A C-arm, a method of controlling a C-arm and a locking device

Abstract

The present specification discloses a C-arm, a method for controlling the C-arm and a locking device. The locking device is installed on the C-arm to lock the cross arm. When the locking device is started, the locking device locks the input shaft of the speed reducer, so that the second gear connected with the output shaft of the speed reducer cannot be driven by the first gear, thereby locking the cross arm of the C-arm. The first gear is relatively static with the base supporting the swing of the cross arm, and the first gear is arranged between the second gear and the bearing for swinging the cross arm. The speed reducer and the second gear are arranged on the cross arm. The locking device can increase the torque of the locking device locking the input shaft of the speed reducer, so as to lock the cross arm. On the basis of being able to lock the cross arm, the torque of the locking device locking the input shaft is smaller than that in the prior art, thereby reducing the wear between the locking device and the input shaft, and the problem of locking torque reduction does not occur for a long time.

Description

[0001] This application is a divisional application of patent application No. 202211021324.4, filed on August 24, 2022, entitled "A C-arm, a method for controlling the C-arm and a locking device". Technical Field

[0002] This specification relates to the medical field, and more particularly to a C-arm, a method for controlling the C-arm, and a locking device. Background Technology

[0003] In the medical field, C-arms are widely used in clinical surgery. Before surgery, the C-arm needs to be swung horizontally to align the probes with the patient's lesion. The horizontal arm of the C-arm is then locked when aligned with the lesion to allow for subsequent surgical procedures.

[0004] Currently, a clamping and locking method can be used to generate greater friction between the bearing bush and the rotating shaft used for the swing of the cross arm, thereby fixing the swing angle of the C-arm.

[0005] However, the current method of clamping the shaft will cause wear between the bearing bush and the bearing. Over time, this will eventually reduce the friction between the bearing bush and the bearing, resulting in a decrease in the clamping torque. Summary of the Invention

[0006] This specification provides a C-arm, a method for controlling the C-arm, and a locking device to partially solve the problems existing in the prior art.

[0007] The embodiments in this specification adopt the following technical solutions: This specification provides a locking device comprising: a first gear (1), a second gear (2), a reducer (3), and a locking device (4); wherein the first gear (1) is disposed between a bearing (5) and the second gear (2), and the cross arm (6) of the specified device swings through the bearing (5); the first gear (1) is relatively stationary with respect to the base (7) supporting the swing of the cross arm (6); the cross arm (6) is provided with the second gear (2), the reducer (3), and the locking device (4); The input shaft of the reducer (3) is connected to the locking device (4), and the output shaft of the reducer (3) is connected to the second gear (2), wherein the output shaft of the reducer (3) is the rotation shaft of the second gear (2); When the locking device (4) is activated, the locking device (4) locks the input shaft of the reducer (3), so that the second gear (2) cannot drive the first gear (1), thereby locking the cross arm (6).

[0008] Optionally, the first gear (1) meshes with the second gear (2).

[0009] Optionally, the first gear (1) is connected to the outer side of the bearing (5), and the outer side of the bearing (5) is connected to the base (7); The first gear (1) is connected to the base (7).

[0010] Optionally, the first gear (1) is disposed outside the cross arm (6), and the second gear (2), the reducer (3) and the locking device (4) are disposed inside the cross arm (6).

[0011] Optionally, the locking device (4) is located above the reducer (3), which is located above the second gear (2).

[0012] Optionally, when the locking device (4) is activated, the locking device (4) locks the input shaft of the reducer (3) so that the input shaft generates torque; The output shaft of the reducer (3) enhances the torque based on the torque generated by the input shaft so that the second gear (2) cannot drive the first gear (1) to lock the cross arm (6).

[0013] Optionally, the locking device (4) includes: an electromagnetic brake; In response to a locking request, the locking device (4) clamps the input shaft of the reducer (3) with a brake to lock the input shaft of the reducer (3).

[0014] This specification provides a C-arm, the C-arm comprising: a horizontal arm (6) and a locking device; When the locking device is activated, the locking device (4) in the locking device locks the input shaft of the reducer (3), so that the second gear (2) cannot drive the first gear (1) to lock the cross arm (6) of the C-arm.

[0015] Optionally, the C-arm further includes a switch button (8) for controlling the locking device (4); the switch button (8) is connected to the locking device (4) via a circuit. When the locking device is started by controlling the switch button (8), the locking device (4) in the locking device locks the input shaft of the reducer (3).

[0016] Optionally, the switch button (8) is disposed on the detector (9) of the C-arm, wherein the detector (9) is used to receive X-rays.

