Automatic injection support for auxiliary radiation equipment
Through the design of the automatic injection bracket, the servo motor system and programmable logic controller are used to achieve accurate injection positioning in the radiation environment, solving the radiation exposure problem of medical staff when injecting under the CT machine, and improving the safety of injection and efficiency.
Patent Information
- Application Number
- CN202411315121.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2024-12-13
Smart Images
Figure CN119113273A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of medical equipment in a medical radiation environment, and in particular to an automatic injection bracket for auxiliary radiation equipment. Background Art
[0002] In modern hospitals, the pain department is a newly emerging clinical department in recent years. It mainly treats some chronic pain syndromes, neuropathic pain, cancer pain, musculoskeletal pain and other pain symptoms. It often uses minimally invasive interventional treatments and has achieved good results in the field of intractable pain that cannot be relieved by many external and internal medications and physical therapy, allowing patients to get rid of the side effects and toxic effects of long-term drug therapy and physical therapy.
[0003] Most patients suffer from trauma and degenerative bone hyperplasia in the spine and cervical spine, which compress the nerves and cause long-term pain. Minimally invasive interventional treatment mainly treats pain by injecting drugs into the lesions, and through anti-inflammatory, dehydration, swelling, analgesic and other treatment methods. When injecting drugs into the bone gaps of the spine and cervical spine, a CT machine is required for radiation irradiation to assist in precise positioning so that the liquid in the needle can be injected directly into the lesion.
[0004] However, in reality, it is impossible for doctors to position the needle by exposing it to CT radiation. They can only conduct experiments by going back and forth between the control room and the operating bed. In view of this, how to achieve accurate positioning of the needle to the lesion in a radiation environment while reducing the risk of radiation damage to medical staff has become an urgent problem that technicians in this field need to solve. Summary of the invention
[0005] In order to achieve the above object, the present invention provides an automatic injection bracket for auxiliary radiation equipment.
[0006] The automatic injection stand for auxiliary radiation equipment according to the present invention comprises: a stand base plate, a horizontal rotation axis rotatably connected to the stand base plate, a first servo motor system for driving the horizontal rotation axis to rotate horizontally and position, a vertical column fixedly connected to the horizontal rotation axis, a retractable fixed beam rotatably connected to the vertical column, a second servo motor system for driving the retractable fixed beam to rotate and position on a vertical plane perpendicular to the rotation plane of the horizontal rotation axis, a needle adjustment component connected to the retractable fixed beam for adjusting and fixing the syringe, and an electric control system. The electric control system comprises a programmable logic controller, which is used to control the first servo motor system and the second servo motor system to rotate and position at a preset speed respectively, so as to drive the horizontal rotation axis and the retractable fixed beam to rotate and position, and store the position information of the horizontal rotation axis and the retractable fixed beam in a register inside the programmable logic controller.
[0007] Furthermore, the first servo motor system includes a first servo motor, a first encoder connected to the motor shaft of the first servo motor, a first brake and a first servo motor driver; the second servo motor system includes a second servo motor, a second encoder connected to the motor shaft of the second servo motor, a second brake and a second servo motor driver; the programmable logic controller sends out a high-speed pulse after receiving an operation instruction, and the high-speed pulse controls the first servo motor driver and the second servo motor driver, thereby controlling the rotation of the first servo motor and the second servo motor; the first encoder and the second encoder are used to respectively feedback pulse signals, which are PID-operated with the pulse signals of the corresponding rotation angles of the first servo motor and the second servo motor to form a position closed loop; the first brake and the second brake are automatically locked, thereby realizing the positioning of the horizontal rotating shaft and the retractable fixed beam.
[0008] Furthermore, the electric control system also includes an electric control cabinet located on the bottom plate of the bracket, the electric control cabinet includes a shell, a vertical partition located inside the shell, used to separate the shell into a left space and a right space, the left space is divided into an upper space, a middle space and a lower space, the upper space is used to place a programmable logic controller, the middle space is used to place switches and 220V terminal blocks, the lower space is used to place 24V terminal blocks, the right space is divided into an upper space and a lower space, the upper space is used to place power circuit and control circuit electrical components, and the lower space is used to place a first servo motor driver and a second servo motor driver.
