Holding device for X-ray imaging apparatus

Abstract

The invention relates to a movable holding member of an X-ray imaging apparatus. In order to provide further convenient and space-saving medical X-ray imaging, a holding device (10) for an X-ray imaging apparatus is provided. The apparatus comprises said lower source robot (12) movably holding an X-ray source and said upper detector robot (14) movably holding an X-ray detector. The upper probe robot includes an upper base (16), a first upper arm (18), a second upper arm (20), and a probe mount (22). The upper base includes an upper base plate (24) and the upper base mount (26) rotatably connected to the upper base plate, where the upper base plate is configured to be movably mounted to a ceiling support. The first upper arm is rotatably connected to the upper base mount, the second upper arm is rotatably connected to the first upper arm, and the probe mount is rotatably connected to the second upper arm. The second upper arm comprises two arm portions (28, 30) rotatably connected about a longitudinal upper arm axis (32) of the second upper arm. The second upper arm has a greater length than the first upper arm.

Description

Technical Field

[0001] The present invention relates to components for movably holding X-ray imaging equipment, and more particularly to holding devices for X-ray imaging equipment, medical X-ray imaging systems, and methods for X-ray imaging. Background Technology

[0002] In medical imaging, X-ray imaging is used to provide information about invisible details of an object. To enable different viewing orientations, X-ray imaging systems with movable C-arms have been developed to support and align the X-ray tube and detector. Due to the relatively large size of C-arms, X-ray systems with independent supports for the source and detector have been developed. For example, WO2020 / 089272A1 describes a system with two robotic arms holding the source and detector. However, considering the further increase in the number of devices and the required user flexibility, there is a need for further optimization in terms of space and user comfort. Summary of the Invention

[0003] Therefore, it may be necessary to provide more convenient and space-saving medical X-ray imaging.

[0004] The object of the invention is achieved through the subject matter of the independent claims; further embodiments are embodied in the dependent claims. It should be noted that the various aspects of the invention described below are also applicable to holding devices for X-ray imaging apparatus, medical X-ray imaging systems, and X-ray imaging methods.

[0005] According to the present invention, a holding device for an X-ray imaging apparatus is provided. The device includes a lower source robot movably holding an X-ray source and an upper detector robot movably holding an X-ray detector. The upper detector robot includes an upper base, a first upper arm, a second upper arm, and a detector mounting member. The upper base includes an upper base plate and an upper base mounting member rotatably connected to the upper base plate, the latter being configured to be movably mounted to a ceiling support. The first upper arm is rotatably connected to the upper base mounting member, the second upper arm is rotatably connected to the first upper arm, and the detector mounting member is rotatably connected to the second upper arm. The second upper arm includes two arm portions rotatably connected about a longitudinal upper arm axis. The second upper arm has a greater length than the first upper arm.

[0006] The result is a more compact X-ray imaging device holder that provides sufficient flexibility to move the detector and radiation source around the patient.

[0007] Specifically, this achieves maximum reduction in arm length, resulting in less torque generated during imaging system operation. Furthermore, the reduced arm length also means lower build height, leading to fewer movement or drive restrictions, and also affecting other nearby equipment.

[0008] Furthermore, the shorter first upper arm compared to the second reduces the likelihood of collisions when the entire upper robot rotates around the vertical axis during operation. This helps maintain a relatively compact configuration of the (upper) arms while providing sufficient range of motion for the detectors around the patient, and avoiding collisions with other equipment in the room, specifically ceiling-mounted equipment such as monitors, monitor ceiling hangers, (one or more) ceiling-suspended X-ray shields, ceiling-suspended equipment arms, and / or other ceiling-suspended tools.

[0009] According to the example, the length of the second upper arm is at least twice the length of the first upper arm.

[0010] According to the example, the detector mount includes a detector mounting member and a detector mounting plate configured to securely attach an X-ray detector. The detector mounting plate is connected to the detector mounting member and is rotatable about a detector axis configured to be aligned with the center of the detector surface of the X-ray detector. A second upper arm is connected to the detector mounting member about a mounting axis arranged perpendicular to the detector axis. The mounting axis is offset relative to the detector axis by at least one-third of the detector surface diameter.

[0011] According to the example, the upper base mount is connected to the upper base plate and is rotatable about a vertical upper base rotation axis. In a first option, the vertical upper base rotation axis is aligned with the horizontal rotation axis of the rotatable connection between the first upper arm and the upper base mount. In a second option, an offset is provided between the upper vertical base rotation axis and the horizontal rotation axis of the rotatable connection between the first upper arm and the upper base mount.

[0012] According to an example, a driving device is provided for applying a driving force to achieve relative translational or rotational movement of at least one of the group consisting of an upper base plate, an upper base mounting member, a first upper arm, a second upper arm, two arm portions, a detector mounting member, and a detector fixing plate.

[0013] According to the example, the lower source robot includes a lower base, a first lower arm, a second lower arm, and a source mount. The first lower arm is rotatably connected to the lower base, the second lower arm is rotatably connected to the first lower arm, and the source mount is rotatably connected to the second lower arm. The second lower arm includes two arm portions rotatably connected about a longitudinal arm axis. The lower base includes a lower base plate and a lower base mount rotatably connected to the lower base plate, wherein the first lower arm is rotatably connected to the lower base mount; the lower base plate is movably connected to a floor support, for example, providing linear movement between the floor support and the lower base plate. The second lower arm has a greater length than the first lower arm.

[0014] According to the example, the source mount includes a source mounting member and a source receiving portion configured to hold an X-ray source. The source receiving portion is connected to the source mounting member and is rotatable about the source axis to align with the center of the X-ray source. A second lower arm is connected to the source mounting member about a mounting axis arranged perpendicular to the source axis. Optionally, the offset of the mounting axis relative to the source axis is at least approximately 25% of the outer diameter of the source housing.

