Mobile positioning device of C-arm machine

Abstract

The utility model discloses a C-arm machine moving and positioning device which comprises a first positioning assembly used for detecting angular displacement of a steering wheel and a second positioning assembly used for detecting the rotating direction of the steering wheel. The first positioning assembly comprises a first sensor and a first positioning piece, the first positioning piece and the steering wheel rotate synchronously, and the rotating angle of the first positioning piece is detected through the first sensor; the second positioning assembly comprises a second sensor and a second positioning piece, the second positioning piece and the trundle frame synchronously steer, and the rotating direction of the second positioning piece is detected through the second sensor. The movement distance and the movement direction of the C-arm machine are detected through the two sets of positioning assemblies respectively, so that efficient positioning of the C-arm machine in the image acquisition process is achieved, image splicing of the C-arm machine before operation, during operation and after operation is facilitated, required global images are obtained, a patient does not need to be transferred many times, and the operation efficiency is improved. Or other tools are used for image splicing.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary medical devices, in particular to a mobile positioning device for a C-arm machine. Background Art

[0002] In current clinical orthopedic surgeries, orthopedic C-arms are required for filming and fluoroscopy to assist in the observation and diagnosis of surgical effects during the operation. However, for long affected area treatment surgeries such as scoliosis correction and long bone fixation, existing C-arms are difficult to capture images of the entire spine or entire long bones. Therefore, fixed DR images of the entire spine or entire long bones need to be stitched and fluoroscopically imaged for the patient before the operation to evaluate the patient's surgical plan; after the operation, the patient also needs to be transferred to a fixed DR diagnosis room for DR image stitching and scanning to evaluate the surgical effect. This process requires transferring the patient twice, which is not a good experience for the patient and can easily delay the best time for surgery.

[0003] If auxiliary tools such as lead rulers are used for image stitching and positioning of C-arm machines, the operation is cumbersome, inconvenient to use, the stitching efficiency is low, and the patient is exposed to more radiation. Summary of the invention

[0004] Purpose of the invention: In view of the above-mentioned deficiencies, the utility model provides a C-arm machine mobile positioning device, which can perform image stitching positioning of the C-arm machine, obtain the required global image, effectively improve the image stitching efficiency and accuracy of the C-arm machine, and reduce the radiation dose received by the patient.

[0005] Technical solution: To achieve the above-mentioned purpose, the utility model provides a C-arm machine mobile positioning device, wherein a caster assembly capable of steering and moving is provided on the body structure of the C-arm machine, the caster assembly comprises a steering wheel and a caster frame, the steering wheel is rollingly mounted on the caster frame, and the caster frame is steeringly mounted on the body structure;

[0006] The mobile positioning device comprises a first positioning component for detecting the angular displacement of the steering wheel and a second positioning component for detecting the rotation direction of the steering wheel;

[0007] The first positioning assembly includes a first sensor and a first positioning member, the first positioning member rotates synchronously with the steering wheel, and the rotation angle of the first positioning member is detected by the first sensor;

[0008] The second positioning assembly includes a second sensor and a second positioning member. The second positioning member rotates synchronously with the caster frame, and the rotation direction of the second positioning member is detected by the second sensor.

[0009] Furthermore, the first positioning member is constructed as a code disk fixed coaxially with the steering wheel, and a marker for identification by the first sensor is provided on the code disk.

[0010] Preferably, the marker comprises a first opening portion uniformly opened around the circumference of the code disk.

[0011] Preferably, the marker further includes a second opening portion, the second opening portion is provided between any two adjacent first opening portions, and the central angles between the second opening portion and the first opening portions on both adjacent sides are not equal.

[0012] Furthermore, the first sensor is fixed on the inner side of the caster frame and is constructed as a photoelectric sensor or a Hall sensor.

[0013] Furthermore, the second positioning member is constructed as a steering plate fixed coaxially with the caster frame, and a calibration object for identification by the second sensor is provided on the steering plate.

[0014] Preferably, the calibration object comprises at least one shielding portion extending radially along the steering plate, and the shielding portion passes through the position of the second sensor and corresponds to the target steering of the steering wheel.