[0009] Furthermore, the electronic control system also includes an operation indicator panel located on the bottom plate of the bracket, on which at least control keys for issuing action instructions to the first servo motor and the second servo motor are provided, a position confirmation key for confirming and storing the position of the horizontal rotating axis and the retractable fixed beam, and a position memory key for reading the stored position, so that when the position memory key is pressed, the automatic injection bracket for assisting the radiation equipment is automatically adjusted to that position.
[0010] Furthermore, the needle tube adjustment assembly includes a sleeve connected to the free end of the retractable fixed beam, a spherical shaft located in the sleeve and capable of rotating and being fixed therein, and a syringe connected to the spherical shaft, wherein a through hole is provided on the spherical shaft, and the syringe passes through the through hole and is fixed in the through hole.
[0011] Furthermore, medical silica gel is provided between the shaft sleeve and the spherical shaft, and between the through hole and the syringe.
[0012] Furthermore, a first limit rod and a second limit rod are formed on the bottom plate of the bracket and are located on both sides of the horizontal rotation axis. A transverse support arm is connected to the horizontal rotation axis, and a first zero point switch and a first limit switch are provided on the transverse support arm. The transverse support arm can move within a first range defined by the first limit rod and the second limit rod. A first zero point indication key and a first limit indication key are also provided on the operation indicator panel. When the first zero point switch touches the second limit rod, the programmable logic controller controls the first servo motor to stop working, the first brake is locked, and the first zero point indication key lights up. When the first limit switch touches the first limit rod, the programmable logic controller controls the first servo motor to stop working, the first brake is locked, and the first limit indication key lights up.
[0013] Furthermore, a limit rod assembly is also provided at the top of the vertical column, the limit rod assembly includes a vertical rod connected to the vertical column and a horizontal rod vertically connected to the vertical rod, the axial direction of the horizontal rod is perpendicular to the axial direction of the horizontal rotation axis, the lower surface of the telescopic fixed beam opposite to the vertical column is provided with a second zero point switch, the upper surface of the telescopic fixed beam opposite to the horizontal rod is provided with a second limit switch, and the telescopic fixed beam can move within a second range defined by the second zero point switch and the horizontal rod; a second zero point indication key and a second limit indication key are also provided on the operation indicator panel, when the second zero point switch touches the vertical column, the programmable logic controller controls the second servo motor to stop working, the second brake is locked, and the second zero point indication key lights up, and when the second limit switch touches the horizontal rod, the programmable logic controller controls the second servo motor to stop working, the second brake is locked, and the second limit indication key lights up.
[0014] Further, the first range is configured such that the rotation angle range of the horizontal rotation axis is 0° to 180°; and the second range is configured such that the rotation angle range of the telescopic fixed beam is 0° to 150°.
[0015] Furthermore, the shaft sleeve is locked by bolts.
[0016] The automatic injection support for auxiliary radiation equipment of the present invention realizes the rotation angle of the horizontal rotation axis and the retractable fixed beam within the corresponding plane range by using a programmable logic controller (PLC) to control the rotation angle of the first servo motor and the second servo motor. Since the PLC can realize more accurate control of the rotation angle of the first servo motor and the second servo motor, it is convenient for doctors to accurately position as soon as possible. At the same time, the register can store multiple position information of the horizontal rotation axis and the retractable fixed beam, which can facilitate doctors to select the best position scheme among multiple positions. By reading the previously accessed position information from the register as a new given, the horizontal rotation axis and the retractable fixed beam can quickly reach the previous access position, and a new storage position can also be randomly defined as needed. The operation is simple and convenient. Based on the regional position of the lesion given by the radiation equipment (such as CT) and combined with the doctor's experience, the needle of the syringe can be accurately aligned with the injectable position of the lesion. It avoids the doctor holding the syringe and exposing it to the CT irradiation to manually position the needle tube, and there is no need to go back and forth between the control room and the operating bed for multiple experimental explorations, thereby realizing the accurate positioning of the lesion by the syringe in the radiation environment while reducing the risk of radiation injury to medical staff. The automatic injection bracket for auxiliary radiation equipment of the present invention can be used in radioactive environments such as hospital pain departments and places where human individuals cannot stay for a long time but require diagnosis and surgery, and has wide promotion and use value. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 is a schematic structural diagram of an automatic injection stand for auxiliary radiation equipment according to an embodiment of the present invention, wherein a needle tube adjustment assembly is not shown;
[0018] Figure 2 It is a front view schematic diagram of the structure of the needle tube adjustable component;
[0019] Figure 3 A system principle diagram of an electric control system for an automatic injection stand for auxiliary radiation equipment according to an embodiment of the present invention;
[0020] Figure 4 for Figure 1 The schematic diagram of the structural layout of the electric control cabinet shown;
[0021] Figure 5 for Figure 1 Functional diagram of the operating indicator panel shown. DETAILED DESCRIPTION
[0022] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.