[0015] According to the example, the longitudinal arm axis of the second lower arm (about which the two arm portions of the second lower arm can rotate) is arranged to have an offset from the rotatable connection of the first and second lower arms. In one option, the offset is at least half the diameter of the outer dimension of the proximal end of the second lower arm.

[0016] According to the example, the lower base mount is connected to the lower base plate and is rotatable about a vertical lower base rotation axis. In a first option, the vertical lower base rotation axis is aligned with the horizontal rotation axis of the rotatable connection between the first lower arm and the lower base mount. In a second option, an offset is provided between the vertical lower base rotation axis and the horizontal rotation axis of the rotatable connection between the first lower arm and the lower base mount.

[0017] According to the present invention, a medical X-ray imaging system is also provided. The system includes: a holding device for an X-ray imaging apparatus according to one of the foregoing examples; an X-ray source mounted to a lower source robot; an X-ray detector mounted to an upper detector robot; and an object support configured to provide support for an object. The holding device is configured to arrange the X-ray source and the X-ray detector for imaging an object on the object support, such that the object is located between the X-ray source and the X-ray detector.

[0018] In one option, an X-ray collimator is provided for shaping the X-ray beam generated by the X-ray source.

[0019] According to the present invention, a method for X-ray imaging is also provided. The method includes the following steps:

[0020] The X-ray source is held mobilely by a lower-level source robot.

[0021] An X-ray detector is movably held by an upper detector robot. The upper detector robot includes an upper base, a first upper arm, a second upper arm, and a detector mount. The upper base includes an upper base plate and an upper base mount rotatably connected to the upper base plate, the latter being mounted to a ceiling support. The first upper arm is rotatably connected to the upper base mount, the second upper arm is rotatably connected to the first upper arm, and the detector mount is rotatably connected to the second upper arm. The second upper arm includes two arm portions rotatably connected about a longitudinal upper arm axis. The second upper arm has a greater length than the first upper arm.

[0022] The object is positioned between the X-ray source and the X-ray detector.

[0023] An X-ray beam is generated from an X-ray source.

[0024] X-ray radiation is detected after at least a portion of the X-ray beam has passed through the object.

[0025] According to one aspect, first and second robots are provided, which have the same movement scheme or concept, but due to different constraints, these concepts are adapted in different ways to achieve the greatest possible overall optimization.

[0026] According to one aspect, a C-arm-less X-ray imaging system is provided as an alternative to the C-arm. Two independent robotic arms are provided as moving devices for fixing and moving the X-ray source and X-ray detector. By providing a specific geometry, the moving devices offer maximum flexibility in achieving different imaging positions and imaging viewing orientations. This geometry is based on providing a short first arm and a longer second arm, for example, for a detector robotic arm, and optionally also for a source robotic arm, both of which pivot about a horizontal axis. Further adjustments can be provided by a vertical axis on a ceiling mount and a longitudinal orientation on the additional second arm.

[0027] According to one aspect, in one option, an offset is provided at the detector mount such that the mount is located on the edge of the detector housing. With additional rotation of the detector, the housing serves as an extension of a second arm, which can then be subsequently shortened.

[0028] According to one aspect, two 7-DOF (degrees of freedom) robotic arms were used to position the detector and X-ray tube around the patient. The layout of the robotic arms was optimized to maximize the fulfillment of the required specifications: achieving the desired projection, allowing at least 180° of scan movement, preferably allowing for contour changes, providing sufficient longitudinal range, enabling integrated cabling, performing movement within a limited space (i.e., reducing the possibility of collisions), having an attractive and slim design, and for the lower robot, keeping it as far below the tabletop as possible.

[0029] In principle, both the X-ray detector and the X-ray tube must be positioned in six degrees of freedom: three positions, namely X / Y / Z, and three rotations, namely Rx, Ry, and Rz. In the example, a robotic arm is provided that provides these six degrees of freedom on the end effector through a configuration of at least six joints, where the joints can be translational or rotational. In one option, the optimized robot layout has seven joints arranged in a specific stacking order.

[0030] These and other aspects of the invention will become apparent and will be explained with reference to the embodiments described below. Attached Figure Description

[0031] Exemplary embodiments of the present invention will now be described with reference to the following figures:

[0032] Figure 1 An example of a holding device for an X-ray imaging apparatus is schematically shown, featuring a lower source robot and an upper detector robot. Figure 1 An example of a medical X-ray imaging system is also shown.

[0033] Figure 2 It shows Figure 1 An example of the positioning of the upper detector robot that maintains its arrangement.

[0034] Figure 3 It shows Figure 1 Another example of positioning for the upper probe robot.

[0035] Figure 4 It shows Figure 1 An example of an upper probe robot.

[0036] Figure 5 It shows Figure 1 Example of positioning of the lower source robot.

[0037] Figure 6 It shows Figure 1 An example of a lower-source robot.

[0038] Figure 7 It shows Figure 1Another example of a lower-middle source robot.

[0039] Figure 8 A diagram illustrating the first motion sequence of a medical X-ray imaging system is shown.

[0040] Figure 9a , 9b Figures 9 and 9c illustrate the second motion sequence of a medical X-ray imaging system.

[0041] Figure 10 Another example of a lower-source robot is shown in the context of an object support.

[0042] Figure 11 The basic steps of an example method for X-ray imaging are shown. Detailed Implementation

[0043] Specific embodiments will now be described in more detail with reference to the accompanying drawings. In the following description, the same reference numerals are used to denote the same elements, even in different drawings. Contents defined in the specification, such as detailed constructions and elements, are provided to aid in a comprehensive understanding of the exemplary embodiments. Furthermore, well-known functions or structures are not described in detail, as this would obscure the embodiments with unnecessary detail. Also, expressions such as "at least one of" when preceding a list of elements modify the entire list of elements without modifying any individual element in the list.

