Combined multi-dimensional force sensor, X-ray generating device and X-ray imaging system

Abstract

A combined type multi-dimensional force sensor, an X-ray generating device and an X-ray imaging system, the combined type multi-dimensional force sensor comprises at least four two-dimensional force sensors, and the at least four two-dimensional force sensors are respectively used for being connected with a handle of the X-ray generating device. The combined multi-dimensional force sensor comprises at least four two-dimensional force sensors, the at least four two-dimensional force sensors are divided into two groups, each group of two-dimensional force sensors are used for detecting the stress of the handle in two different directions, and the combination of the at least four two-dimensional force sensors can realize the detection of the stress of the handle in six degrees of freedom and produce corresponding detection signals. The movement, lifting and / or rotation of the control machine head can be controlled and driven based on the detection signal, auxiliary assistance is achieved, medical staff can drive the control machine head to move only by exerting small force on the handle, and time and labor are saved.

Description

Technical Field

[0001] The present invention relates to the field of medical detection technology, and in particular to a combined multi-dimensional force sensor, an X-ray generating device and an X-ray imaging system. Background Art

[0002] The suspended X-ray imaging system includes an X-ray generating device suspended under the ceiling, and the X-ray generating device includes a control head capable of emitting X-rays.

[0003] The current suspended X-ray imaging system mainly images patients standing next to the lifting arm and patients lying on a flat plate. Since the overall weight of the suspended control head is relatively large, it is time-consuming and laborious for medical staff to operate the head. Summary of the invention

[0004] The present invention provides a combined multi-dimensional force sensor, an X-ray generating device and an X-ray imaging system, which are used to solve the problem of difficulty in operating and controlling the movement of a machine head.

[0005] In one embodiment, a combined multi-dimensional force sensor is provided, comprising: at least four two-dimensional force sensors, at least the four two-dimensional force sensors are divided into a first group and a second group, the first group and the second group respectively include at least two of the two-dimensional force sensors arranged relatively to each other, at least the four two-dimensional force sensors are respectively used to connect to the handle of an X-ray generating device, and at least the four two-dimensional force sensors are distributed in a quadrilateral; at least two of the two-dimensional force sensors of the first group are used to detect the forces on the handle in the first direction and the second direction and generate corresponding detection signals, and at least two of the two-dimensional force sensors of the second group are used to detect the forces on the handle in the third direction and the second direction and generate corresponding detection signals, and the planes where the first direction, the second direction and the third direction are located are not coplanar; the detection signal is used to control the movement, lifting and / or rotation of a control head of the X-ray generating device connected to the handle.

[0006] In one embodiment, the face where the quadrilateral is located is parallel to the face where the handle is located; the quadrilateral is a rectangle, and the two two-dimensional force sensors of the first group are symmetrically arranged on two sides of the rectangle, and the two two-dimensional force sensors of the second group are symmetrically arranged on the other two sides of the rectangle; or, one two-dimensional force sensor is respectively arranged at the center of the four sides of the rectangle; or, one two-dimensional force sensor is respectively arranged at the four corners of the rectangle.

[0007] In one embodiment, it also includes a first fixing frame and a second fixing frame, at least four of the two-dimensional force sensors are installed between the first fixing frame and the second fixing frame, the first fixing frame is used to connect to the manipulation head, and the second fixing frame is used to connect to the handle.

[0008] In one embodiment, at least four of the two-dimensional force sensors are fixedly connected to the first fixing frame and the second fixing frame respectively.

[0009] In one embodiment, at least four of the two-dimensional force sensors are respectively connected to the first fixed frame and the second fixed frame, and there is a moving gap between at least four of the two-dimensional force sensors and the first fixed frame and / or the second fixed frame, and the four two-dimensional force sensors can move within the gap.

[0010] In one embodiment, the second fixing frame is connected to a connecting portion between the handle and the control head, the connecting portion is a rectangular structure, and the outer contours of the first fixing frame and the second fixing frame are flush with the outer contour of the rectangular structure.

[0011] In one embodiment, the first direction, the second direction and the third direction are perpendicular to each other, and the second direction is perpendicular to the surface where the handle is located.

[0012] In one embodiment, the quadrilateral is a planar quadrilateral or a three-dimensional quadrilateral.

[0013] In one embodiment, a combined multi-dimensional force sensor is provided, comprising: at least three three-dimensional force sensors, at least three of the three-dimensional force sensors are respectively used to connect to the handle of an X-ray generating device, and at least three of the three-dimensional force sensors are distributed in a triangle; at least three of the three-dimensional force sensors are used to detect the forces on the handle in a first direction, a second direction and a third direction and generate corresponding detection signals, and the planes in which the first direction, the second direction and the third direction are located are not coplanar; the detection signal is used to control the movement, lifting and / or rotation of a control head of the X-ray generating device connected to the handle.

[0014] In one embodiment, it also includes a first fixing frame and a second fixing frame, at least three of the three-dimensional force sensors are installed between the first fixing frame and the second fixing frame, the first fixing frame is used to connect to the manipulation head, and the second fixing frame is used to connect to the handle.

[0015] In one embodiment, at least three of the three-dimensional force sensors are fixedly connected to the first fixing frame and the second fixing frame respectively.

[0016] In one embodiment, at least three of the three-dimensional force sensors are respectively connected to the first fixed frame and the second fixed frame, and there is a moving gap between at least three of the three-dimensional force sensors and the first fixed frame and / or the second fixed frame, and at least three of the three-dimensional force sensors can move within the gap.

[0017] In one embodiment, the second fixing frame is connected to a connecting portion between the handle and the control head, the connecting portion is a rectangular structure, and the outer contours of the first fixing frame and the second fixing frame are flush with the outer contour of the rectangular structure.

[0018] In one embodiment, the plane where the triangle is located is parallel to the plane where the handle is located, and at least three of the three-dimensional force sensors are distributed in an equilateral triangle.

[0019] In one embodiment, the first direction, the second direction and the third direction are perpendicular to each other, and the second direction is perpendicular to the surface where the handle is located.