[0023] Figure 1 and Figure 2The structure of the automatic injection support 100 for assisting radiation equipment according to an embodiment of the present invention is shown together. Figure 1 and Figure 2 As shown, the automatic injection support 100 for auxiliary radiation equipment may include: a support base plate 1, a horizontal rotation shaft 2 rotatably connected to the support base plate 1, a first servo motor system for driving the horizontal rotation shaft 2 to rotate horizontally and position, a vertical column 3 fixedly connected to the horizontal rotation shaft 2, a retractable fixed beam 4 rotatably connected to the vertical column 3 via a rotation shaft 42, a second servo motor system for driving the retractable fixed beam 4 to rotate and position on a vertical plane perpendicular to the rotation plane of the horizontal rotation shaft 2, a needle tube adjustment component 5 connected to the retractable fixed beam 4, the needle tube adjustment component 5 is used to adjust and fix the syringe 54, and an electronic control system. Figure 3 and Figure 4 As shown, the electric control system may include a programmable logic controller 121 (PLC), which is used to control the first servo motor system and the second servo motor system to rotate and position at a preset speed, so as to drive the horizontal rotating shaft 2 and the retractable fixed beam 4 to rotate and position, and at the same time, the position information of the horizontal rotating shaft 2 and the retractable fixed beam 4 is stored in a register inside the programmable logic controller by pressing the following position confirmation button.
[0024] When the automatic injection bracket 100 for auxiliary radiation equipment of the embodiment of the present invention is in use, the bracket base plate 1 can be installed in the slideway at the edge of the operating bed through a pulley, and locked beside the operating bed through a positioning bolt after the sliding position is in place; the rotation of the first servo motor system 9 is controlled by the programmable logic controller 121 to adjust the rotation and positioning of the horizontal rotating shaft 2 relative to the bracket base plate 1, thereby adjusting the position of the retractable fixed beam 4 on the horizontal plane; the rotation of the second servo motor system 8 is controlled by the programmable logic controller 121 to adjust the rotation and positioning of the retractable fixed beam 4 relative to the vertical column 3, thereby adjusting the position of the retractable fixed beam 4 on the vertical plane, by adjusting the extension and retraction of the retractable fixed beam 4, it can be extended to the patient's injection area and then locked and opened by the locking bolt 41, and the deflection angle of the syringe 54 can be adjusted by adjusting the needle adjustment assembly 5 connected to the free end of the retractable fixed beam 4, thereby finally adjusting the alignment position of the syringe 54.
[0025] The automatic injection support 100 for assisting radiation equipment of the embodiment of the present invention realizes the rotation angle of the horizontal rotation axis 2 and the telescopic fixed beam 4 within the corresponding plane range by using a programmable logic controller 121 (PLC) to control the rotation angle of the first servo motor system and the second servo motor system. Since the PLC can realize more precise control of the rotation angle of the first servo motor system and the second servo motor system, it is convenient for doctors to accurately locate as soon as possible. At the same time, the register inside the PLC can store multiple position information of the horizontal rotation axis 2 and the telescopic fixed beam 4, which can facilitate doctors to select the best position scheme from multiple positions. By reading the register, The previously accessed position information is used as a new given, so that the horizontal rotating shaft 2 and the retractable fixed beam 4 can quickly reach the previously accessed position, and a new storage position can also be randomly defined as needed. The operation is simple and convenient. Based on the regional position of the lesion given by the radiation equipment (such as CT) and the doctor's experience, the needle of the syringe 54 can be accurately aligned with the injectable position of the lesion, which avoids the doctor holding the syringe and exposing it to the CT radiation for manual positioning of the needle tube, and there is no need to go back and forth between the control room and the operating bed for many times to conduct experimental exploration, thereby achieving the precise positioning of the lesion by the syringe 54 in the radiation environment while reducing the risk of radiation injury to medical staff. The automatic injection bracket 100 for auxiliary radiation equipment of the embodiment of the present invention can be used in radioactive environments such as hospital pain departments and places where human individuals cannot stay for a long time, but at the same time require diagnosis and surgery.