[0044] Figure 1 An example of a holding device 10 for an X-ray imaging apparatus is schematically shown. It is noteworthy that the holding device 10 is shown in the context of an example medical X-ray imaging system, as an option. The holding device 10 includes a lower source robot 12 that movably holds an X-ray source and an upper detector robot 14 that movably holds an X-ray detector. The upper detector robot 14 includes an upper base 16, a first upper arm 18, a second upper arm 20, and a detector mount 22. The upper base 16 includes an upper base plate 24 and an upper base mount 26 rotatably connected to the upper base plate, wherein the upper base plate 24 is configured to be movably mounted to a ceiling support. The first upper arm 18 is rotatably connected to the upper base mount 26, the second upper arm 20 is rotatably connected to the first upper arm 18, and the detector mount 22 is rotatably connected to the second upper arm 20. The second upper arm 20 includes two arm portions 28, 30 rotatably connected about a longitudinal upper arm axis 32 of the second upper arm 20. The second upper arm 20 is longer than the first upper arm 18.

[0045] The term "holding device" refers to providing a movable mounting bracket for the X-ray source and X-ray detector of an X-ray imaging system.

[0046] A “lower-source robot” refers to a robot that moves and holds an X-ray source. The robot is mounted on a floor, and the X-ray source is attached to the robot’s free end. The robot may have an arm-like shape with multiple movable joints, allowing for a high degree of freedom of movement.

[0047] The term "upper detector robot" refers to a robot used to move and hold an X-ray detector. The robot is mounted to the ceiling, and the X-ray detector is mounted to the robot's free end. The robot may have an arm-like shape with multiple movable joints, allowing for a high degree of freedom of movement.

[0048] The term "rotatable connection" refers to a connection that allows rotational movement about a rotational axis, such as pivotal or rotational movement.

[0049] In conventional medical X-ray imaging, an X-ray source is typically provided below an object support (such as an object stage). An X-ray detector is positioned above the stage to detect X-rays passing through the object. The X-ray source and detector can be arranged such that they move together around an isocenter. According to the present invention, the upper detector robot relates to a robot for holding and moving an X-ray detector for medical X-ray imaging. Furthermore, the lower detector robot relates to a robot for holding and moving an X-ray source for medical X-ray imaging.

[0050] The upper detector robot 14 can also be referred to as a detector robot, detector robot arm, upper robot, upper robot arm, upper movable support, upper support, or detector mounting component. The upper detector robot 14 can also be referred to as a second movable support, second robotic arm, or second robot.

[0051] The first upper arm 18 is rotatably connected to the upper base 16 via a first upper rotation axis, and the second upper arm 20 is rotatably connected to the first upper arm 18 via a second upper rotation axis, the first and second upper rotation axes being parallel to each other in the horizontal direction. The detector mount is rotatably connected to the second upper arm via a third upper rotation axis, the third upper rotation axis being arranged perpendicular to the longitudinal arm axis of the second upper arm.

[0052] The longitudinal axis of the second upper arm can also be called the longitudinal second upper arm axis.

[0053] The two arm portions of the second upper arm can also be referred to as the two arms that form the longer upper beam. The two arm portions of the second upper arm can also be referred to as the proximal arm portion and the distal arm portion.

[0054] The first upper arm is rotatably connected to the upper base via its proximal end. The second upper arm is rotatably connected to the distal end of the first upper arm via its proximal end. The detector mount is rotatably connected to the distal end of the second upper arm.

[0055] The proximal end of the first upper arm can also be referred to as the proximal end of the first upper arm. The distal end of the first upper arm can also be referred to as the distal end of the first upper arm. The proximal end of the second upper arm can also be referred to as the proximal end of the second upper arm. The distal end of the second upper arm can also be referred to as the distal end of the second upper arm.

[0056] In one option, the upper base plate is configured to be movably mounted to the ceiling support. The base plate can move linearly relative to the ceiling support.

[0057] exist Figure 1 In the example options, the length of the second upper arm is at least twice the length of the first upper arm.

[0058] In the examples, the length of the first upper arm in the first design is provided to be 470 mm (joint-to-joint), and the length of the second upper arm is 880 mm. In another robot layout, the length of the first upper arm is even longer. In another example, the lengths of the first and second arms are 550 mm and 750 mm, respectively. In yet another example, 650 mm and 1050 mm are provided, respectively. In yet another example, 630 mm and 970 mm are provided.

[0059] As indicated above, Figure 1 An example of a medical X-ray imaging system 100 is also shown as an alternative. System 100 includes a holding device 102 of an X-ray imaging apparatus according to one of the front and rear examples. System 100 also includes an X-ray source 104 mounted on a lower source robot 12 and an X-ray detector 106 mounted on an upper detector robot 14. System 100 also includes an object support 108 configured to provide support for an object 110 having a region of interest 111 to be imaged by the X-ray imaging system 100. The holding device 102 is configured to arrange the X-ray source and X-ray detector for imaging the object on the object support, such that the object is positioned between the X-ray source and the X-ray detector.

[0060] exist Figure 1 In the center, a control panel or user interface 112 is provided near the object support. Additionally, a display device 114 is provided in the background. The display device 114 can be suspended from the ceiling via a movable mounting bracket 116. The user 118 is shown in the right foreground.

[0061] Figure 2 It shows Figure 1 An example of the positioning of the upper detector robot 14 of the neutralization and holding device 10. The viewing direction can be conveniently adjusted according to the corresponding needs.

[0062] Figure 3 It shows Figure 1Another positioning method for the upper detector 14 robot, whose imaging device has different viewing directions.

[0063] Figure 4 It shows Figure 1 Another example of an upper probe robot.

[0064] It is worth noting that the accompanying diagrams show X-ray detectors and X-ray sources mounted on the corresponding upper detector robot and lower source robot. This is referred to as a medical X-ray imaging system. However, an upper detector robot and a lower source robot are also provided, but without X-ray detectors and X-ray sources. This is referred to as a holding device for X-ray imaging equipment, which can also be called a holding device for a medical X-ray imaging system.