[0020] In one embodiment, an X-ray generating device is provided, comprising:

[0021] A head assembly, comprising a control head and a handle, wherein the control head is used to generate X-rays and emit them to a part to be detected, and the handle is connected to the control head, and the handle is used by a user to operate the movement, lifting and / or rotation of the control head;

[0022] The combined multi-dimensional force sensor mentioned above; and

[0023] A controller is connected to the signal of the combined multi-dimensional force sensor, and the controller is used to obtain the detection signal to control the movement, lifting and / or rotation of the manipulation head.

[0024] In one embodiment, an X-ray imaging system is provided, comprising:

[0025] The above-mentioned X-ray generating device;

[0026] A flat panel detector, which can be placed in a first shooting position detached from a film box containing the flat panel detector, and which can also be placed in a second shooting position contained in the film box; the control head is used to align the flat panel detector, and the flat panel detector is used to collect X-rays passing through the part to be detected and generate corresponding imaging signals, and the imaging signals are used to obtain a captured X-ray image.

[0027] According to the combined multi-dimensional force sensor, X-ray generating device and X-ray imaging system of the above-mentioned embodiments, since the combined multi-dimensional force sensor includes at least four two-dimensional force sensors, the at least four two-dimensional force sensors are divided into two groups, and each group of two-dimensional force sensors is used to detect the forces in two different directions of the handle, the combination of at least four two-dimensional force sensors can realize the detection of the forces in six degrees of freedom of the handle and produce corresponding detection signals. Based on the detection signals, the movement, lifting and / or rotation of the driving control head can be controlled to realize auxiliary power, so that medical staff only need to apply a small force on the handle to drive the control head to move, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A distribution diagram of a combined multi-dimensional force sensor in one embodiment;

[0029] Figure 2 A schematic diagram of an exploded structure of a combined multi-dimensional force sensor and a fixing bracket in an embodiment;

[0030] Figure 3 A distribution diagram of a combined multi-dimensional force sensor in one embodiment;

[0031] Figure 4 A schematic diagram of the structure of an X-ray generating device in an embodiment;

[0032] Figure 5 A schematic diagram of the structure of an X-ray generating device in an embodiment;

[0033] Figure 6 A schematic diagram of the structure of a head assembly in one embodiment;

[0034] Figure 7 A schematic diagram of the structure of a head assembly in one embodiment;

[0035] Figure 8 is a structural block diagram of a control part of an X-ray generating device in an embodiment;

[0036] The reference numerals are as follows:

[0037] 10-suspension assembly, 11-guide rail, 111-first guide rail, 112-second guide rail, 12-moving member, 13-lifting arm, 14-rotating arm;

[0038] 20-head assembly, 21-connecting seat, 22-bracket, 23-control head, 24-handle, 25-operation interface;

[0039] 30-Electric power assist assembly;

[0040] 40-combined multi-dimensional force sensor, 41-two-dimensional force sensor, A1-first two-dimensional force sensor, A2-second two-dimensional force sensor, B1-third two-dimensional force sensor, B2-fourth two-dimensional force sensor, 42-first fixing frame, 43-second fixing frame, 44-three-dimensional force sensor;

[0041] 50-Controller. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0043] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0044] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). Among them, the first direction, the second direction and the third direction are three mutually perpendicular axial directions, and the perpendicularity among the three mutually perpendicular directions is preferably absolutely perpendicular, so that the algorithm can more easily realize the accurate calculation of the forces in the six degrees of freedom directions; of course, the perpendicularity among the three mutually perpendicular directions can also be slightly inclined, and the accurate calculation of the forces in the six degrees of freedom directions can also be realized through the correction of the algorithm.

[0045] Please refer to Figure 1 and Figure 2In one embodiment, a combined multi-dimensional force sensor is provided. The combined multi-dimensional force sensor is mainly used in an X-ray generating device. The combined multi-dimensional force sensor is installed between a handle and a head of the X-ray generating device to detect forces in six degrees of freedom of the handle, wherein the six degrees of freedom include movement along a first direction, movement along a second direction, movement along a third direction, rotation around a first direction, rotation around a second direction, and rotation around a third direction.

[0046] In this embodiment, the combined multi-dimensional force sensor includes a force sensor group, and the force sensor group includes at least four two-dimensional force sensors 41. This embodiment is described by taking four two-dimensional force sensors 41 as an example. The use of four two-dimensional force sensors 41 can realize the detection of forces in six degrees of freedom directions of the handle with the least number of two-dimensional force sensors 41, which is beneficial to reducing the cost of the sensor.

[0047] In this embodiment, the four two-dimensional force sensors 41 are divided into a first group and a second group, the first group includes two two-dimensional force sensors 41 arranged opposite to each other, and the second group includes two two-dimensional force sensors 41 arranged opposite to each other. The opposite arrangement means that the two two-dimensional force sensors 41 are arranged spaced apart from each other, and the direction in which the two two-dimensional force sensors 41 of the first group are spaced apart from each other is perpendicular to the direction in which the two two-dimensional force sensors 41 of the second group are spaced apart from each other.

[0048] The two two-dimensional force sensors 41 of the first group are used to detect the forces on the handle 24 in the first direction and the second direction, and the two two-dimensional force sensors 41 of the second group are used to detect the forces on the handle 24 in the third direction and the second direction. The combination of the first group and the second group can detect the three degrees of freedom of moving along the first direction, moving along the second direction and lifting along the third direction, as well as the three degrees of freedom of rotating around the first direction, rotating around the second direction and rotating around the third direction, that is, the combination of four two-dimensional force sensors 41 can realize the detection of 6 degrees of freedom. Among them, the first group and the second group can both detect the force in the second direction, so that after the handle 24 is rotated 90° or 270°, the first group and the second group of sensors will replace each other to form the same combination of two-dimensional force sensors 41 as in the initial state, so as to realize the detection of 6 degrees of freedom of the control head 23.