[0026] In a preferred embodiment, the first servo motor system may include a first servo motor 9, a first encoder connected to the motor shaft of the first servo motor 9, a first brake and a first servo motor driver, and the second servo motor system may include a second servo motor 8, a second encoder connected to the motor shaft of the second servo motor 8, a second brake and a second servo motor driver, in combination with Figure 3 As shown, the programmable logic controller 121 sends out a high-speed pulse after receiving the running instruction, and the high-speed pulse controls the servo motor driver (i.e., the first servo motor driver and the second servo motor driver), thereby controlling the rotation of the first servo motor 9 and the second servo motor 8. The first encoder and the second encoder are used to respectively feedback pulse signals, and the pulse signal and the corresponding pulse signal of the rotation angle corresponding to the first servo motor 9 and the second servo motor 8 are PID-operated to form a position closed loop, and the first brake and the second brake are automatically locked, thereby realizing the positioning of the horizontal rotating shaft 2 and the retractable fixed beam 4.
[0027] According to the present invention, in Figure 1 and Figure 4In the preferred embodiment shown, the electric control system may also include an electric control cabinet 12 located on the bracket base plate 1, and the electric control cabinet 12 may include a shell 120. A vertical partition located in the shell 120 is used to separate the shell 120 into a left space and a right space. The left space is divided into an upper space, a middle space and a lower space. The upper space is used to place a programmable logic controller 121, the middle space is used to place a switch and a 220V terminal block 122, and the lower space is used to place a 24V terminal block 123. The right space is divided into an upper space and a lower space. The upper space is used to place power circuit and control circuit electrical components 124, and the lower space is used to place a servo motor driver 125 (i.e., the aforementioned first driver and second driver).
[0028] In this embodiment, the 220V terminal block 122 is used to supply power to all electrical components, and the 24V terminal block 123 is used to realize signal communication of the electric control system. The cabinet body of the electric control cabinet 12 in this embodiment adopts a layered separation design, especially the layered arrangement of the 220V terminal block 122 and the 24V terminal block 123, which can effectively prevent the module from being burned due to incorrect connection of the wires and avoid interference. At the same time, the area arrangement in the cabinet body can also facilitate the installation of various components and subsequent management and maintenance.
[0029] According to the present invention, in Figure 1 and Figure 5 In the preferred embodiment shown, the electric control system may further include an operation indicator panel 11 located on the bracket bottom plate 1, and the operation indicator panel 11 may be provided with at least a control key for issuing an action command to the first servo motor 9 and the second servo motor 8, a position confirmation key for confirming the position of the horizontal rotation shaft 2 and the telescopic fixed beam 4, and a position memory key for storing the position. In this embodiment, the position memory key is provided to realize reading the previously accessed position information from the register as a new given, so that the horizontal rotation shaft 2 and the telescopic fixed beam 4 can quickly reach the previously accessed position, and the position confirmation key is provided to realize randomly defining a new storage position as needed.
[0030] Specifically, the control key may include a first control key for issuing an action instruction to the first servo motor 9 and a second control key for issuing an action instruction to the second servo motor 8. Taking the first control key as an example, the first control key may include a first clockwise key 314 and a first counterclockwise key 315. When the first clockwise key 314 is triggered, the programmable logic controller 121 sends a high-speed pulse, and the high-speed pulse controls the first servo motor driver, thereby controlling the first servo motor 9 to rotate clockwise at a preset speed. The first encoder feeds back a pulse signal, and performs PID calculation with the pulse signal of the rotation angle corresponding to the first servo motor 9 to form a position closed loop to complete the control of the rotation angle of the horizontal rotation axis 2. The operation process of the first counterclockwise key 315 is similar to the operation process of the first clockwise key 314, which will not be repeated here. The second control key for issuing an action instruction to the second servo motor 8 may include a second clockwise key 319 and a second counterclockwise key 318, and its operation process is similar to the first clockwise key 314 and the first counterclockwise key 315, which will not be repeated here.