[0065] For X-ray imaging systems, as indicated below, in one option, an X-ray collimator is provided (for shaping the X-ray beam generated by the X-ray source).

[0066] In one option, such as Figure 4 As shown, the detector bracket 22 includes a detector mounting member 34 and a detector mounting plate 36 configured to securely attach an X-ray detector 38. The detector mounting plate 36 is connected to the detector mounting member 34 and is rotatable about a detector axis 40, which is configured to be aligned with the center of the detector surface of the X-ray detector. A second upper arm 20 is connected to the detector mounting member 34 about a mounting axis 42 arranged perpendicular to the detector axis. The mounting axis 42 is offset by an offset 44 relative to the detector axis 40 (see...). Figure 4 The bias is at least one-third of the detector surface diameter.

[0067] The second upper arm 20 is connected to the first lower arm 18 around the horizontal axis 43.

[0068] Compared to the non-biased version of the detector, the bias, combined with the combination of two vertical rotation axes and longitudinal rotation within the second arm assembly, allows the second arm to have a shortened length.

[0069] In the example, the mounting axis is offset so that it is positioned outside the detector surface.

[0070] The mounting axis can also be called the detector mounting axis.

[0071] The detector mounting plate can also be called a mounting plate.

[0072] In one option, the bias is at least half the diameter of the detector surface.

[0073] In one option, the bias is provided to offset the mounting axis at least half the width of the detector housing.

[0074] In one option, a first linear movement of the base plate relative to the ceiling is provided. This is a valuable addition to the robot's motion axis layout.

[0075] Due to the offset, the field of view can be expanded while minimizing the length of the robotic arm.

[0076] In the example, the upper base mount 26 is rotatably connected to the upper base plate 24 about a vertical upper base mount rotation axis 46.

[0077] In the first embodiment, the vertical upper base rotation axis is aligned with the horizontal rotation axis 48 of the rotatable connection between the first upper arm and the upper base mount. In the second embodiment, an offset 50 is provided between the upper vertical base rotation axis and the horizontal rotation axis of the rotatable connection between the first upper arm and the upper base mount.

[0078] In the example, the upper base plate is slidably mounted on an upper guide rail device 52, which is configured to be mounted on a ceiling 54. Translational movement is indicated by a first double arrow 55.

[0079] exist Figure 4 In the diagram, the first position of the upper probe robot 14 is indicated by a straight line 49; the second position of the upper probe robot 14 is indicated by a first dashed line 47; and the third position of the upper probe robot 14 is indicated by a second dashed line 45. These different positions can appear either in the drawing plane or in other planes rotated about the vertical axis.

[0080] It can be seen that by performing the initial positioning of the upper detector robot 14, the detector's first position P1 is achieved on the side of the object 41 on the support member 39. The support member 39 is positioned at a first height H1.

[0081] It can also be seen that, by performing a second positioning on the upper probe robot 14, a second position P2 of the probe robot 14 is achieved on the side of the object 41 on the support member 39. The support member 39 is arranged at a second height H2.

[0082] It can also be seen that by performing a third positioning on the upper detector robot 14, the third position P3 of the detector is achieved above the object 41 on the support 39.

[0083] In another example, a drive device (not shown in detail) is provided for applying a driving force to achieve relative translational or rotational movement of at least one of the group consisting of the upper base plate, the upper base mount, the first upper arm, the second upper arm, the two arm portions, the detector mounting member, and the detector fixing plate.

[0084] For example, a drive mechanism is provided to apply a driving force to achieve the following relative rotational movement:

[0085] Upper base plate and upper base mounting components;

[0086] Upper base mounting and first upper arm;

[0087] First upper arm and second upper arm;

[0088] The two arm parts of the second upper arm;

[0089] The second upper arm and detector mounting components; and

[0090] Detector mounting components and detector mounting plate.

[0091] For example, a drive mechanism is provided to apply a driving force to achieve the following relative linear movement:

[0092] Ceiling support components and upper base plate.

[0093] In the example, the second arm has a smooth outer profile, with the outer diameter decreasing from the proximal end to the distal end.

[0094] In the example, the smooth outer contour is achieved by also covering the arm shell of the revolute connection. The term "smooth" refers to a contour without steps, bumps, or depressions.

[0095] In one option, the first arm has a smooth outer profile, with its outer diameter gradually decreasing from the proximal end to the distal end.

[0096] In another option, the upper base mount has a smooth outer profile, with its outer diameter gradually decreasing from the proximal end to the distal end.

[0097] Figure 5 It shows Figure 1 An example of the positioning of the lower source robot 12. The object support can be translated longitudinally, as indicated by the third double arrow 35.

[0098] Figure 6 It shows Figure 1 An example of a lower-source robot.

[0099] Figure 7 It shows Figure 1 Another example of a lower-middle source robot.

[0100] Also refer to Figure 1 ,exist Figure 6 and Figure 7In the example shown, the lower source robot 12 includes a lower base 60, a first lower arm 62, a second lower arm 64, and a source mount 66. The first lower arm 62 is rotatably connected to the lower base 60, the second lower arm 64 is rotatably connected to the first lower arm 62, and the source mount 66 is rotatably connected to the second lower arm 64. The second lower arm 64 includes two arm portions 67 and 68, which are rotatably connected about a longitudinal arm axis 70 of the second lower arm 64. The lower base 60 includes a lower base plate 72 and a lower base mount 74 rotatably connected to the lower base plate 72. The first lower arm 62 is rotatably connected to the lower base mount 74; the lower base plate 72 is movably connected to a floor support, such as a floor support rail 75. Translational movement is indicated by a second double arrow 77. The second lower arm 64 has a greater length than the first lower arm 62.

[0101] The lower source robot can also be referred to as a source robot, source robot arm, lower robot, lower robot arm, lower movable mount, lower mount, or source mount. The lower source robot can also be referred to as a first movable mount, first robot arm, or first robot.