[0049] The planes where the first direction, the second direction and the third direction are located are not coplanar. The first direction, the second direction and the third direction are perpendicular to each other, and the planes where the first direction, the second direction and the third direction are located are perpendicular to each other. Preferably, the first direction, the second direction and the third direction are perpendicular to each other and are absolutely perpendicular. In this way, it is possible to simplify the calculation of the accurate value of the force of the six degrees of freedom of the head 23 according to the detection signal of the two-dimensional force sensor 41.

[0050] In other embodiments, the first direction, the second direction and the third direction may be perpendicular to each other or may be approximately perpendicular. By adding a compensation algorithm for the tilt angle, the accurate value of the six degrees of freedom force of the head 23 may also be calculated based on the detection signal of the two-dimensional force sensor 41.

[0051] In other embodiments, the combined multi-dimensional force sensor may include a larger number of two-dimensional force sensors 41. For example, the combined multi-dimensional force sensor includes 6 or 8 two-dimensional force sensors 41, and each group includes 3 or 4 two-dimensional force sensors 41. It can also detect the forces in the six degrees of freedom of the handle.

[0052] In this embodiment, the four two-dimensional force sensors 41 can be distributed in a quadrilateral, and the quadrilateral can be a plane quadrilateral or a three-dimensional (space) quadrilateral, that is, the quadrilateral can be a closed plane figure or a three-dimensional figure surrounded by four line segments that are not on the same straight line and connected end to end in sequence. For example, the four two-dimensional force sensors 41 are distributed on the four sides of a rectangle, and the four two-dimensional force sensors 41 are located on the four sides of the rectangle on the same plane. The plane where the rectangle is located is parallel to the plane where the main body of the handle 24 is located, and the line connecting the center of the main body of the handle 24 and the center of the rectangle coincides with or is parallel to the second direction. The four two-dimensional force sensors 41 correspond to the four sides of the main body of the handle 24. When the medical staff holds the four sides of the main body of the handle 24, the force can be accurately transmitted to the corresponding four two-dimensional force sensors 41. Such a layout is conducive to improving the detection accuracy of the four two-dimensional force sensors 41 and also helps to reduce the difficulty of the algorithm.

[0053] In other embodiments, the four two-dimensional force sensors 41 of the first group are arranged in a first plane, and the four two-dimensional force sensors 41 of the second group are arranged in a second plane. Both the first plane and the second plane are parallel to the plane where the main body of the handle 24 is located, and the spacing direction of the four two-dimensional force sensors 41 of the first group is perpendicular to the spacing direction of the four two-dimensional force sensors 41 of the second group, so that detection of six degrees of freedom can also be achieved.

[0054] In this embodiment, the four two-dimensional force sensors 41 can be respectively located at the center of the four sides of the rectangle, and one of the four two-dimensional force sensors 41 is respectively set on the midlines of the four sides of the rectangle, that is, the four two-dimensional force sensors 41 are symmetrically distributed on a cross coordinate axis, and the cross coordinate axis coincides with or is parallel to the cross coordinate formed by the first direction and the third direction. Such a layout can greatly simplify the subsequent algorithm for the four two-dimensional force sensors 41 to calculate 6 degrees of freedom, and it is also easier to ensure the installation accuracy.

[0055] In other embodiments, the four two-dimensional force sensors 41 may also be distributed on the four corners of the rectangle, that is, a two-dimensional force sensor 41 is provided at each of the four legs of the rectangle; or, the two two-dimensional force sensors 41 of the first group are symmetrically arranged on two sides of the rectangle, and the two two-dimensional force sensors 41 of the second group are symmetrically arranged on the other two sides of the rectangle; these two layouts can also realize the detection of six degrees of freedom, but the algorithm for calculating the force as a degree of freedom is relatively more complicated.

[0056] In this embodiment, a combination of four two-dimensional force sensors 41 is used to detect the six degrees of freedom required for the movement of the manipulator head 23, which can greatly reduce the cost of the force sensor and improve the competitiveness of the product.

[0057] A detection scheme using four two-dimensional force sensors 41 is used, and the correspondence between the detected force direction and the movement direction of the six degrees of freedom is shown in Table 1. When the medical staff rotates the handle 24, the two two-dimensional force sensors 41 of the first group and the second group will be replaced and swapped, and the forces on the four two-dimensional force sensors 41 will be the same as before the rotation.

[0058] In Table 1, the two two-dimensional force sensors 41 of the first group, the two-dimensional force sensor 41 located at the upper end is the first two-dimensional force sensor A1, the first two-dimensional force sensor A1 can detect the forces in the first direction and the second direction, the two-dimensional force sensor 41 located at the lower end is the second two-dimensional force sensor A2, the second two-dimensional force sensor A2 can detect the forces in the X-axis and Y-axis directions, the two-dimensional force sensors 41 of the second group, the two-dimensional force sensor 41 located at the left end is the third two-dimensional force sensor B1, the third two-dimensional force sensor B1 can detect the forces in the second direction and the third direction, the two-dimensional force sensor 41 located at the right end is the fourth two-dimensional force sensor B2, the fourth two-dimensional force sensor B2 can detect the forces in the second direction and the third direction, "+" and "-" indicate the direction, and " / " indicates that there is no force. In order to facilitate the description and comparison of the following table, the first direction is defined as the X-axis direction, the second direction is defined as the Y-axis direction, and the third direction is defined as the Z-axis direction.

[0059] Table 1: Relationship between the force direction of two 2D force sensors 41 and the direction of handle movement

[0060]

[0061]

[0062] In this embodiment, since the combined multi-dimensional force sensor includes at least four two-dimensional force sensors 41, the at least four two-dimensional force sensors 41 are divided into two groups, and each group of two-dimensional force sensors 41 is used to detect the forces in two different directions of the handle 24, the combination of at least four two-dimensional force sensors 41 can realize the detection of the six degrees of freedom of force of the handle 24 and produce corresponding detection signals. Based on the detection signals, the movement, lifting and / or rotation of the driving control head 23 can be controlled to achieve auxiliary assistance, so that medical staff only need to apply a small force on the handle 24 to drive the control head to move, saving time and effort.