[0017] This specification provides a method for controlling a C-arm, which is applied to a C-arm and includes the following methods: Receive locking requests for the C-arm; Based on the locking request, a locking command is sent to the locking device disposed on the cross arm of the C-arm, so that the locking device locks the input shaft of the reducer connected to the locking device according to the locking command, so that the second gear connected to the output shaft of the reducer cannot drive the first gear, thereby locking the cross arm; wherein, the first gear is stationary relative to the base supporting the swing of the cross arm, and the first gear is disposed between the second gear and the bearing for swinging the cross arm, and the reducer and the second gear are disposed on the cross arm.

[0018] Optionally, based on the locking request, a locking command is sent to the locking device disposed on the cross arm of the C-arm, specifically including: Based on the locking request, the swing angle of the horizontal arm is determined, and the horizontal arm is controlled to swing according to the swing angle. After the horizontal arm swings to the yaw angle, a locking command is sent to the locking device located on the horizontal arm of the C-arm.

[0019] This specification provides a control device, comprising: The receiving module is used to receive locking requests for the C-arm; A control module is configured to send a locking command to a locking device mounted on the crossarm of a C-arm based on the locking request, thereby controlling the locking device to lock the input shaft of a reducer connected to the locking device according to the locking command, so that the second gear connected to the output shaft of the reducer cannot drive the first gear, thereby locking the crossarm; wherein the first gear is stationary relative to the base supporting the swing of the crossarm, and the first gear is disposed between the second gear and the bearing for swinging the crossarm, and the reducer and the second gear are disposed on the crossarm.

[0020] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for controlling the C-arm.

[0021] This specification provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method for controlling a C-arm.

[0022] The above-described at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects: In this embodiment, a locking device for locking the crossarm is installed on the C-arm. The locking device includes a first gear, a second gear, a reducer, and a locking component. When the locking device is activated, the locking component locks the input shaft of the reducer, preventing the second gear, connected to the output shaft of the reducer, from transmitting power to the first gear, thus locking the crossarm of the C-arm. The first gear is stationary relative to the base supporting the swinging crossarm, and is positioned between the second gear and the bearing for the swinging crossarm. The reducer and the second gear are mounted on the crossarm. The reducer in the locking device increases the torque required to lock the input shaft of the reducer, thus locking the crossarm. While still locking the crossarm, the locking device provides a lower torque than existing technologies, reducing wear between the locking component and the input shaft and preventing torque reduction over a longer period. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the locking device provided in the embodiments of this specification; Figure 2 This is a schematic diagram of the C-arm structure provided in the embodiments of this specification; Figure 3 A flowchart illustrating the method for controlling a C-arm provided in the embodiments of this specification; Figure 4 This is a schematic diagram of the control device structure provided in the embodiments of this specification; Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this specification.

[0024] Figure label: 1 – First gear; 2 – Second gear; 3 – Reducer; 4 – Locking device 5 – Bearing; 6 – Cross arm; 7 – Base; 8 – Switch button 9—Detector Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0026] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0027] To ensure that the locking device for the C-arm does not experience a decrease in locking torque over a prolonged period after the C-arm has swung horizontally, this specification provides a locking device in its embodiments, such as... Figure 1 As shown.

[0028] exist Figure 1 The locking device may include: a first gear 1, a second gear 2, a reducer 3, and a locking device 4. The input shaft of the reducer 3 is connected to the locking device 4, and the output shaft of the reducer 3 is connected to the second gear 2; that is, the output shaft of the reducer 3 is the rotation shaft of the second gear 2. The first gear 1 is positioned between the bearing 5 and the second gear 2, and the first gear 1 is stationary relative to the base 7 that supports the swinging horizontal arm 6 of the designated equipment. Furthermore, the base 7 is fixed in place.

[0029] Alternatively, a third gear can be provided between the first gear 1 and the second gear 2, and the first gear 1, the third gear and the second gear 2 can mesh with each other, or the first gear 1 and the second gear 2 can mesh with each other.

[0030] When using the locking device, it can be installed on a designated device, allowing the horizontal arm 6 of the designated device to be locked after horizontal swinging. The designated device may include medical equipment such as a C-arm, and the horizontal arm can refer to a robotic arm on the designated device capable of horizontal swinging. Figure 2 Taking the C-arm as an example, the connection structure of the locking device is explained.

[0031] Specifically, the first gear 1 in the locking device can be set on the base 7 that supports the swing of the horizontal arm 6, and the second gear 2, reducer 3, and locking device 4 in the locking device can be set on the horizontal arm 6.

