Motion direction compensation device for medical C-shaped arm

Abstract

The utility model provides a medical C-shaped arm movement orientation compensation device, which is used for carrying out orientation compensation on the movement of a medical C-shaped arm, and comprises a lifting compensation part arranged on the medical C-shaped arm and used for lifting a flat plate assembly and carrying out radial compensation on the movement of the C-shaped arm; the lifting compensation component is connected with the translation compensation component and is used for translating the flat plate component and carrying out tangential compensation on the C-shaped arm; the swing compensation part is connected with the lifting compensation part and used for swinging the flat plate assembly and conducting direction compensation on the C-shaped arm. According to the scheme, the positioning precision of the C-shaped arm flat plate assembly in the three-dimensional scanning process can be remarkably improved, the image quality is improved, and doctors are helped to conduct more accurate surgical operation.

Description

Technical Field

[0001] The utility model relates to a motion orientation compensation device, in particular to a motion orientation compensation device for a medical C-shaped arm. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] In modern medical surgery, C-arms are widely used in radiology departments and operating rooms, and their accuracy directly affects the effectiveness of diagnosis and treatment. However, due to deformation of C-arm materials, manufacturing or installation errors, the C-arm may have azimuth deviations during the actual scanning process, causing the tube and plate installed at both ends of the C-arm to fail to move along the theoretical circular path, thus affecting the imaging quality and surgical accuracy. In particular, the aluminum profile used in the C-arm, as a commonly used lightweight structural material, is prone to deformation after being subjected to gravity for a long time, resulting in errors in the movement trajectory of the C-arm.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0005] Purpose of the invention: The technical problem to be solved by the utility model is to provide a motion orientation compensation device for a medical C-arm in view of the deficiencies in the prior art.

[0006] In order to solve the above technical problems, the utility model discloses a device for compensating the movement orientation of a medical C-arm, which is used for compensating the movement orientation of the medical C-arm. The medical C-arm is arranged on a frame of a medical C-arm scanning device, and a rotary motor assembly and a synchronous belt are arranged on the frame for driving a swing bearing assembly; the swing bearing assembly is slidably connected to the C-arm and is used to drive the C-arm to move along a circular trajectory; an X-ray source assembly is arranged at the lower end of the C-arm for emitting X-rays; a flat plate connecting plate assembly is arranged at the upper end of the C-arm corresponding thereto for installing the flat plate assembly, and the flat plate assembly is used to receive the X-rays emitted by the X-ray source assembly; the device comprises:

[0007] A lifting compensation component disposed on the flat plate connecting plate assembly is used to lift the flat plate assembly to radially compensate for the movement of the C-shaped arm;

[0008] The lifting compensation component is connected to the translation compensation component and is used to translate the plate assembly to perform tangential compensation on the C-shaped arm;

[0009] The swing compensation component is connected to the lifting compensation component and is used for swinging the flat plate assembly to perform direction compensation on the C-shaped arm.

[0010] Furthermore, the device also includes:

[0011] The three-dimensional sensors set at both ends of the C-shaped arm are used to capture the actual running trajectory of the C-shaped arm;

[0012] The three-dimensional sensor is electrically connected to the lifting compensation component, the translation compensation component and the swing compensation component respectively.

[0013] Furthermore, the heave compensation component includes:

[0014] A lifting drive module is fixedly arranged on the flat plate connecting plate assembly; the lifting drive module is a telescopic structure, one end of which is fixedly provided with a lifting fixing plate for driving the lifting thereof; the lifting fixing plate is fixedly connected to the translation compensation component.

[0015] Furthermore, the lifting drive module is a telescopic structure, and its telescopic end is fixedly connected to the lifting fixed plate;

[0016] The lifting drive module is electrically connected to the three-dimensional sensor.

[0017] Furthermore, the heave compensation component further includes:

[0018] A linear guide assembly is fixedly arranged on both sides of the flat plate connecting plate assembly, and a slide mounting plate is arranged on the outer side of the linear guide assembly for guiding the flat plate when it moves up and down along the radial direction. The lower end of the slide mounting plate is fixedly connected to the lifting fixed plate.

[0019] Furthermore, the translation compensation component includes:

[0020] An L-shaped connecting plate assembly is fixedly arranged on the side of the slide mounting plate, and the bottom surface of the L-shaped connecting plate assembly is fixedly arranged on the upper surface of the lifting and fixing plate; a translation driving module is fixedly arranged on the upper surface of the lifting and fixing plate, and a connecting plate is fixedly arranged at one end of the translation driving module. The connecting plate is L-shaped, and the side surface is connected to the telescopic end of the translation driving module, and the bottom surface is fixedly connected to the translation fixing plate.

