150), and the second arm segment (132) is movably connected to the second guide rail (122) via at least one of the sliders (150).

7. The medical diagnostic device (100) according to claim 1, characterized in that, The medical diagnostic device (100) includes a lifting drive assembly (160), which includes a drive shaft (161). The drive shaft (161) is connected to the first arm segment (131) or the second arm segment (132). The drive shaft (161) rotates under the drive of a drive motor to drive the first arm segment (131) to move closer to or away from the second arm segment (132), or to drive the second arm segment (132) to move closer to or away from the first arm segment (131).

8. The medical diagnostic device (100) according to claim 7, characterized in that, The lifting drive assembly (160) includes a fixing member (162), which includes a first fixing part (1621) and a second fixing part (1622) that are detachable from each other. The first fixing part (1621) is used to connect with the first arm segment (131) or the second arm segment (132), and the second fixing part (1622) is used to connect the first fixing part (1621) to the drive shaft (161).

9. The medical diagnostic device (100) according to claim 2, characterized in that, The medical diagnostic device (100) includes a protective cover (180), the two ends of which are connected to the first arm segment (131) and the second arm segment (132) respectively, and the protective cover (180) is retractable.

10. The medical diagnostic device (100) according to any one of claims 1-9, characterized in that, The medical diagnostic equipment (100) includes angiography imaging equipment.

11. A medical robot, characterized in that, The device includes a robot body (200) and a medical diagnostic device (100) according to any one of claims 1-10, wherein the robot body (200) is connected to the base (110) and is used to drive the base (110) to move within a spatial range.

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