[0032] Furthermore, the second gear 2, the reducer 3, and the locking device 4 can be disposed on the outer surface of the cross arm 6, or the second gear 2, the reducer 3, and the locking device 4 can be disposed inside the cross arm 6.

[0033] When the second gear 2, the reducer 3, and the locking device 4 are installed inside the cross arm 6, the locking device 4 is located above the reducer 3, and the reducer 3 is located above the second gear 2.

[0034] When the horizontal arm 6 swings, the second gear 2 located on the horizontal arm 6 and the first gear 1 located outside the horizontal arm 6 (i.e., the first gear 1 on the base 7) are transmitted to enable the horizontal arm 6 to swing at any angle.

[0035] Next, the swing of the horizontal arm 6, which locks the designated device, will be explained.

[0036] The lower surface of the horizontal arm 6 of the designated device is connected to the inner side of the bearing 5. When the inner side of the bearing 5 rotates, the horizontal arm 6 swings horizontally. That is, the horizontal arm 6 of the designated device swings through the bearing 5.

[0037] In addition, the bearing 5 is mounted on the base 7, and the outer side of the bearing 5 is fixedly connected to the base 7. That is, the base 7 is used to support the swinging of the cross arm 6.

[0038] To achieve the locking function, a fixed component can be defined on the outside of the cross arm 6 to fix the cross arm 6. That is, the first gear 1 can be regarded as a fixed component.

[0039] To ensure that the first gear 1 remains stationary, it can be fixedly connected to the outer side of the bearing 5, that is, the first gear 1 and the base 7 are relatively stationary. Alternatively, the first gear 1 can be fixedly connected to the base 7 so that the first gear 1 and the base 7 are relatively stationary.

[0040] The second gear 2 can be mounted on the horizontal arm 6. When the horizontal arm 6 swings, the second gear drives the fixed first gear 1, causing the rotating shaft of the second gear 2 to rotate, which in turn drives the input shaft of the reducer 3 to rotate, thus causing the horizontal arm 6 to swing.

[0041] To prevent the horizontal arm 6 from swinging, the locking device 4 can be activated. When the locking device 4 is activated, it locks the input shaft of the reducer 3, causing the input shaft to generate torque. Then, the torque on the output shaft of the reducer 3 increases, preventing the second gear 2 from rotating. The second gear 2 cannot transmit power to the first gear 1, thus preventing the horizontal arm 6 from driving the inner side of the bearing 5 to rotate, ultimately preventing the horizontal arm 6 from swinging. In other words, the locking device 4 locks the input shaft of the reducer 3, preventing the second gear 2 from transmitting power to the first gear 1, thereby locking the horizontal arm 6.

[0042] In the presence of the reducer 3, the reducer 3 can amplify the torque, which can reduce the locking torque of the locking device 4 in locking the input shaft of the reducer 3, thereby reducing the wear between the locking device 4 and the input shaft and increasing the service life of the locking device.

[0043] Additionally, locking device 4 may include: a cylinder clamping device, an electromagnetic brake, etc. To ensure safety during the operation, the electromagnetic brake may be a power-off type electromagnetic brake.

[0044] When the locking device 4 is an electromagnetic brake, the electromagnetic brake can respond to a locking request by clamping the input shaft of the reducer 3 with its braking element, thereby locking the input shaft of the reducer 3. The braking elements in the electromagnetic brake can move in opposite directions to clamp the input shaft of the reducer 3.

[0045] Based on the above description of the locking device, this specification provides a C-arm equipped with a locking device in its embodiments, such as... Figure 2 As shown. The C-arm may include: a mobile C-arm.

[0046] exist Figure 2 The C-arm includes at least: a locking device, a horizontal arm 6, a base 7 for supporting the swing of the horizontal arm 6, and a switch button 8 mounted on a detector 9. The detector 9 is used to receive X-rays, and the switch button 8 is used to control the locking device 4. The switch button 8 is connected to the locking device 4 via a circuit.

[0047] When the locking device is activated by controlling the switch button 8, the locking device 4 in the locking device locks the input shaft of the reducer 3.

[0048] Taking the electromagnetic brake with locking device 4 as an example of power-off start, when switch button 8 is turned on, locking device 4 is energized, but the locking device is not activated. The braking component in locking device 4 does not lock the input shaft of reducer 3, there is no torque between the first gear 1 and the second gear 2, and the horizontal arm 6 can swing horizontally.

[0049] When switch button 8 is closed, locking device 4 is de-energized, and locking device is activated. The brake component in locking device 4 locks the input shaft of reducer 3. There is a large torque between the first gear 1 and the second gear 2, and the horizontal arm 6 cannot swing horizontally.