[0031] According to the present invention, in Figure 2 In the preferred embodiment shown, the needle tube adjustment assembly 5 may include a sleeve 51 connected to the free end of the telescopic fixed beam 4, a spherical shaft 52 located in the sleeve 51 and capable of rotating and being fixed therein, and a syringe 54 connected to the spherical shaft 52, and a through hole 55 may be provided on the spherical shaft 54, and the syringe 54 passes through the through hole 55 and is fixed in the through hole 55. After the position of the horizontal rotating shaft 2 and the telescopic fixed beam 4 is adjusted, the needle tube adjustment assembly 5 connected to the free end of the telescopic fixed beam 4 is adjusted so that the spherical shaft 52 is rotated and positioned in the sleeve 51, and the deflection angle of the syringe 54 fixedly connected to the spherical shaft 52 can be adjusted, so that the alignment position of the syringe 54 can be finally adjusted.
[0032] Preferably, if Figure 2 As shown, medical silica gel 53 is disposed between the shaft sleeve 51 and the spherical shaft 52, and between the through hole 55 and the syringe 54. The medical silica gel 53 between the shaft sleeve 51 and the spherical shaft 52 can make the spherical shaft 52 rotate smoothly, increase damping, and position the spherical shaft 52 without touching the hand. The medical silica gel 53 is a high-strength medical silica gel, which can provide sufficient damping to maintain the position of the spherical shaft 52; the medical silica gel between the through hole 55 and the syringe 54 can be a high-strength medical silica gel sleeve, which can provide sufficient damping to fix the syringe 54.
[0033] It should be noted that during the application process, the damping performance of the high-strength medical silicone needs to be examined, and disinfection work should be done to ensure the accuracy of the positioning of the syringe 54 and avoid the occurrence of infection problems.
[0034] According to the present invention, in Figure 1In the preferred embodiment shown, a first limiting rod 63 and a second limiting rod 64 located on both sides of the horizontal rotation axis 2 may also be formed on the bracket base plate 1, and a transverse support arm 61 is connected to the horizontal rotation axis 2, and the transverse support arm 61 can move within a first range defined by the first limiting rod 63 and the second limiting rod 64. Preferably, the first range can be constructed so that the rotation angle range of the horizontal rotation axis 2 is 0° to 180°. In this embodiment, the provision of the first limiting rod 63 and the second limiting rod 64 realizes the limitation of the rotation range of the horizontal rotation axis 2, which can prevent the horizontal rotation axis 2 from rotating without restriction at a large angle that may occur when the first positioning assembly is unstable during use, thereby helping to improve the safety of the manual injection bracket 100 for auxiliary radiation equipment during use.
[0035] Furthermore, combined with Figure 1 and Figure 5 As shown, the operation indicator panel 11 may also be provided with a first zero point indicator key 312 and a first limit indicator key 313. When the first zero point switch on the transverse support arm 61 touches the second limit rod 64, the PLC controls the first servo motor to stop working, the first brake is locked, the PLC outputs 24V to the indicator light of the first zero point indicator key 312, and the first zero point indicator key 312 lights up. When the first limit switch on the transverse support arm 61 touches the first limit rod 63, the PLC controls the first servo motor to stop working, the first brake is locked, the PLC outputs 24V to the indicator light of the first limit indicator key 313, and the first limit indicator key 313 lights up.
[0036] In a preferred embodiment, each re-determination of the position of the horizontal rotation axis 2 causes the transverse support arm 61 to move back to the second limit rod 64 (i.e., the zero position), that is, the limit switch on the transverse support arm 61 first touches the zero position before determining the next position. In this embodiment, since the electrical control must be set to zero first, the first encoder has a reference position, and the output value is valid, the doctor moves the transverse support arm 6 to the zero position each time he operates.