[0102] The first lower arm is rotatably connected to the lower base via a first lower rotating shaft, and the second lower arm is rotatably connected to the first lower arm via a second lower rotating shaft, the first and second lower rotating shafts being parallel to each other in the horizontal direction. The source mounting component is rotatably connected to the second lower arm via a third lower rotating shaft, the third lower rotating shaft being arranged perpendicular to the longitudinal arm axis of the second lower arm.

[0103] In one option, a first linear movement of the first lower arm is provided.

[0104] The longitudinal axis of the second lower arm can also be referred to as the longitudinal axis of the second lower arm.

[0105] The two arm portions of the second lower arm can also be referred to as the two arms that form the longer lower beam. The two arm portions of the second lower arm can also be referred to as the second lower proximal arm portion and the second lower distal arm portion.

[0106] The proximal end of the first lower arm is rotatably connected to the lower base. The proximal end of the second lower arm is rotatably connected to the distal end of the first lower arm. The source mount is rotatably connected to the distal end of the second lower arm.

[0107] The proximal end of the first forearm can also be referred to as the proximal end of the first forearm. The distal end of the first forearm can also be referred to as the distal end of the first forearm. The proximal end of the second forearm can also be referred to as the proximal end of the second forearm. The distal end of the second forearm can also be referred to as the distal end of the second forearm.

[0108] In one option, the length of the second forearm is at least twice the length of the first forearm.

[0109] In another example, the arm lengths in the robot design of the upper probe robot are as follows: the first upper arm is approximately 315 mm long, while the second upper arm is approximately 670 mm long.

[0110] In another example, as part of the robot design for the upper probe robot, the length of the first upper arm is approximately 470 mm, the length of the first arm portion of the second upper arm is approximately 400 mm, and the length of the second arm portion of the second upper arm is approximately 480 mm.

[0111] In the example, the second forearm is shorter than the first forearm.

[0112] For example, a combination of offsets between base mounting rotation and first lower arm rotation is provided, thereby enabling a reduction in the length of the second lower arm.

[0113] In one option, the length of the first lower arm is provided such that when the first lower arm is in its upright position, its upper edge is lower than the object support at the working height. This ensures that the lower robotic arm and its central base portion always remain below the object support.

[0114] In one option, the lower source robot remains below the table as much as possible. For example, the second arm (e.g., through its combination with the two arm sections) utilizes the space on both sides of the base: when oriented horizontally, one side is the smaller section, while the other side of the base is the larger section, for example, between the base and the X-ray tube. Thus, the largest part of the system, the second lower arm, remains below the table.

[0115] See also the example. Figure 6 The source mount 66 includes a source mount member 76 and a source receiver portion 78 configured to hold an X-ray source 80. The source receiver portion 78 is rotatably connected to the source mount member 76 about a source axis 82 to be aligned with the center of the X-ray source 80. A second lower arm 64 is connected to the source mount member 76 about a mount axis 84 arranged perpendicular to the source axis 82. In one option, the mount axis 84 is offset by an offset 86 relative to the source axis 82 (see [link to relevant documentation]). Figure 6 The bias is at least approximately 25% of the outer diameter of the source housing.

[0116] It is worth noting that, according to one option, an X-ray collimator is also provided, but not shown in detail. The X-ray collimator is configured to shape the X-ray beam generated by the X-ray source.

[0117] The second lower arm 64 is mounted on the first lower arm 62 around the horizontal axis 87.

[0118] In one option, the X-ray source arm is quite long. For example, it is at least half the diameter of the collimator placed above the X-ray source.

[0119] In the example, the mounting axis is offset relative to the source axis by at least approximately 25% or 30% (e.g., approximately 50% of the source housing outer diameter).

[0120] In the example, the mounting axis is offset by a bias, which is at least the outer diameter of the source housing.

[0121] The mounting axis can also be called the source mounting axis.

[0122] In the example, the longitudinal arm axis 70 of the second lower arm 64 (about which the two arm portions of the second lower arm 64 can rotate) is offset 88 relative to the rotatable connection of the first and second lower arms (i.e., the horizontal axis 87). In one option, the offset 88 is at least half of the proximal outer diameter of the second lower arm.

[0123] In the example, the lower base mount 74 is rotatably connected to the lower base plate 72 about the vertical lower base rotation axis 90.

[0124] In the first choice, such as Figure 6 As shown, the vertical lower base rotation axis 90 is aligned with the horizontal rotation axis 92, which is rotatably connected to the first lower arm 62 and the lower base mounting member 74.

[0125] In the second option, such as Figure 7 As shown, an offset 94 is provided between the vertical lower base rotation axis and the horizontal rotation axis through which the first lower arm is rotatably connected to the lower base mounting.

[0126] In another option, the lower base plate is slidably mounted onto a lower guide rail assembly, which is configured to be fixed to the floor.

[0127] In another option, a drive mechanism is provided for applying a driving force to achieve a relative translational or rotational movement of at least one of the group consisting of a lower base plate, a lower base mount, a lower upper arm, a second lower arm, two arm portions, a source mounting member, and a source receiving portion.

[0128] For example, a drive mechanism is provided to apply a driving force to achieve the following relative rotational movement:

[0129] Lower base plate and lower base mounting components;

[0130] Lower base mounting components and first lower arm;

[0131] First and second forearms;

[0132] The two arm parts of the second lower arm;

[0133] Second lower arm and source mounting components; and

[0134] Source mounting components and source receiving section.

[0135] For example, a drive mechanism is provided to apply a driving force to achieve the following relative linear movement:

[0136] Floor support components and bottom plate.

[0137] In the example, such as Figure 1 As shown, in order to further increase the imaging range, the upper base is configured to be slidably mounted to the upper guide rail device 96.

[0138] In another example, additionally or alternatively, in Figure 1 As an alternative, the lower base is configured to be slidably mounted on the lower guide rail 98 arrangement.

[0139] In one option, a drive is provided to apply a driving force to achieve sliding (i.e. translational) movement of the upper base along the upper guide rail assembly.