[0050] In practical use, medical staff can press switch button 8 to energize locking device 4, which then locks the input shaft of reducer 3. Medical staff can then manually swing the horizontal arm 6 to a designated position so that the C-arm's detector is aligned with the patient's lesion. After moving the horizontal arm 6 to the designated position, switch button 8 can be pressed again to de-energize locking device 4, locking the input shaft of reducer 3 and preventing the horizontal arm 6 from swinging.

[0051] Based on the C-arm equipped with the locking device described above, this specification provides a method for controlling the C-arm in its embodiments, such as... Figure 3 As shown. This method for controlling a C-arm is applied to a C-arm. The method for controlling a C-arm includes: S300: Receives locking requests for the C-arm.

[0052] S302: Based on the locking request, a locking command is sent to the locking device disposed on the cross arm of the C-arm, so that the locking device locks the input shaft of the reducer connected to the locking device according to the locking command, so that the second gear connected to the output shaft of the reducer cannot drive the first gear, thereby locking the cross arm; wherein, the first gear is stationary relative to the base supporting the swing of the cross arm, and the first gear is disposed between the second gear and the bearing for swinging the cross arm, and the reducer and the second gear are disposed on the cross arm.

[0053] In the embodiments described in this specification, the C-arm includes at least a controller.

[0054] The controller of the C-arm receives a locking request for the C-arm. Then, based on the locking request, a locking command is sent to the locking device located on the crossarm of the C-arm. This causes the locking device to lock the input shaft of the reducer connected to the locking device, preventing the second gear connected to the output shaft of the reducer from engaging with the first gear, thus locking the crossarm. The first gear is stationary relative to the base supporting the swing of the crossarm, and is positioned between the second gear and the bearing used for swinging the crossarm. The reducer and the second gear are mounted on the crossarm.

[0055] In addition to manually swinging the crossarm, the controller can also determine the swing angle of the crossarm based on a locking request, and control the crossarm to swing accordingly. Once the swing angle is detected, the controller sends a locking command to the locking device located on the C-arm. The locking device, according to the locking command, locks the input shaft of the reducer connected to it, preventing the second gear connected to the reducer's output shaft from engaging with the first gear, thus locking the crossarm.

[0056] Through the above Figure 1 , Figure 2 , Figure 3As can be seen, this specification describes the installation of a locking device on the C-arm for locking the crossarm. The locking device includes a first gear, a second gear, a reducer, and a locking component. When the locking device is activated, the locking component locks the input shaft of the reducer, preventing the second gear, connected to the output shaft of the reducer, from engaging with the first gear, thus locking the crossarm of the C-arm. The first gear is stationary relative to the base supporting the swinging crossarm, and is positioned between the second gear and the bearing for the swinging crossarm. The reducer and second gear are mounted on the crossarm. The reducer in the locking device increases the torque required to lock the input shaft of the reducer, thus locking the crossarm. While effectively locking the crossarm, the locking device provides a lower torque than existing technologies, reducing wear between the locking component and the input shaft and preventing torque reduction over a longer period. Furthermore, the first gear, second gear, reducer, and locking component in the locking device are low in cost and have a long service life. When the locking device is an electromagnetic brake, the locking input shaft of the locking device is electrically controlled, avoiding the tediousness of manual locking.

[0057] The above describes the method for controlling a C-arm as provided in the embodiments of this specification. Based on the same idea, this specification also provides corresponding storage media and electronic devices.

[0058] Figure 4 This is a schematic diagram of a control device provided in an embodiment of this specification. The device includes: The receiving module 401 is used to receive a locking request for the C-arm; The control module 402 is used to send a locking command to a locking device disposed on the cross arm of the C-arm based on the locking request, so as to control the locking device to lock the input shaft of the reducer connected to the locking device according to the locking command, so that the second gear connected to the output shaft of the reducer cannot drive the first gear, thereby locking the cross arm; wherein, the first gear is stationary relative to the base supporting the swing of the cross arm, and the first gear is disposed between the second gear and the bearing for swinging the cross arm, and the reducer and the second gear are disposed on the cross arm.

[0059] Optionally, the control module 402 is specifically configured to: determine the swing angle of the horizontal arm based on the locking request, and control the horizontal arm to swing according to the swing angle; after the horizontal arm swings to the swing angle, send a locking command to the locking device provided on the horizontal arm of the C-arm.

[0060] This specification also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can be used to perform the above-described actions. Figure 3The provided method for controlling the C-arm.

[0061] based on Figure 3 The method for controlling the C-arm shown in this specification also provides embodiments. Figure 5 The diagram shows the structure of the electronic device. Figure 5 At the hardware level, this electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then executes it to achieve the above. Figure 3 The method for controlling the C-arm.