[0037] Combination Figure 1 and Figure 5As shown, a limit rod assembly may also be provided at the top of the vertical column 3, and the limit rod assembly may include a vertical rod 73 connected to the vertical column 3 and a horizontal rod 74 vertically connected to the vertical rod 73, the axis direction of the horizontal rod 74 is perpendicular to the axis direction of the horizontal rotation axis 2, the lower surface of the telescopic fixed beam 4 opposite to the vertical column 3 is provided with a second zero switch 72, and the upper surface of the telescopic fixed beam 4 opposite to the horizontal rod 74 is provided with a second limit switch 71, and the telescopic fixed beam 4 can move within a second range defined by the second zero switch 72 and the horizontal rod 74. Preferably, the second range is configured so that the rotation angle range of the telescopic fixed beam 4 is 0° to 150°. In this embodiment, the provision of the second zero switch 72 and the horizontal rod 74 realizes the limitation of the rotation range of the telescopic fixed beam 4, which can further prevent the telescopic fixed beam 4 from being rotated at a large angle without restriction due to unstable positioning during use, thereby helping to further improve the safety of the manual injection support 100 for auxiliary radiation equipment during use.
[0038] Furthermore, combined with Figure 1 and Figure 5 As shown, a second zero point indication key 316 and a second limit indication key 317 may also be provided on the operation indication panel 11. When the second zero point switch 72 on the telescopic fixed beam 4 touches the vertical column 3, the PLC controls the second servo motor to stop working, the second brake is locked, the PLC outputs 24V to the indicator light of the second zero point indication key 316, and the second zero point indication key 316 lights up; when the second limit switch 74 on the telescopic fixed beam 4 touches the horizontal rod 74, the PLC controls the second servo motor to stop working, the second brake is locked, the PLC outputs 24V to the indicator light of the second limit indication key 317, and the second limit indication key 317 lights up.
[0039] In a preferred embodiment, each re-determination of the position of the telescopic fixed beam 4 causes the telescopic fixed beam 4 to move back to the position triggering the second zero point switch 72 (i.e., the zero point position), that is, the second zero point switch 72 on the telescopic fixed beam 4 contacts the vertical column 3 before the next position is determined. In this embodiment, since the electrical control must be set to zero first, the second encoder has a reference position, and the output value is valid, the doctor moves the telescopic fixed beam 4 to the zero point position each time he operates.
[0040] In another preferred embodiment, the operation indicator disk 11 may also be provided with an unlocking key 305 and an unlocking indicator key 304. The unlocking key 305 must be pressed before each position of the horizontal rotating shaft 2 and the telescopic fixed beam 4 is re-determined or the previously stored position is selected. The unlocking indicator key 304 lights up when the unlocking key 305 is triggered. For example, when the doctor needs to return the syringe to the previous position, the unlocking key 305 can be pressed first, the brakes corresponding to the two servo motors are opened, the unlocking indicator key 304 lights up, and the horizontal rotating shaft 2 and the telescopic fixed beam 4 are turned to the reference reset point (zero point). Then, the required position memory key is pressed. With the data of the register corresponding to the memory key as a given, the first servo motor 9 and the second servo motor 8 will drive the horizontal rotating shaft 2 and the telescopic fixed beam 4 to the corresponding position memory point. If the operation is to be continued, the unlocking key 305 must be pressed again.
[0041] According to the present invention, in Figure 2 In the preferred embodiment shown, the sleeve 51 can be a stainless steel sleeve, the spherical shaft 52 can be a 316 medical stainless steel spherical shaft, and the sleeve 51 can be opened and locked by bolts 56 (preferably 304 stainless steel bolts) to facilitate the installation and removal of the spherical shaft 52 and the medical silicone 53 in the sleeve 51. Preferably, the spherical shaft 52 can rotate freely in the sleeve 51, and the rotatable angle is preferably 150 degrees.
[0042] The following is a specific embodiment and use process of the automatic injection support 100 for auxiliary radiation equipment according to an embodiment of the present invention:
[0043] The programmable logic controller 121 used in the automatic injection support 100 for auxiliary radiation equipment can be selected from the CPU224xp model of the Siemens S7-200 series, which has a built-in pulse generator with two 200kHz high-speed pulse inputs and two 100kHz high-speed pulse outputs. The programmable logic controller 121 in the present invention uses a high-speed pulse output control method to achieve position control.
[0044] like Figure 3 As shown, in the present invention, speed control is analog control, and position control is pulse control. In the speed control mode, a voltage of -10V to 10V is sent to the servo motor driver to adjust the speed, which is an analog control mode. In the present invention, a fixed speed suitable for surgical applications is used, which is realized by a program during debugging.