[0021] Furthermore, the translation drive module is a telescopic structure, and its telescopic end is fixedly connected to the connecting plate;

[0022] The translation driving module is electrically connected to the three-dimensional sensor.

[0023] Furthermore, the swing compensation component includes:

[0024] One end of the swing fixing plate is rotatably connected to the translation fixing plate via a rotating shaft, and the other end is fixedly connected to one end of the swing driving module, and the swing driving module is fixedly arranged on the translation fixing plate.

[0025] Furthermore, the swing fixing plate is fixedly connected to one end of the swing driving module through a rotating pin and a Y-shaped joint, the lower end of the Y-shaped joint is rotatably connected to the swing fixing plate through a rotating pin, and the upper end of the Y-shaped joint is fixedly connected to the swing driving module.

[0026] Furthermore, the swing drive module is a telescopic structure, and its telescopic end is fixedly connected to the upper end of the Y-shaped joint;

[0027] The swing driving module is electrically connected to the three-dimensional sensor.

[0028] Beneficial effects:

[0029] The device proposed by the utility model solves the problems of the prior art and can monitor the orientation information of the C-arm flat plate and the tube end in real time, and make real-time compensation adjustments through the mechanical structure of the flat plate end to ensure that the flat plate orientation moves along a predetermined theoretical path during three-dimensional scanning, thereby improving the accuracy and reliability of the operation.

[0030] In addition, the image quality can be improved, and it has the advantages of easy implementation, high precision, long life and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods, and the above and / or other advantages of the present invention will become more clear.

[0032] Figure 1 It is an overall schematic diagram.

[0033] Figure 2 It is a three-dimensional schematic diagram of the compensation device.

[0034] Figure 3 is a side view of the compensation device.

[0035] Figure 4 It is a top view of the compensation device.

[0036] In the figure, the corresponding names of the numbers are as follows: three-dimensional sensor 1, C-arm 2, swing bearing assembly 3, rotary motor assembly 4, synchronous belt 5, frame 6, frame cover 7, X-ray source assembly 8, flat plate connecting plate assembly 9, lifting drive module 10, swing drive module 11, linear guide rail assembly 12, screw 13, spring washer 14, flat washer 15, slide mounting plate 16, L-shaped connecting plate assembly 17, lifting fixed plate 18, translation fixed plate 19, swing fixed plate 20, rotating shaft 21, flat plate assembly 22, connecting plate 23, translation drive module 24, Y-type joint 25, rotating pin 26. DETAILED DESCRIPTION

[0037] The utility model can monitor the position information of the C-arm flat plate and the tube end in real time, and make real-time compensation adjustment through the mechanical structure of the flat plate end to ensure that the flat plate position moves along a predetermined theoretical path during three-dimensional scanning, thereby improving the accuracy and reliability of the operation.

[0038] Existing medical C-arm scanning devices, such as Figure 1 As shown, specifically including:

[0039] The frame 6 and the frame cover 7 are the main parts of the medical C-arm scanning device; the frame 6 is provided with a rotary motor assembly 4 and a synchronous belt 5 for driving a swing bearing assembly 3; the swing bearing assembly 3 is slidably connected with the C-arm 2, and is used to drive the C-arm 2 to move along a circular trajectory; the lower end of the C-arm 2 is provided with an X-ray source assembly 8 for emitting X-rays; the upper end of the C-arm 2 corresponding thereto is provided with a flat plate connecting plate assembly 9, which is a welded assembly structure, and is used to install a flat plate assembly 22, and the flat plate assembly 22 is used to receive X-rays;

[0040] The improved technical solution adopted by the utility model is as follows: a medical C-arm motion orientation compensation device, the structure of which is as follows: Figure 2 As shown, including:

[0041] The three-dimensional sensors 1 provided at both ends of the C-shaped arm 2 are used to capture the actual running trajectory of the C-shaped arm 2;

[0042] The lifting compensation component provided on the flat plate connecting plate assembly 9 is used to lift the flat plate assembly 22 to perform radial compensation;

[0043] The lifting compensation component is connected to the translation compensation component and is used to translate the plate assembly 22 to perform tangential compensation;

[0044] The swing compensation component is connected to the lifting compensation component and is used to swing the plate assembly 22 to perform direction compensation;

[0045] The lifting compensation component includes a lifting drive module 10 fixedly arranged on the flat connecting plate assembly 9; a lifting fixed plate 18 is fixedly arranged at the bottom of the lifting drive module 10 for driving the lifting thereof; the lifting drive module 10 is a retractable structure and is electrically connected to the three-dimensional sensor 1;

[0046] The lifting compensation component also includes a linear guide assembly 12 fixedly arranged on both sides of the flat plate connecting plate assembly 9. A slide mounting plate 16 is provided on the outer side of the linear guide assembly 12 to guide the flat plate when it moves up and down along the radial direction. The lower end of the slide mounting plate 16 is fixedly connected to the lifting fixed plate 18.