[0063] Please refer to Figure 2 In one embodiment, the combined multi-dimensional force sensor can be set as a modular structure, and at least four two-dimensional force sensors 41 are first installed as a module, and then the module is installed between the control head 23 and the handle 24, so that before the four two-dimensional force sensors 41 are installed, the four two-dimensional force sensors 41 are calibrated, which reduces the installation and calibration difficulties of the four two-dimensional force sensors 41. The calibration of the four two-dimensional force sensors 41 means that after the force sensors are installed and fixed, the installation screws will exert pressure on the force sensors. There will inevitably be installation errors in the four two-dimensional force sensors 41 during the installation process. Different screw tightening degrees will appear different, so that the four two-dimensional force sensors 41 receive different pressures. Therefore, before the detection, the internal stress of the four two-dimensional force sensors 41 needs to be calibrated, and the force errors of the four two-dimensional force sensors 41 are eliminated by algorithm compensation, so that the four two-dimensional force sensors 41 can more accurately determine the force direction and force magnitude.

[0064] The combined multi-dimensional force sensor may include a first fixing frame 42 and a second fixing frame 43. The first fixing frame 42 and the second fixing frame 43 may be rectangular plate frames arranged in parallel to each other, similar to a U-shaped structural plate. The combined multi-dimensional force sensor is installed between the first fixing frame 42 and the second fixing frame 43. The first fixing frame 42 and the second fixing frame 43 form a rectangular mounting surface, and four two-dimensional force sensors 41 are located on the rectangular mounting surface between the first fixing frame 42 and the second fixing frame 43. The first fixing frame 42, the combined multi-dimensional force sensor and the second fixing frame 43 form a sandwich-like three-layer structure. The first fixing frame 42 and the second fixing frame 43 may fix the four two-dimensional force sensors 41 by fixing parts such as screws.

[0065] The first fixing frame 42 can be fixedly connected to the control head 23 by screw connection, welding, etc., and the second fixing frame 43 can be fixedly connected to the connecting portion of the handle 24 by screw connection, welding, etc. The force on the main body of the handle 24 can be transmitted to the combined multi-dimensional force sensor through the connecting portion of the handle 24 and the second fixing frame 43 in sequence.

[0066] The combined multi-dimensional force sensor can be fixedly connected to the first fixing frame 42 and the second fixing frame 43 to form a rigid connection. The advantage of the rigid connection is that the second fixing frame 43 is fixed relative to the first fixing frame 42, that is, the handle 24 is fixed relative to the control head 23, and the handle 24 will not shake relative to the control head 23.

[0067] In other embodiments, the combined multi-dimensional force sensor may have a moving gap with one or both of the first fixing frame 42 and the second fixing frame 43 to form a flexible connection. The advantage of the flexible connection is that the force sensor will not receive a large locking force during installation, and the travel range of its detection force will not be affected. A damping member such as a spring may also be provided in the moving gap to eliminate the shaking of the handle 24 relative to the control head 23.

[0068] In other embodiments, the combined multi-dimensional force sensor may not include the first fixing frame 42 and the second fixing frame 43. The combined multi-dimensional force sensor is directly installed between the control head 23 and the handle 24. After calibrating multiple force sensors on the whole machine, it is also possible to detect the force on the handle 24 and generate a detection signal that can derive the movement direction of 6 degrees of freedom.

[0069] In one embodiment, the connecting portion of the handle 24 is a rectangular structure, and the connecting portion of the rectangular structure is connected to the second fixing frame 43. The outer contour of the connecting portion is the same as or similar to the first fixing frame 42 and the second fixing frame 43, so that the outer contour of the first fixing frame 42 and the second fixing frame 43 is flush with the outer contour of the connecting portion of the rectangular structure. The flush connection is more beautiful, and the combined multi-dimensional force sensor can be hidden between the handle 24 and the control head 23.

[0070] In other embodiments, the connection portion of the handle 24 or the control head 23 is provided with a concave installation groove, and the combined multi-dimensional force sensor is installed in the installation groove, which can also achieve a hidden effect and help improve the aesthetics.

[0071] Please refer to Figure 3 In one embodiment, a combined multi-dimensional force sensor is provided. The combined multi-dimensional force sensor is mainly used in an X-ray generating device. The combined multi-dimensional force sensor is installed between a handle and a head of the X-ray generating device to detect forces in six degrees of freedom of the handle, wherein the six degrees of freedom include movement along a first direction, movement along a second direction, movement along a third direction, rotation around a first direction, rotation around a second direction, and rotation around a third direction.

[0072] The combined multi-dimensional force sensor includes at least three three-dimensional force sensors, each of which can be used to collect forces in a first direction, a second direction, and a third direction. This embodiment is described by taking three three-dimensional force sensors as an example. The use of three three-dimensional force sensors can detect the forces in the six degrees of freedom directions of the handle, which is beneficial to reducing the cost of the sensor. In other embodiments, the combined multi-dimensional force sensor can include a larger number of three-dimensional force sensors, for example, 4 or 5 three-dimensional force sensors, which can also detect the forces in the six degrees of freedom directions of the handle.

[0073] In this embodiment, the three three-dimensional force sensors can be distributed on a triangle, and the face of the triangle is parallel to the face of the handle. The triangle can be an equilateral triangle. For example, the three three-dimensional force sensors are distributed on the three vertices of the equilateral triangle so that the three three-dimensional force sensors are spaced equally from each other, which is more conducive to simplifying the algorithm for calculating the force as degrees of freedom. The three three-dimensional force sensors can also be set on the three sides of the above-mentioned rectangle, and the detection of the six degrees of freedom of movement can also be achieved. The detection scheme composed of three three-dimensional sensors is relatively simple to install and calibrate.

[0074] In this embodiment, since the combined multi-dimensional force sensor includes at least three three-dimensional force sensors, the combination of the three three-dimensional force sensors can realize the detection of the six degrees of freedom of force of the handle 24 and produce corresponding detection signals. Based on the detection signals, the movement, lifting and / or rotation of the control head 23 can be controlled to achieve auxiliary assistance, so that medical staff only need to apply a small force on the handle 24 to drive the control head to move, saving time and effort.