[0140] In another option, a drive is provided to apply a driving force to enable the lower base to slide (i.e. translate) along the lower guide rail assembly.

[0141] In the example (not shown in detail), a control unit is provided to control the coordinated movement of the first movable mount and the second movable mount.

[0142] In the example, the X-ray detector is mounted on the detector mount of the upper source robot. The X-ray source is mounted on the source mount of the lower X-ray source robot.

[0143] In the example, the X-ray detector is mounted on the detector mounting plate of the detector mount. The X-ray source is mounted on the source receiving portion of the source mount.

[0144] Figure 8 This diagram illustrates the first motion sequence of a medical X-ray imaging system. The top image shows the starting or parking position. The upper detector robot 14 is arranged such that the detector can move upwards to below the ceiling. The lower source robot 14 is arranged such that the source and its support arm are positioned completely below the object support. Further diagrams at the top show several imaging positions. It can be seen that the detector and source can move together to a wide variety of positions, allowing for different observation orientations.

[0145] Figure 9a , 9b Figures 9c and 9c illustrate the second motion sequence of a medical X-ray imaging system. Figure 9a In the middle, the observation direction changes from horizontal to tilted. Figure 9b In the middle, the direction of observation changes from tilted to vertical. Figure 9cIn this case, the observation direction changes from tilted to horizontal. Therefore, a complete 180° trajectory can be obtained.

[0146] Figure 10 Another example of the lower source robot 12 is shown in the context of an object support. It can be seen that the source 80 can be moved to a position above the table height, while the holding arm is largely positioned below the object support. The space occupied by the fixation mechanism for X-ray imaging is kept to a minimum for the user.

[0147] Figure 11 The basic steps of an example of a method 200 for X-ray imaging are shown. Method 200 includes the following steps.

[0148] In step 202, the X-ray source is held mobilely by the lower source robot.

[0149] In step 204, the X-ray detector is movably held by the upper detector robot. The upper detector robot includes an upper base, a first upper arm, a second upper arm, and a detector mounting. The upper base includes an upper base plate and an upper base mounting rotatably connected to the upper base plate. The upper base plate is mounted to a ceiling support. The first upper arm is rotatably connected to the upper base mounting, the second upper arm is rotatably connected to the first upper arm, and the detector mounting is rotatably connected to the second upper arm. The second upper arm includes two arm portions rotatably connected about a longitudinal upper arm axis. The second upper arm has a greater length than the first upper arm.

[0150] In step 3, 206, the object is positioned between the X-ray source and the X-ray detector;

[0151] In step 4, 208, an X-ray beam is generated from the X-ray source.

[0152] In step 5, 210, X-ray radiation is detected after at least a portion of the X-ray beam has passed through the object.

[0153] An optimized robot layout is provided for two robots, representing a portion of a C-arm-less system configuration (i.e., a configuration without C-arms). In short, C-arm-less represents the concept where, in fixed X-ray systems used for interventional or hybrid surgeries, the C-arm (also known as a C-arc) is no longer present. Two robotic arms are used to manipulate (i.e., control) the X-ray tube and X-ray detector in a coordinated manner. An optimized robot configuration is provided for both robotic arms. This optimization takes into account application requirements, available space, and the presence of personnel and other equipment within the examination room.

[0154] The advantages of removing the C-arm from the operating room include freeing up significant space and improving access to the patient during surgery. For example, additional staff can stand near the patient if needed, such as during more complex mixed procedures. Without the C-arm, access to the patient bed and the patient is virtually unrestricted during patient preparation. This helps reduce preparation time. Room layout is also much easier without the C-arm, requiring less intensive planning, whereas with the C-arm, intensive planning is typically necessary, demanding that staff be well-prepared for the scheduled procedure to plan where to place the C-arm and the necessary staff and other equipment.

[0155] As another advantage, the openness of this solution's X-ray imaging system also provides more space for hybrid processes that include additional robots, due to its minimal footprint.

[0156] The provided setup also allows for images to be obtained from steeper projections, such as during cardiac procedures. When using a C-arc, collisions between the detector and the C-arc with the patient or tabletop can obstruct them. However, utilizing the flexibility of the independent robotic suspension will enable these steeper projection angles, for example, to be increased to 10° or even 15°.

[0157] This robotic solution is highly flexible, enabling a wider range of 3D scanning trajectories with minimal interference, making it particularly useful when staff want to perform 3D scans. The smaller footprint also means less interference with the worktable and anesthesia or ECG equipment. Furthermore, the typical limitations of a C-arm's physical range of motion for the probe are eliminated.

[0158] Unlike C-arc systems with a fixed isocenter height (i.e., a rotation point height for rotation and angle), the flexibility of robotic systems allows for a flexible isocenter height, meaning that more doctors can place patients at the optimal ergonomic height.

[0159] The C-armless robot currently available also offers advantages in building structure-related aspects: it provides over 50% weight reduction compared to C-arm solutions, enabling easier ceiling interfaces. Considering that hospitals need to perform room preparation and construction, this will save hospitals significant time and money.

[0160] In addition to its weight, the solution also occupies a much smaller area in the operating room, for example, by one-third to one-half, which allows hospitals to make more efficient use of existing space or reduce the hassle of creating larger examination rooms.

[0161] From an environmental or spatial economic design perspective, current solutions have a significant impact on three pillars: weight reduction, longer lifespan of industrial robot technology, and the potential for robot reuse in new systems. For example, robots and other modules are designed with recycling in mind.

[0162] In the example, two robotic arms can be moved longitudinally by placing them on translation joints, such as placing a "longitudinal carrier" on a "longitudinal guide." Both robotic arms themselves contain six rotational joints. All of these joints are used to achieve application-related movements, such as rotation around a "region of interest." When acquiring X-ray images, the X-ray tube and X-ray detector need to be properly aligned. Note that the position of the "region of interest" may change throughout the process.