[0015] Specifically, the calibration object is constructed as two shielding parts extending along the same radial direction of the steering plate.

[0016] Furthermore, the second sensor is arranged on the vehicle body structure, and is constructed as a photoelectric sensor, a proximity switch, a mechanical switch, a Hall sensor or a pressure sensor.

[0017] Furthermore, the first sensor and the second sensor are respectively connected to the control system signal of the C-arm machine. Beneficial Effects

[0018] The utility model realizes the detection of the moving distance and moving direction of the C-arm machine respectively through two groups of positioning components, thereby realizing the efficient positioning of the C-arm machine in the image acquisition process, facilitating the image stitching of the C-arm machine before, during and after the operation, and obtaining the required global image without the need to transfer the patient multiple times or use other tools for image stitching. It has the advantages of simple structure, easy operation, high efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall schematic diagram of a C-arm machine in an embodiment of the utility model;

[0020] Figure 2 This is a structural schematic diagram of the vehicle body structure in an embodiment of the utility model;

[0021] Figure 3 for Figure 2 A partial enlarged view of point Ⅰ in the middle;

[0022] Figure 4 It is a cross-sectional view of the steering wheel assembly in the embodiment of the utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the first positioning component in the embodiment of the utility model;

[0024] Figure 6 This is a schematic diagram of the structure of the code disk in the embodiment of the utility model;

[0025] Figure 7 This is a schematic diagram of the structure of the second positioning assembly in the embodiment of the utility model;

[0026] The figure includes: 1. C-arm machine, 2. patient, 3. operating table, 11. X-ray imaging component, 12. C-arm structure, 13. vehicle body structure, 14. display, 13-1. steering handle, 13-2. steering wheel, 13-3. parking component, 13-4. vehicle body cross beam, 13-5. caster frame, 13-6. caster shaft, 13-7. bearing assembly, 13-8. first sensor, 13-9. code disk, A. first opening, B. second opening, 13-10. second sensor, 13-11. steering plate, C. shielding part. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings to more clearly and completely illustrate the technical solution of the present invention.

[0028] Reference Figure 1 The C-arm machine 1 generally comprises an X-ray imaging component 11, a C-arm structure 12, a body structure 13, a control system and a display system, wherein the C-arm structure 12, the control system and the display system are all mounted on the body structure 13, and the X-ray imaging component 11 is located at the end of the C-arm structure 12, and is used to perform perspective imaging of the affected part of the patient 2. In this embodiment, the X-ray imaging component 11 is a flat panel structure, the control system is an industrial computer, and the display system is a display 14.

[0029] Reference Figure 2 The vehicle body structure 13 is provided with a steering assembly, a caster assembly and a parking assembly 13-3, wherein the steering assembly and the caster assembly cooperate to realize the movement and steering of the vehicle body structure 13, and the parking assembly 13-3 realizes the braking and release of the vehicle body structure 13. Although the C-arm machine 1 can realize movement and steering through the caster assembly, it is difficult to perform image stitching positioning because the steering angle and moving distance cannot be controlled.

[0030] Specifically, the caster assembly can be divided into two types: a steering wheel assembly that can be actively steered and a universal wheel assembly that passively steers with the vehicle body. In this embodiment, a set of steering wheel assemblies is provided on both sides of the vehicle body cross beam 13-4. Figure 3 , Figure 4The steering wheel assembly includes a steering wheel 13-2 and a caster frame 13-5, wherein the steering wheel 13-2 is rollingly mounted in the caster frame 13-5 through a caster shaft 13-6, and the caster frame 13-5 is steeringly mounted on the vehicle body cross beam 13-4 through a bearing assembly 13-7.

[0031] Furthermore, the steering assembly includes a steering handle 13-1, wherein the steering handle 13-1 and the caster frame 13-5 are connected to each other by a transmission member, so that the steering wheel 13-2 is controlled by the steering handle 13-1. The transmission member here can refer to the steering transmission mechanism in Chinese patent CN 202960538 U.

[0032] Preferably, two steering handles 13 - 1 are provided on the vehicle body structure 13 , and the two are rotated synchronously with each other through a synchronizing member, that is, the steering control of the two steering wheels 13 - 2 can be completed through any one of the handles.