[0075] In one embodiment, the combined multi-dimensional force sensor can be set as a modular structure, and at least three three-dimensional force sensors are first installed as a module, and then the module is installed between the control head 23 and the handle 24, so that before the at least three three-dimensional force sensors are installed, the at least three three-dimensional force sensors are calibrated, which reduces the installation and calibration difficulties of the at least three three-dimensional force sensors. The calibration of at least three three-dimensional force sensors means that after the force sensors are installed and fixed, the installation screws will exert pressure on the force sensors. There will inevitably be installation errors in the at least three three-dimensional force sensors during the installation process. Different screw tightening degrees will appear different, so that the four two-dimensional force sensors 41 receive different pressures. Therefore, before the detection, the internal stress of the at least three three-dimensional force sensors needs to be calibrated, and the force errors of the at least three three-dimensional force sensors are eliminated by algorithm compensation, so that the at least three three-dimensional force sensors can more accurately determine the force direction and force magnitude.

[0076] The combined multi-dimensional force sensor may include a first fixing frame 42 and a second fixing frame 43. The first fixing frame 42 and the second fixing frame 43 may be rectangular plate frames arranged in parallel to each other, similar to a U-shaped structural plate. The combined multi-dimensional force sensor is installed between the first fixing frame 42 and the second fixing frame 43. The first fixing frame 42 and the second fixing frame 43 form a rectangular mounting surface, and at least three three-dimensional force sensors are located on the rectangular mounting surface between the first fixing frame 42 and the second fixing frame 43. The first fixing frame 42, the combined multi-dimensional force sensor and the second fixing frame 43 form a sandwich-shaped three-layer structure. The first fixing frame 42 and the second fixing frame 43 may fix at least three three-dimensional force sensors by fixing members such as screws.

[0077] The first fixing frame 42 can be fixedly connected to the control head 23 by screw connection, welding, etc., and the second fixing frame 43 can be fixedly connected to the connecting portion of the handle 24 by screw connection, welding, etc. The force on the main body of the handle 24 can be transmitted to the combined multi-dimensional force sensor through the connecting portion of the handle 24 and the second fixing frame 43 in sequence.

[0078] The combined multi-dimensional force sensor can be fixedly connected to the first fixing frame 42 and the second fixing frame 43 to form a rigid connection. The advantage of the rigid connection is that the second fixing frame 43 is fixed relative to the first fixing frame 42, that is, the handle 24 is fixed relative to the control head 23, and the handle 24 will not shake.

[0079] In other embodiments, the combined multi-dimensional force sensor may have a moving gap with one or both of the first fixing frame 42 and the second fixing frame 43 to form a flexible connection. The advantage of the flexible connection is that the force sensor will not receive a large locking force during installation, and the travel range of its detection force will not be affected. A damping member such as a spring may also be provided in the moving gap to eliminate the shaking of the handle 24 relative to the control head 23.

[0080] In other embodiments, the combined multi-dimensional force sensor may not include the first fixing frame 42 and the second fixing frame 43. The combined multi-dimensional force sensor is directly installed between the control head 23 and the handle 24. After calibrating multiple force sensors on the whole machine, it is also possible to detect the force on the handle 24 and generate a detection signal that can derive the movement direction of 6 degrees of freedom.

[0081] In one embodiment, the connecting portion of the handle 24 is a rectangular structure, and the connecting portion of the rectangular structure is connected to the second fixing frame 43. The outer contour of the connecting portion is the same as or similar to the first fixing frame 42 and the second fixing frame 43, so that the outer contour of the first fixing frame 42 and the second fixing frame 43 is flush with the outer contour of the connecting portion of the rectangular structure. The flush connection is more beautiful, and the combined multi-dimensional force sensor can be hidden between the handle 24 and the control head 23.

[0082] In other embodiments, the connection portion of the handle 24 or the control head 23 is provided with a concave mounting groove, and the combined multi-dimensional force sensor is installed in the mounting groove.

[0083] In one embodiment, an X-ray generating device is provided. The X-ray generating device is installed on the ceiling in a suspended manner. The X-ray generating device is used to generate and emit X-rays. The X-ray generating device is used in conjunction with a flat panel detector. The X-ray generating device emits X-rays to a patient's test site. The flat panel detector collects the X-rays passing through the patient and generates corresponding imaging signals. The imaging signals are used to calculate the captured X-ray image.

[0084] The X-ray generator of this embodiment is a multi-degree-of-freedom device. The control head has three degrees of freedom of movement in mutually perpendicular lines and three degrees of freedom of rotation in mutually perpendicular lines relative to the ceiling. The control head can be moved to any position within the range of motion by combining movement, lifting and rotation to increase the use scenarios of the X-ray generator. For example, the control head can be moved through 6 degrees of freedom to aim at the test site of patients in different postures such as standing, lying, sitting, etc., especially to facilitate the shooting of patients with limited mobility.

[0085] The X-ray generating device of this embodiment is also provided with an electric power-assisting function. The X-ray generating device is provided with a force sensor and an electric power-assisting part. When the medical staff operates the handle, the force sensor can detect the force applied to the handle, and calculate and analyze the magnitude and direction of the force applied by the medical staff when operating the handle, and then drive the control head and the handle to move together with the operation of the medical staff through the electric power-assisting part, so that the medical staff can easily drive the movement of the control head with less force, and even the medical staff can realize single-handed operation, and at the same time improve the accuracy of the medical staff's control handle to drive the movement of the control head, so as to ensure that it is aimed at the part of the patient that needs to be photographed, thereby improving the shooting efficiency.