[0062] Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software. In other words, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0063] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must also be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0064] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0065] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0066] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0067] Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0069] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0070] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0072] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0073] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0075] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0077] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0078] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A locking device, characterized in that, The locking device includes: a first gear (1), a second gear (2), a reducer (3), and a locking device (4); wherein, the first gear (1) is disposed between a bearing (5) and the second gear (2), and the cross arm (6) of the designated device swings through the bearing (5); the first gear (1) and the base (7) supporting the swing of the cross arm (6) are relatively stationary; the cross arm (6) is provided with the second gear (2), the reducer (3) and the locking device (4); The input shaft of the reducer (3) is connected to the locking device (4), and the output shaft of the reducer (3) is connected to the second gear (2), wherein the output shaft of the reducer (3) is the rotation shaft of the second gear (2); When the locking device (4) is activated, the locking device (4) locks the input shaft of the reducer (3), so that the second gear (2) cannot drive the first gear (1), thereby locking the cross arm (6).

2. The locking device as described in claim 1, characterized in that, The first gear (1) meshes with the second gear (2), the first gear (1) is connected to the outer side of the bearing (5), and the outer side of the bearing (5) is connected to the base (7); The first gear (1) is connected to the base (7).

3. The locking device as described in claim 1, characterized in that, The first gear (1) is located outside the cross arm (6), and the second gear (2), the reducer (3) and the locking device (4) are located inside the cross arm (6).

4. The locking device as described in claim 3, characterized in that, The locking device (4) is located above the reducer (3), which is located above the second gear (2).

5. The locking device as described in claim 1, characterized in that, When the locking device (4) is activated, the locking device (4) locks the input shaft of the reducer (3) so that the input shaft generates torque; The output shaft of the reducer (3) enhances the torque based on the torque generated by the input shaft so that the second gear (2) cannot drive the first gear (1) to lock the cross arm (6).

6. The locking device as described in claim 1, characterized in that, The locking device (4) includes: an electromagnetic brake; In response to a locking request, the locking device (4) clamps the input shaft of the reducer (3) with a brake to lock the input shaft of the reducer (3).

7. A C-arm, characterized in that, The C-arm includes: a horizontal arm (6) and a locking device as described in any one of claims 1 to 6; When the locking device is activated, the locking device (4) in the locking device locks the input shaft of the reducer (3), so that the second gear (2) cannot drive the first gear (1) to lock the cross arm (6) of the C-arm.

8. The C-arm as described in claim 7, characterized in that, The C-arm further includes a switch button (8) for controlling the locking device (4); the switch button (8) is connected to the locking device (4) via a circuit. When the locking device is started by controlling the switch button (8), the locking device (4) in the locking device locks the input shaft of the reducer (3).

9. The C-arm as described in claim 8, characterized in that, The switch button (8) is located on the detector (9) of the C-arm, wherein the detector (9) is used to receive X-rays.

10. A method for controlling a C-arm, characterized in that, The method for controlling a C-arm is applied to a C-arm, and the method for controlling a C-arm includes: Receive locking requests for the C-arm; Based on the locking request, a locking command is sent to the locking device located on the crossarm of the C-arm to control the locking device to lock the input shaft of the reducer connected to the locking device according to the locking command, so that the second gear connected to the output shaft of the reducer cannot drive the first gear, thereby locking the crossarm; wherein, the first gear is stationary relative to the base supporting the swing of the crossarm, and the first gear is located between the second gear and the bearing for swinging the crossarm, and the reducer and the second gear are located on the crossarm.

11. The method as described in claim 10, characterized in that, Based on the locking request, a locking command is sent to the locking device located on the cross arm of the C-arm, specifically including: Based on the locking request, the swing angle of the horizontal arm is determined, and the horizontal arm is controlled to swing according to the swing angle. After the horizontal arm swings to the yaw angle, a locking command is sent to the locking device located on the horizontal arm of the C-arm.

12. A control device, characterized in that, include: The receiving module is used to receive locking requests for the C-arm; A control module is configured to send a locking command to a locking device mounted on the crossarm of a C-arm based on the locking request, thereby controlling the locking device to lock the input shaft of a reducer connected to the locking device according to the locking command, so that the second gear connected to the output shaft of the reducer cannot drive the first gear, thereby locking the crossarm; wherein the first gear is stationary relative to the base supporting the swing of the crossarm, and the first gear is disposed between the second gear and the bearing for swinging the crossarm, and the reducer and the second gear are disposed on the crossarm.

13. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 10-11.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method described in any one of claims 10-11.

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