[0045] like Figure 5As shown, when the power start button 302 on the operation indicator panel 11 is pressed, the contactor is closed and the power supply of the device is started. When the power stop button 303 is pressed, the contactor is disconnected and the power supply is disconnected; the power off signal node of the relay is led to the power indicator button 301 to display whether the power supply is normal. Press the first clockwise key 314 or the first counterclockwise key 315 used to control the first servo motor 9 to rotate clockwise or counterclockwise, and the signal is transmitted to the PLC input terminal. The PLC controls the first servo motor 9 to rotate. When the first servo motor 9 reaches the first limit rod 63 or the second limit rod 64, the first zero point indicator button 312 and the first limit indicator button 313 light up, the first servo motor 9 stops, and the first brake is locked. By pressing the second clockwise key 318 or the second counterclockwise key 319 for controlling the second servo motor 8 to rotate clockwise or counterclockwise, the signal is transmitted to the PLC input terminal, and the PLC controls the second servo motor 8 to rotate. When the second servo motor 8 moves to trigger the second zero point switch 72 or the horizontal rod 74, the second zero point indication key 316 or the second limit indication key 317 lights up, the second servo motor 8 stops, and the second brake is locked. The second limit rod 64 and the second zero point switch 72 serve as the reset reference points of the first servo motor 9 and the second servo motor 8, respectively. For all operations, the motor will first reach the reference reset point (zero point) for calibration before executing the next operation according to the program. Three position confirmation keys are set on the operation indicator disk 11 to facilitate the doctor's selection. After selecting a position each time, the doctor can press the position 1 confirmation key 306, the position 2 confirmation key 307 or the position 3 confirmation key 308 to confirm, and the motor brake is closed at the same time, and the position information is stored in the corresponding register of the PLC. When the doctor needs to return the syringe to any of position 1, position 2, and position 3, first press the unlock key 305, the brakes of the two motors are opened, the unlock indicator key 304 lights up, and the horizontal rotating shaft 2 and the telescopic fixed beam 4 are turned to the reference reset point (zero point), and then press the position 1 memory key 309, the position 2 memory key 310 or the position 3 memory key 311, and the first servo motor 9 and the second servo motor 8 will drive the horizontal rotating shaft 2 and the telescopic fixed beam 4 to the corresponding position memory point with the data of the corresponding register as a given. The brake will be locked within 15 seconds after reaching the position. If you want to continue the operation, press the unlock key 305 again.
[0046] Table 1 below shows the connection mode of the input terminal (I) and output terminal (Q) of the PLC corresponding to the buttons on the operation indicator panel 11:
[0047] Table 1.PLC224XP I / O signal configuration table
[0048]
[0049]
[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.
Claims
1. An automatic injection stand for auxiliary radiation equipment, characterized in that: include: Bracket bottom plate, A horizontal rotation axis rotatably connected to the support base plate, A first servo motor system for driving the horizontal rotation axis to rotate horizontally and position the horizontal rotation axis; A vertical column fixedly connected to the horizontal rotation axis, a retractable fixed crossbeam rotatably connected to the vertical column, a second servo motor system for driving the retractable fixed crossbeam to rotate and position in a vertical plane perpendicular to the rotation plane of the horizontal rotation axis, a needle adjustment assembly connected to the retractable fixed crossbeam for adjusting and fixing the syringe, and Electronic control system, Among them, the electronic control system includes a programmable logic controller, which is used to control the first servo motor system and the second servo motor system to rotate and position at a preset speed respectively, so as to drive the horizontal rotating shaft and the retractable fixed beam to rotate and position, and at the same time store the position information of the horizontal rotating shaft and the retractable fixed beam in a register inside the programmable logic controller.
2. The automatic injection stand for auxiliary radiation equipment according to claim 1, characterized in that: The first servo motor system includes a first servo motor, a first encoder connected to the motor shaft of the first servo motor, a first brake and a first servo motor driver; the second servo motor includes a second encoder connected to the motor shaft, a second brake and a second servo motor driver; the programmable logic controller sends a high-speed pulse after receiving an operation instruction, and the high-speed pulse controls the first servo motor driver and the second servo motor driver, thereby controlling the rotation of the first servo motor and the second servo motor; the first encoder and the second encoder are used to respectively feedback pulse signals, and the pulse signals and the corresponding rotation angles of the first servo motor and the second servo motor are subjected to PID calculation to form a position closed loop; the first brake and the second brake are automatically locked, thereby realizing the positioning of the horizontal rotating shaft and the retractable fixed beam.