[0086] Please refer to Figures 4 to 8 The X-ray generating device of this embodiment mainly includes a suspension component 10, a head component 20, an electric power assist component 30, a combined multi-dimensional force sensor 40 and a controller 50. The suspension component 10 is connected to the ceiling, the head component 20 is installed at the lower end of the suspension component 10, the electric power assist component 30 is arranged in the suspension component 10 and the head component 20, the combined multi-dimensional force sensor is arranged in the electric power assist component 30, the controller 50 can be arranged in the head component 20, and the controller 50 can also be arranged in an external host, and communicate with the head component 20, the electric power assist component 30 and the combined multi-dimensional force sensor in a wired or wireless manner.

[0087] The suspension assembly 10 is used as a support to suspend and install the head assembly 20 in the shooting room. The head assembly 20 also has multiple degrees of freedom, which can drive the head assembly 20 to move horizontally, vertically and rotate.

[0088] The suspension assembly 10 mainly includes a guide rail 11, a moving part 12, a lifting arm 13 and a rotating arm 14. The guide rail 11 includes a first guide rail 111 and a second guide rail 112. The first guide rail 111 is laid on the ceiling along a first direction, and the first guide rail 111 is fixedly installed relative to the ceiling. The second guide rail 112 is laid on the first guide rail 111 along a second direction, and the second guide rail 112 can move relative to the first guide rail 111 along the first direction. The first guide rail 111 can be provided with two parallel rails to form a frame-type structure, and the second guide rail 112 can also be provided with two parallel rails to form a frame-type structure. Both the first guide rail 111 and the second guide rail 112 adopt a frame-type double-rail structure, which can improve the uniformity of force and improve the stability of movement.

[0089] The movable member 12 is movably connected to the guide rail 11, and the movable member 12 is movably connected to the second guide rail 112. The movable member 12 can move along the first direction relative to the first guide rail 111 together with the second guide rail 112, and the movable member 12 can also move along the second direction relative to the second guide rail 112. Among them, the first direction and the second direction are horizontal directions. Since the X-ray generating device of this embodiment has 6 degrees of freedom, the first direction and the second direction can also be set to be inclined relative to the horizontal plane. For example, when the ceiling is an inclined surface, the X-ray generating device is installed on the inclined ceiling, and the head can also be controlled to move to any position for shooting.

[0090] The moving member 12 may be a moving cart or a moving block, and the moving member 12 is used to drive the entire X-ray emitting device to move along the first direction and along the second direction.

[0091] The lifting arm 13 includes a first end and a second end opposite to each other, the first end of the lifting arm 13 may be an upper end, the second end of the lifting arm 13 may be a lower end, the first end of the lifting arm 13 is connected to the moving member 12, and the lifting arm 13 is suspended and installed at the lower end of the moving member 12. The second end of the lifting arm 13 can be lifted and lowered along a third direction relative to the first end, so as to drive the load such as the head assembly 20 to lift and move along the third direction.

[0092] The lifting arm 13 may include at least two lifting columns, and the at least two lifting columns are connected and moved in sequence along the third direction to form at least two sections of lifting columns that can be lifted and moved. For example, the lifting arm 13 includes three lifting columns, and the three lifting columns are connected in sequence from top to bottom, and the outer diameters and inner diameters of the three lifting columns decrease in sequence from top to bottom. The upper end of the uppermost lifting column is the first end of the lifting arm 13, and the lower end of the lowermost lifting column is the second end of the lifting arm 13. The three lifting columns can be set as a hollow structure to achieve lifting storage and threading; when rising to the highest position, the three lifting columns are nested inside and outside, and the two lower lifting columns are hidden in the uppermost lifting column. When descending to the lowest position, the two lower lifting columns are exposed.

[0093] The rotating arm 14 is connected to the second end of the lifting arm 13, and the rotating arm 14 can rotate along the third direction relative to the first end of the lifting arm 13. The rotating arm 14 can be rotatably connected to the second end of the lifting arm 13 through components such as a rotating shaft and a bearing, that is, the rotating pair is set at the lowest end of the lifting arm 13, which reduces the load of the rotation along the third direction to a minimum, which is conducive to improving the stability and accuracy of the rotation along the third direction. The rotating arm 14 can be vertically connected to the lifting arm 13, that is, the rotating arm 14 can be set horizontally, and the rotating arm 14 rotates around the third direction in the horizontal plane.

[0094] In other embodiments, the rotating pair of the lifting arm 13 can also be set at the upper end or the middle position, the rotating arm 14 is fixedly connected to the second end of the lifting arm 13, and the second end of the lifting arm 13 is rotatably connected relative to the first end, that is, the second end of the lifting arm 13 can be lifted and lowered along the third direction relative to the first end, and can also be rotated along the third direction. For example, among the three lifting columns of the lifting arm 13, the top lifting column is rotatably connected to the middle lifting column, or the middle lifting column is rotatably connected to the bottom lifting column, and the bottom lifting column is fixedly connected to the rotating arm 14, and the lower lifting column can drive the rotating arm 14 to rotate around the third direction together.

[0095] In this embodiment, the head assembly 20 mainly includes a connection seat 21, a bracket 22, a control head 23 and a handle 24. The connection seat 21 is connected to the rotating arm 14, and the connection seat 21 can be an integrated structure with the rotating arm 14, and the connection seat 21 can also be fixedly connected to the connection seat 21 by screw connection, clamping, welding, etc.

[0096] The bracket 22 is rotatably connected to the connection seat 21, and the bracket 22 can rotate relative to the connection seat 21 along the second direction. The bracket 22 can be rotatably connected through components such as a rotating shaft and a bearing. The connection seat 21 can be provided with a mounting hole, one end of the rotating shaft is rotatably connected to the connection seat 21, and the other end of the rotating shaft is fixedly connected to the bracket 22. Providing the rotating pair on the connection seat 21 can simplify the structure of the bracket 22, which is conducive to freeing up more space for the bracket 22 to rotate the control head 23.

[0097] The control head 23 is used to generate X-rays and emit the X-rays to the patient's test site. The control head 23 is rotatably connected to the bracket 22, and the control head 23 can rotate around a first direction relative to the bracket 22.