[0163] In the example, the joints of the two robots have a specific stacking order (FD = probe robot, TR = ball tube robot). In the following text, the two parts of the second (upper) arm are referred to as "arm2" and "arm3" respectively:

[0164] Y-direction translational joint: FD_baseY&TR_baseY

[0165] Rotational joints about the vertical (Z) axis: FD_baseRz & TR_baseRz

[0166] Joints that rotate about the horizontal (X) axis: FD_arm1Rx & TR_arm1Rx

[0167] Joints that rotate about the horizontal (X) axis: FD_arm2Rx & TR_arm2Rx

[0168] Rotational joints about the axial (longitudinal) axis: FD_arm3Rz&TR_arm3Ry

[0169] Joints that rotate about the horizontal (X) axis: FD_arm4Rx & TR_arm4Rx

[0170] Rotational joints about the vertical (Z) axis: FD_detRz&TR_tubeRz

[0171] In one option, the optimized configuration for the probe robot is provided by the following:

[0172] As mentioned above, the stacking order of the shafts.

[0173] To reduce the chance of collisions when the entire robot rotates around its vertical axis, arm1 is kept as short as possible. This helps to avoid collisions with monitors, monitor ceiling mounts, one or more ceiling-mounted X-ray shields, ceiling-mounted equipment cantilever arms, or other ceiling-mounted tools.

[0174] The presence of the axial rotation joint (between arm2 and arm3) enables +180° scanning and allows the detector to begin moving immediately in all directions. Since the physician may need to tilt or rotate the X-ray beam over the region of interest, there is no need to rotate the entire robot approximately 90° before initiating the X-ray beam rotation movement itself.

[0175] The combination of the lengths of arm1, arm2, and arm3 with the FD rotation offset (offset 44) is optimized so that the detector can be placed next to the patient, for example, for lateral projection, or beyond that position when the patient height is reduced and / or when a rotation angle exceeding 90° (e.g., 100° or greater) is reached. The lengths also ensure that when the detector is above the patient, the "elbow" (i.e., the joint between arm1 and arm2) is not raised too high, as that would cause it to collide with the ceiling and / or the longitudinal slide.

[0176] Similar to a human design, the size gradually decreases towards the end effector. The lower part of the robotic arm, namely arm2, arm3, and below, is within the doctor's viewing area. The smaller the appearance or diameter of these components, the less obstruction they will cause to the viewing of objects or people behind the robotic arm.

[0177] In one option, optimized settings for the X-ray source robot are provided in the following way:

[0178] As mentioned above, the stacking order of the shafts.

[0179] The length of arm1, including the longitudinal guide rails and the structure of the robot base, is not too large, so that the patient bed can be placed in the lowest position. This allows the patient to easily get on and off the examination table.

[0180] The lengths of arm1, arm2, and arm3, combined with the tube rotation offset, must be sufficient to place the X-ray source next to the patient in a sufficiently oriented manner to allow for lateral X-ray projection and projection beyond that range, even in cases where the patient is of elevated height.

[0181] The robotic arm is designed to remain under the tabletop (e.g., 500 mm wide) as the doctor moves to different X-ray projection angles. This prevents the robot from colliding with the legs of healthcare workers standing near the patient, or with trolleys or other equipment beside the patient's bed.

[0182] The space occupied by the robot, such as the carriage, base, arm1, arm2, and arm3, is limited not only in height but also in length and width. The width must be less than the width of the table surface. The length must also be as short as possible so that the "occupancy distance" between the X-ray tube and the examination table base is not too large. Furthermore, in the reverse position of the X-ray tube robot, the occupancy distance towards the head should not be too large.

[0183] As an additional or alternative optimization, it is provided that the rotation point of arm1 can be located above the rotation point of arm2. This also shows that the rotation points do not necessarily need to be aligned with each other. For example, there is a horizontal offset between "arm1 rotation" and "base rotation". There is also a vertical offset between "arm2 rotation" and "arm3 rotation".

[0184] The solutions presented in this context are applicable to interventional, hybrid, and surgical procedures on fixed X-ray systems. In the examples, a single-plane system is provided. As another example, a dual-plane system is provided: one instance could be a combination of a C-shaped system and a dual-robot system, where the suspended C-shaped arc can serve as a lateral passage.

[0185] The term "object" can also refer to an individual. "Object" can also be referred to as a patient, but it's important to note that the term does not imply that the object actually suffers from any disease or ailment.

[0186] It must be noted that embodiments of the present invention are described with reference to different subjects. In particular, some embodiments are described with reference to method claims, while others are described with reference to device claims. However, those skilled in the art will recognize from the above and following description that, unless otherwise indicated, any combination of features relating to different subjects, except for any combination of features belonging to the same type of subject matter, is also considered to be disclosed in this application. However, all features can be combined to provide a synergistic effect beyond the simple sum of the features.

[0187] Although the invention has been illustrated and described in detail in the accompanying drawings and the foregoing description, such illustrations and descriptions should be considered illustrative or exemplary, not restrictive. The invention is not limited to the disclosed embodiments. Those skilled in the art, through studying the drawings, the disclosure, and the dependent claims, will understand and implement other variations of the disclosed embodiments in practicing the claimed invention.

[0188] In the claims, the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude multiple. A single processor or other unit can perform the functions of several items listed in the claims. Although specific measures are recited in dissimilar dependent claims, this does not imply that combinations of these measures cannot be advantageously used. No reference numerals in the claims should be construed as limiting the scope.

Claims

1. A holding device (10) for an X-ray imaging apparatus, the device comprising: Lower source robot (12) for movable holding of X-ray source. as well as Upper detector robot (14) for movable holding of X-ray detector. The upper detector robot includes an upper base (16), a first upper arm (18), a second upper arm (20), and a detector mounting component (22). The upper base includes an upper base plate (24) and an upper base mounting member (26) rotatably connected to the upper base plate, wherein the upper base plate is configured to be movably mounted to a ceiling support member; The first upper arm is rotatably connected to the upper base mounting member, the second upper arm is rotatably connected to the first upper arm, and the detector mounting member is rotatably connected to the second upper arm. The second upper arm includes two arm portions (28, 30) rotatably connected about a longitudinal upper arm axis (32) of the second upper arm; and The second upper arm has a greater length than the first upper arm.