[0047] When the descending driving module 10 is extended or retracted, the lifting fixing plate 18 moves up and down along the linear guide rail assembly 12 .

[0048] Translation compensation components, such as Figure 4 As shown, it includes an L-shaped connecting plate assembly 17 fixedly arranged on the side of the slide mounting plate 16, and the bottom surface of the L-shaped connecting plate assembly 17 is fixedly arranged on the upper surface of the lifting and fixing plate 18; a translation driving module 24 is fixedly arranged on the upper surface of the lifting and fixing plate 18, and a connecting plate 23 is fixedly arranged at the telescopic end of the translation driving module 24, and the connecting plate 23 is L-shaped, and the side surface is connected to the telescopic end of the translation driving module 24, and the bottom surface is fixedly connected to the translation fixing plate 19.

[0049] The translation driving module 24 is a retractable structure and is electrically connected to the three-dimensional sensor 1;

[0050] When the translation driving module 24 is extended or retracted, the translation fixing plate 19 is driven to move horizontally through the connecting plate 23 .

[0051] Swing compensation components, such as Figure 3 As shown, it includes a swing fixing plate 20, one end of which is rotatably connected to the translation fixing plate 19 via a rotating shaft 21, and the other end is rotatably connected to one end of a Y-type joint 25 via a rotating pin 26, and the other end of the Y-type joint 25 is fixedly connected to the telescopic end of the swing driving module 11, and the swing driving module 11 is fixed on the translation fixing plate 19.

[0052] The swing drive module 11 is a retractable structure and is electrically connected to the three-dimensional sensor 1;

[0053] When the swing driving module 11 is extended or retracted, the swing fixing plate 20 rotates around the rotating shaft 21 .

[0054] During the C-arm 3D scanning process, the C-arm 2 performs a rotational scanning motion driven by the rotary motor assembly 4 and the synchronous belt 5. The 3D sensors 1 installed at both ends of the C-arm 2 monitor the azimuth information of the 3D path in real time, and record and transmit the azimuth information of the 3D path to the controller. After receiving the information, the controller analyzes and compares it with the standard circular 3D path in space, and drives the relevant structural parts through the lifting drive module 10, the swing drive module 11, and the translation drive module 24, thereby driving the flat plate 22 to be corrected and compensated to the theoretical circular 3D path. Finally, the azimuth compensation of the C-arm of the entire scanning path is completed, and the image quality is improved.

[0055] Example:

[0056] The technical solution adopted in this embodiment includes: installing three-dimensional sensors 1 on the X-ray source assembly 8 and the flat plate 22 of the C-arm 2 respectively, so as to monitor their position information in real time during the three-dimensional scanning process.

[0057] The three-dimensional sensor 1 can accurately capture the spatial orientation information of the C-arm 2 at any time in real time and transmit the information to the controller.

[0058] The controller compares the actual motion path provided by the three-dimensional sensor 1 with the preset theoretical space standard circular path to calculate the position deviation. Once the deviation is found, the controller activates the corresponding lifting drive module 10, swing drive module 11, and translation drive module 24 to perform position compensation.

[0059] In this embodiment, the plate assembly 22 is equipped with three drive modules. The lifting drive module 10 is responsible for radial compensation, the translation drive module 24 is responsible for tangential compensation, and the swing drive module 11 is responsible for directional compensation. This structural design allows the C-arm 2 to make subtle adjustments on any motion path to ensure that the motion trajectory of the plate 22 is consistent with the theoretical path.