[0098] The bracket 22 may be a C-shaped structure, the outer middle portion of the bracket 22 is rotatably connected to the connecting seat 21, and the two ends of the control head 23 are rotatably connected to the two ends of the bracket 22 through components such as a rotating shaft and a bearing, and the control head 23 is located in the C-shaped structure of the bracket 22. The bracket 22 can drive the control head 23 to rotate around the second direction together.

[0099] In other embodiments, the bracket 22 may also be a straight rod structure, and a C-shaped structure is provided on one side of the control head 23. The bracket 22 of the straight rod structure is rotatably connected in the C-shaped structure of the control head 23, and the control head 23 and the bracket 22 can also be rotatably connected, and the control head 23 can rotate around a first direction relative to the bracket 22.

[0100] In this embodiment, the handle 24 is connected to the control head 23, one side of the control head 23 faces the bracket 22 and the connecting seat 21, and the other side of the control head 23 faces the handle 24, that is, the handle 24 and the bracket 22 are located on opposite sides of the control head 23, so that the bracket 22 will not interfere with the use of the handle 24.

[0101] The handle 24 can be fixedly connected to the control head 23, and the handle 24 can drive the control head 23 to move in the first direction, move in the second direction, rise and fall in the third direction, rotate around the first direction, rotate around the second direction, and rotate around the third direction. The handle 24 and the control head 23 move, rise and fall, and rotate together, and no relative movement occurs between the two.

[0102] The handle 24 includes a main body and a connecting part. The main body of the handle 24 can be a ring structure that is approximately a quadrilateral, and the length and width of the quadrilateral are set to be unequal, which is helpful for medical staff to perceive the rotation angle. For example, when the handle 24 is rotated 90°, the long side of the handle 24 rotates to the short side position, and the short side rotates to the long side position. The connecting part of the handle 24 is connected to the control head 23.

[0103] An operation interface 25 can also be installed on the outer side of the connection part of the handle 24 (the side facing away from the control head 23). The operation interface 25 can be a touch screen, or a combination of a display screen and buttons. The operation interface 25 is connected to the control head 23 signal. The operation interface 25 is used to input instructions such as generating X-rays and emitting X-rays.

[0104] In this embodiment, the six degrees of freedom of the manipulator head 23, the manipulator head 23 moves in the first direction, moves in the second direction, and rises and falls in the third direction to form a three-dimensional moving space that covers the standing shooting position, the lying shooting position, and other sitting shooting positions. The manipulator head 23 can rotate around the first direction relative to the bracket 22; the bracket 22 can rotate around the second direction relative to the rotating arm 14; the rotating arm 14 can rotate around the third direction relative to the first end of the lifting arm 13. The manipulator head 23 can rotate to different parts of the patient to be photographed in the standing shooting position, the lying shooting position, and other sitting shooting positions.

[0105] The travel range of the six degrees of freedom of the control head 23 can be set according to usage needs and usage scenarios.

[0106] In this embodiment, the electric power assist assembly 30 is used to provide driving force to drive the movement, lifting and rotation of the manipulator head 23, thereby achieving power assist for at least one of the six degrees of freedom of the manipulator head 23, thereby reducing the difficulty of operation for medical staff.

[0107] In this embodiment, the combined multi-dimensional force sensor is connected to the handle 24, and the force on the handle 24 can be transmitted to the combined multi-dimensional force sensor, so that the combined multi-dimensional force sensor can be used to detect the force condition of the handle 24 and generate a corresponding detection signal. The combined multi-dimensional force sensor can be arranged between the connecting portion of the control head 23 and the handle 24, and the control head 23 provides support for the combined multi-dimensional force sensor, so that the combined multi-dimensional force sensor can collect the force of the handle 24.

[0108] The combined multi-dimensional force sensor is a force sensor, and is used to detect the force of the handle 24 in the first direction, the second direction, and the third direction, and output the detection signal representing the handle 24 moving in the first direction, moving in the second direction, moving in the third direction, rotating around the first direction, rotating around the second direction, and / or rotating around the third direction. In other words, the combined multi-dimensional force sensor can calculate the degree of freedom of the electric power assist required to manipulate the machine head 23 and the magnitude of the assist force by detecting the force of the handle 24 in the three directions of the XYZ axis.

[0109] The controller 50 may be disposed on the manipulator head 23, and the controller 50 is connected to the electric power assist assembly 30 by signal. The controller 50 is used to obtain the detection signal generated by the combined multi-dimensional force sensor, and calculate and generate a corresponding control signal according to the detection signal. The controller 50 is used to send the control signal to the electric power assist assembly 30 to control the movement, lifting and / or rotation of the manipulator head 23.

[0110] In other embodiments, the controller 50 may also be disposed in an external host, and the controller 50 may be connected to the control head 23 by wire or wirelessly, and the controller 50 is connected to the electric power assist assembly 30 and the combined multi-dimensional force sensor 40 via the control head 23 .

[0111] In one embodiment, an X-ray imaging system is provided, comprising a flat panel detector and the X-ray generating device in any of the above embodiments.

[0112] The flat-panel detector is a free component. The flat-panel detector can be placed in different positions to collect X-rays passing through the patient. The flat-panel detector can be placed in a first shooting position that is separated from the film box that contains the flat-panel detector. The flat-panel detector can also be placed in a second shooting position that is contained in the film box. The first shooting position is a free position and is placed according to the position of the patient. For example, if the patient is sitting in a wheelchair, the flat-panel detector can be placed at the corresponding part of the patient on the wheelchair for imaging. The second shooting position is a fixed position and is a regular position. When the patient stands on a shooting column or lies flat on a shooting bed, the flat-panel detector can be placed in a fixed film box.

[0113] The X-ray generating device has a control head 23 with six degrees of freedom in space and a freely placed flat-panel detector, which can realize imaging of patients in normal standing and lying positions, as well as imaging of patients in unconventional postures and positions. It has a wide range of applications and high compatibility.

[0114] The X-ray generating device also has an electric power assist component, which can realize electric power assist for the movement of the control head 23 in space, greatly facilitating medical staff to operate the control head 23 to aim at the patient's part to be tested, effectively improving the efficiency of shooting. At the same time, medical staff can more accurately and stably aim the control head 23 at the patient's part to be tested, which is conducive to improving the imaging quality of the shooting.