2. The apparatus according to claim 1, wherein, The length of the second upper arm is at least twice the length of the first upper arm.

3. The apparatus according to claim 1 or 2, wherein, The detector mounting includes a detector mounting member (34) and a detector mounting plate (36) configured to securely attach the X-ray detector. The detector mounting plate is connected to the detector mounting member in a manner that allows it to rotate about the detector axis (40), the detector axis being configured to be aligned with the center of the detector surface of the X-ray detector; The second upper arm is connected to the detector mounting member around a mounting axis (42), the mounting axis being arranged perpendicular to the detector axis; and Wherein, the mounting axis is offset relative to the detector axis by at least one-third of the diameter of the detector surface (44).

4. The apparatus according to any one of claims 1 to 3, wherein, The upper base mounting is connected to the upper base plate in a manner that allows it to rotate about the vertical upper base rotation axis (46); and in: i) The vertical upper base rotation axis is aligned with the horizontal rotation axis of the rotatable connection between the first upper arm and the upper base mounting member; or ii) Provide an offset (50) between the rotation axis of the upper vertical base and the horizontal rotation axis of the rotatable connection between the first upper arm and the upper base mount.

5. The apparatus according to any one of the preceding claims, wherein, The upper base plate is slidably mounted on the upper guide rail (52) device, which is configured to be fixed to the ceiling.

6. The apparatus according to any one of the preceding claims, wherein, A drive device is provided for applying a driving force to achieve relative translational or rotational movement of at least one of the group comprising the upper base plate, the upper base mount, the first upper arm, the second upper arm, the two arm portions, the detector mounting member, and the detector fixing plate.

7. The apparatus according to any one of the preceding claims, wherein, The second arm has a smooth outer profile, wherein the outer diameter decreases from the proximal end to the distal end.

8. The apparatus according to any one of the preceding claims, wherein, The lower source robot includes a lower base (60), a first lower arm (62), a second lower arm (64), and a source mounting component (66). The first lower arm is rotatably connected to the lower base, the second lower arm is rotatably connected to the first lower arm, and the source mounting component is rotatably connected to the second lower arm. The second lower arm includes two arm portions (67, 68) that are rotatably connected about the longitudinal arm axis of the second lower arm. The lower base includes a lower base plate (72) and a lower base mounting member (74) rotatably connected to the lower base plate, wherein the first lower arm is rotatably connected to the lower base mounting member; wherein the lower base plate is movably connected to a floor support member; and The second lower arm has a greater length than the first lower arm.

9. The apparatus according to claim 8, wherein, The source mount includes a source mount member (76) and a source receiver portion (78) configured to hold the X-ray source. The source receiving portion is connected to the source mounting member in a manner that allows it to rotate about the source axis (82), the source axis being aligned with the center of the X-ray source; The second lower arm is connected to the source mounting member about a mounting axis (84) arranged perpendicular to the source axis; and The mounting axis is offset relative to the source axis by at least approximately 25% of the outer diameter of the source housing.

10. The apparatus according to claim 8 or 9, wherein, The longitudinal arm axis of the second lower arm is arranged to be offset (88) from the rotatable connection of the first lower arm and the second lower arm, and the two arm portions of the second lower arm are rotatable about the longitudinal arm axis. and The bias is at least half the diameter of the outer dimension of the proximal end of the second lower arm.

11. The apparatus according to any one of claims 8 to 10, wherein, The lower base mounting is connected to the lower base plate in a manner that allows it to rotate about the vertical lower base rotation axis (90); and in: i) The vertical lower base rotation axis is aligned with the horizontal rotation axis of the rotatable connection between the first lower arm and the lower base mounting member; or ii) Provide an offset (94) between the vertical lower base rotation axis and the horizontal rotation axis rotatably connected to the first lower arm and the lower base mounting.

12. The apparatus according to any one of the preceding claims, for further increasing the imaging range: i) The upper base is configured to be slidably mounted on the upper guide rail assembly; and / or ii) The lower base is configured to be slidably mounted on the lower guide rail assembly.

13. The apparatus according to any one of the preceding claims, wherein, A control unit is provided to control the coordinated movement of the first movable mount and the second movable mount.

14. A medical X-ray imaging system (100), comprising: Holding device (102) for X-ray imaging equipment according to any one of the preceding claims; An X-ray source (104) mounted on the lower source robot and an X-ray detector (106) mounted on the upper detector robot; and An object support (108) is configured to provide support to the object; The holding device is configured to arrange the X-ray source and the X-ray detector for imaging an object on the object support, such that the object is located between the X-ray source and the X-ray detector.

15. A method (200) for X-ray imaging, comprising the following steps: The (202) X-ray source is movable and held by the lower source robot; The (204) X-ray detector is movable and held by an upper detector robot; wherein, The upper probe robot includes an upper base, a first upper arm, a second upper arm, and a probe mounting component; wherein the upper base includes an upper bottom plate and an upper base mounting component rotatably connected to the upper bottom plate, wherein the upper bottom plate is mounted to a ceiling support; wherein the first upper arm is rotatably connected to the upper base mounting component, the second upper arm is rotatably connected to the first upper arm, and the probe mounting component is rotatably connected to the second upper arm; wherein the second upper arm includes two arm portions rotatably connected about a longitudinal upper arm axis; and wherein the second upper arm has a greater length than the first upper arm. An object (206) is arranged between the X-ray source and the X-ray detector; An (208) X-ray beam is generated from the X-ray source; and After at least a portion of the X-ray beam passes through the object, X-ray radiation is detected (210).

Images