[0060] The utility model provides a concept and method for a medical C-arm motion orientation compensation device. There are many methods and ways to implement the technical solution. The above is only a preferred implementation of the utility model. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model. These improvements and modifications should also be regarded as the protection scope of the utility model. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A device for compensating the movement orientation of a medical C-arm, for compensating the movement orientation of the medical C-arm, wherein the medical C-arm is arranged on a frame (6) of a medical C-arm scanning device, and the frame (6) is provided with a rotary motor assembly (4) and a synchronous belt (5) for driving a swing bearing assembly (3); the swing bearing assembly (3) is slidably connected to the C-arm (2) for driving the C-arm (2) to move along a circular trajectory; an X-ray source assembly (8) is arranged at the lower end of the C-arm (2) for emitting X-rays; a flat plate connecting plate assembly (9) is arranged at the upper end of the C-arm (2) corresponding thereto for mounting a flat plate assembly (22), and the flat plate assembly (22) is used to receive X-rays emitted by the X-ray source assembly (8); and the characteristics are as follows: The device comprises: A lifting compensation component arranged on the flat plate connecting plate assembly (9) is used to lift the flat plate assembly (22) to perform radial compensation for the movement of the C-shaped arm (2); The lifting compensation component is connected to the translation compensation component and is used to translate the plate assembly (22) to perform tangential compensation on the C-shaped arm (2); The swing compensation component is connected to the lifting compensation component and is used to swing the flat plate assembly (22) to perform direction compensation on the C-shaped arm (2).

2. The medical C-arm motion compensation device according to claim 1, characterized in that: The device also includes: The three-dimensional sensors (1) are arranged at both ends of the C-shaped arm (2) and are used to capture the actual running trajectory of the C-shaped arm (2); The three-dimensional sensor (1) is electrically connected to the lifting compensation component, the translation compensation component and the swing compensation component respectively.

3. The medical C-arm motion compensation device according to claim 2, characterized in that: The lifting compensation component comprises: A lifting drive module (10) is fixedly arranged on the flat plate connecting plate assembly (9); the lifting drive module (10) is a telescopic structure, one end of which is fixedly provided with a lifting fixing plate (18) for driving the lifting thereof; the lifting fixing plate (18) is fixedly connected to the translation compensation component.

4. The medical C-arm motion compensation device according to claim 3, characterized in that: The lifting drive module (10) is a telescopic structure, and its telescopic end is fixedly connected to the lifting fixed plate (18); The lifting drive module (10) is electrically connected to the three-dimensional sensor (1).

5. The motion compensation device for a medical C-arm according to claim 4, characterized in that: The lifting compensation component further includes: A linear guide assembly (12) is fixedly arranged on both sides of the flat plate connecting plate assembly (9), and a slide mounting plate (16) is arranged outside the linear guide assembly (12) for guiding the flat plate when it moves up and down in a radial direction. The lower end of the slide mounting plate (16) is fixedly connected to the lifting fixed plate (18).

6. The motion compensation device for a medical C-arm according to claim 5, characterized in that: The translation compensation component comprises: An L-shaped connecting plate assembly (17) is fixedly arranged on the side of the slide mounting plate (16), and the bottom surface of the L-shaped connecting plate assembly (17) is fixedly arranged on the upper surface of the lifting and fixing plate (18); a translation driving module (24) is fixedly arranged on the upper surface of the lifting and fixing plate (18), and a connecting plate (23) is fixedly arranged at one end of the translation driving module (24); the connecting plate (23) is L-shaped, and the side surface is connected to the telescopic end of the translation driving module (24), and the bottom surface is fixedly connected to the translation fixing plate (19).

7. The medical C-arm motion orientation compensation device according to claim 6, characterized in that: The translation driving module (24) is a telescopic structure, and its telescopic end is fixedly connected to the connecting plate (23); The translation drive module (24) is electrically connected to the three-dimensional sensor (1).

8. The medical C-arm motion orientation compensation device according to claim 7, characterized in that: The swing compensation component comprises: One end of the swing fixing plate (20) is rotatably connected to the translation fixing plate (19) via a rotating shaft (21), and the other end is fixedly connected to one end of the swing driving module (11), and the swing driving module (11) is fixedly arranged on the translation fixing plate (19).

9. The medical C-arm motion compensation device according to claim 8, characterized in that: The swing fixing plate (20) is fixedly connected to one end of the swing driving module (11) via a rotating pin (26) and a Y-shaped joint (25); the lower end of the Y-shaped joint (25) is rotationally connected to the swing fixing plate (20) via the rotating pin (26); and the upper end of the Y-shaped joint (25) is fixedly connected to the swing driving module (11).

10. The medical C-arm motion orientation compensation device according to claim 9, characterized in that: The swing drive module (11) is a telescopic structure, and its telescopic end is fixedly connected to the upper end of the Y-shaped joint (25); The swing drive module (11) is electrically connected to the three-dimensional sensor (1).

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