[0115] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A combined multi-dimensional force sensor, characterized in that: include: At least four two-dimensional force sensors, at least the four two-dimensional force sensors are divided into a first group and a second group, the first group and the second group respectively include at least two of the two-dimensional force sensors arranged relatively to each other, at least the four two-dimensional force sensors are respectively used to connect with the handle of the X-ray generating device, at least the four two-dimensional force sensors are distributed in a quadrilateral; at least two of the two-dimensional force sensors of the first group are used to detect the forces of the handle in the first direction and the second direction and generate corresponding detection signals, at least two of the two-dimensional force sensors of the second group are used to detect the forces of the handle in the third direction and the second direction and generate corresponding detection signals, the planes where the first direction, the second direction and the third direction are located are not coplanar; the detection signal is used to control the movement, lifting and / or rotation of the control head of the X-ray generating device connected to the handle.

2. The combined multi-dimensional force sensor according to claim 1, characterized in that: The face where the quadrilateral is located is parallel to the face where the handle is located; the quadrilateral is a rectangle, and the two two-dimensional force sensors of the first group are symmetrically arranged on two sides of the rectangle, and the two two-dimensional force sensors of the second group are symmetrically arranged on the other two sides of the rectangle; or, a two-dimensional force sensor is respectively arranged at the center of the four sides of the rectangle; or, a two-dimensional force sensor is respectively arranged at the four corners of the rectangle.

3. The combined multi-dimensional force sensor according to claim 1 or 2, characterized in that: It also includes a first fixing frame and a second fixing frame, at least four of the two-dimensional force sensors are installed between the first fixing frame and the second fixing frame, the first fixing frame is used to connect with the manipulation machine head, and the second fixing frame is used to connect with the handle.

4. The combined multi-dimensional force sensor according to claim 3, characterized in that: At least four of the two-dimensional force sensors are fixedly connected to the first fixing frame and the second fixing frame respectively.

5. The combined multi-dimensional force sensor according to claim 3, characterized in that: At least four of the two-dimensional force sensors are connected to the first fixing frame and the second fixing frame respectively, and there is a moving gap between at least four of the two-dimensional force sensors and the first fixing frame and / or the second fixing frame, and the four two-dimensional force sensors can move in the gap.

6. The combined multi-dimensional force sensor according to claim 3, characterized in that: The second fixing frame is connected to the connecting portion of the handle and the manipulator head, the connecting portion is a rectangular structure, and the outer contours of the first fixing frame and the second fixing frame are flush with the outer contour of the rectangular structure.

7. The combined multi-dimensional force sensor according to claim 1, characterized in that: The first direction, the second direction and the third direction are perpendicular to each other, and the second direction is perpendicular to the surface where the handle is located.

8. The combined multi-dimensional force sensor according to claim 1, characterized in that: The quadrilateral is a plane quadrilateral or a three-dimensional quadrilateral.

9. A combined multi-dimensional force sensor, characterized in that: include: It comprises at least three three-dimensional force sensors, which are respectively used to connect to the handle of the X-ray generating device, and the at least three three-dimensional force sensors are distributed in a triangle; the at least three three-dimensional force sensors are used to detect the forces on the handle in the first direction, the second direction and the third direction and generate corresponding detection signals, and the planes where the first direction, the second direction and the third direction are located are not coplanar; the detection signals are used to control the movement, lifting and / or rotation of the control head of the X-ray generating device connected to the handle.

10. The combined multi-dimensional force sensor according to claim 9, characterized in that: It also includes a first fixing frame and a second fixing frame, at least three of the three-dimensional force sensors are installed between the first fixing frame and the second fixing frame, the first fixing frame is used to connect with the manipulation machine head, and the second fixing frame is used to connect with the handle.

11. The combined multi-dimensional force sensor according to claim 10, characterized in that: At least three of the three-dimensional force sensors are fixedly connected to the first fixing frame and the second fixing frame respectively.

12. The combined multi-dimensional force sensor according to claim 10, characterized in that: At least three of the three-dimensional force sensors are connected to the first fixing frame and the second fixing frame respectively, and there is a moving gap between the at least three of the three-dimensional force sensors and the first fixing frame and / or the second fixing frame, and at least three of the three-dimensional force sensors can move within the gap.

13. The combined multi-dimensional force sensor according to claim 10, characterized in that: The second fixing frame is connected to the connecting portion of the handle and the manipulator head, the connecting portion is a rectangular structure, and the outer contours of the first fixing frame and the second fixing frame are flush with the outer contour of the rectangular structure.

14. The combined multi-dimensional force sensor according to claim 9, characterized in that: The plane where the triangle is located is parallel to the plane where the handle is located, and at least three of the three-dimensional force sensors are distributed in an equilateral triangle.

15. The combined multi-dimensional force sensor according to claim 9, characterized in that: The first direction, the second direction and the third direction are perpendicular to each other, and the second direction is perpendicular to the surface where the handle is located.

16. An X-ray generating device, characterized in that: include: A head assembly, comprising a control head and a handle, wherein the control head is used to generate X-rays and emit them to a part to be detected, and the handle is connected to the control head, and the handle is used by a user to operate the movement, lifting and / or rotation of the control head; The combined multi-dimensional force sensor according to any one of claims 1 to 15; as well as A controller is connected to the signal of the combined multi-dimensional force sensor, and the controller is used to obtain the detection signal to control the movement, lifting and / or rotation of the manipulation head.

17. An X-ray imaging system, characterized in that: include: The X-ray generating device as claimed in claim 16; A flat panel detector, which can be placed in a first shooting position detached from a film box containing the flat panel detector, and which can also be placed in a second shooting position contained in the film box; the control head is used to align the flat panel detector, and the flat panel detector is used to collect X-rays passing through the part to be detected and generate corresponding imaging signals, and the imaging signals are used to obtain a captured X-ray image.

Images