3. The automatic injection stand for auxiliary radiation equipment according to claim 2, characterized in that: The electric control system also includes an electric control cabinet located on the bottom plate of the bracket, the electric control cabinet includes a shell, a vertical partition located in the shell, used to divide the shell into a left space and a right space, the left space is divided into an upper space, a middle space and a lower space, the upper space is used to place the programmable logic controller, the middle space is used to place switches and 220V terminal blocks, the lower space is used to place 24V terminal blocks, the right space is divided into an upper space and a lower space, the upper space is used to place power circuit and control circuit electrical components, and the lower space is used to place a servo motor driver.
4. The automatic injection stand for auxiliary radiation equipment according to claim 2 or 3, characterized in that: The electronic control system also includes an operation indicator panel located on the bottom plate of the bracket, on which are provided control keys for issuing action instructions to the first servo motor and the second servo motor, a position confirmation key for confirming and storing the position of the horizontal rotation axis and the retractable fixed beam, and a position memory key for reading the stored position, so that when the position memory key is pressed, the automatic injection bracket for assisting the radiation equipment is automatically adjusted to the position.
5. The automatic injection stand for auxiliary radiation equipment according to any one of claims 1 to 3, characterized in that: The needle tube adjustment assembly includes a sleeve connected to the free end of the telescopic fixed beam, a spherical shaft located in the sleeve and capable of rotating and being fixed therein, and a syringe connected to the spherical shaft, wherein a through hole is provided on the spherical shaft, and the syringe passes through the through hole and is fixed in the through hole.
6. The automatic injection support for auxiliary radiation equipment according to claim 5, characterized in that: Medical silica gel is arranged between the shaft sleeve and the spherical shaft, and between the through hole and the syringe.
7. The automatic injection support for auxiliary radiation equipment according to claim 5, characterized in that: A first limit rod and a second limit rod are also formed on the bottom plate of the bracket and are located on both sides of the horizontal rotation axis. A transverse support arm is connected to the horizontal rotation axis, and a first zero point switch and a first limit switch are arranged on the transverse support arm. The transverse support arm can move within a first range defined by the first limit rod and the second limit rod. A first zero point indication key and a first limit indication key are also arranged on the operation indicator panel. When the first zero point switch touches the second limit rod, the programmable logic controller controls the first servo motor to stop working, the first brake is locked, and the first zero point indication key lights up. When the first limit switch touches the first limit rod, the programmable logic controller controls the first servo motor to stop working, the first brake is locked, and the first limit indication key lights up.
8. The automatic injection support for auxiliary radiation equipment according to claim 7, characterized in that: A limit rod assembly is also provided at the top of the vertical column, and the limit rod assembly includes a vertical rod connected to the vertical column and a horizontal rod vertically connected to the vertical rod, the axis direction of the horizontal rod is perpendicular to the axis direction of the horizontal rotation axis, a second zero point switch is provided on the lower surface of the telescopic fixed beam opposite to the vertical column, and a second limit switch is provided on the upper surface of the telescopic fixed beam opposite to the horizontal rod, and the telescopic fixed beam can move within a second range defined by the second zero point switch and the horizontal rod; a second zero point indication key and a second limit indication key are also provided on the operation indicator panel, when the second zero point switch touches the vertical column, the programmable logic controller controls the second servo motor to stop working, the second brake is locked, and the second zero point indication key lights up, and when the second limit switch touches the horizontal rod, the programmable logic controller controls the second servo motor to stop working, the second brake is locked, and the second limit indication key lights up.
9. The automatic injection support for auxiliary radiation equipment according to claim 8, characterized in that: The first range is configured such that the rotation angle range of the horizontal rotation axis is 0° to 180°; the second range is configured such that the rotation angle range of the telescopic fixed beam is 0° to 150°.
10. The automatic injection support for auxiliary radiation equipment according to claim 5, characterized in that: The shaft sleeve is locked by bolts.