[0033] In order to solve the problem that the C-arm machine 1 is difficult to perform image stitching positioning, this embodiment provides a C-arm machine mobile positioning device, which specifically includes:

[0034] The first positioning component includes a first sensor 13-8 and a first positioning member. The first positioning member rotates synchronously with the steering wheel 13-2. The first sensor 13-8 detects the rotation angle of the first positioning member, thereby obtaining the angular displacement of the steering wheel 13-2, and then further obtaining the moving distance of the C-arm machine 1 according to the caster diameter;

[0035] The second positioning component includes a second sensor 13-10 and a second positioning member. The second positioning member and the caster frame 13-5 turn synchronously. The second sensor 13-10 detects the rotation direction of the second positioning member, thereby obtaining the rotation direction of the steering wheel 13-2, and then positioning the moving direction of the C-arm machine 1 so that it can move along the length direction of the operating bed 3.

[0036] Reference Figure 4 , Figure 5 The first positioning member is constructed as a code disc 13-9 fixed coaxially with the steering wheel 13-2, and a marker for identification by the first sensor 13-8 is provided on the code disc 13-9.

[0037] Preferably, the marker includes a first opening portion A uniformly opened circumferentially around the code disk 13-9, and the number is preferably more than 6 (12 as shown in the figure); the first sensor 13-8 is a photoelectric sensor, which is fixed on the inner side of the caster frame 13-5, and detects the angular displacement of the steering wheel 13-2 by identifying the first opening portion A.

[0038] Furthermore, the first sensor 13-8 is connected to the display 14 signal through the industrial computer. When the moving distance reaches the set distance L, the system prompts to park, and the parking can be completed by stepping on the parking component 13-3; when the moving distance is less than the set distance L, the system prompts the distance to be moved; when the mobile device exceeds the set distance L, the system prompts that the distance is exceeded, and based on the exceeded distance, prompts the user to move in the opposite direction to reach the next correct image acquisition position.

[0039] Furthermore, the marker also includes a second opening portion B, which is opened between any two adjacent first opening portions A, and the central angles between the second opening portion B and the first opening portions A on both adjacent sides are not equal. That is, when the C-arm machine 1 moves at a constant speed in opposite directions, the occlusion time from the second opening portion B to the first opening portions A on both adjacent sides obtained by the first sensor 13-8 is not equal.

[0040] Reference Figure 6 , from all the first openings A, any two adjacent first openings a and b are selected, and a second opening B is set between the first openings a and b, wherein the first opening A and the second opening B are both rectangular openings (the center line passes through the center of the code disk 13-9) and have the same size. Assume that the center line of the first opening a forms an angle α with the center line of the second opening B, and the center line of the first opening b forms an angle β with the center line of the second opening B, then α≠β.

[0041] Since the time intervals of the first opening A passing through the first sensor 13-8 are equal during the uniform rotation of the steering wheel 13-2, but the time intervals between the first opening a and the second opening B are different from the time intervals between the second opening B and the first opening b, it is possible to determine whether the rolling direction (clockwise / counterclockwise) of the caster has changed based on this difference feature. If the rolling direction has changed, the system prompts that the device has been misoperated and needs to return to the original moving direction.

[0042] In other embodiments, the marker may also adopt other positioning structures, including but not limited to engraved lines, bumps, etc.; the first sensor 13-8 may also adopt other sensor types, including but not limited to Hall sensors, pressure sensors, etc.; in addition, the combined use of the first sensor 13-8 and the first positioning member can also be achieved through a commonly used encoder.

[0043] Reference Figure 3 , Figure 4 The second positioning member is constructed as a steering plate 13-11 coaxially fixed to the caster frame 13-5, and a calibration object for identification by the second sensor 13-10 is provided on the steering plate 13-11.

[0044] Preferably, the calibration object includes at least one shielding portion C extending radially along the steering plate 13-11, and the shielding portion C passes through the position of the second sensor 13-10, corresponding to the target steering of the steering wheel 13-2, that is, parallel to the length direction of the operating bed 3; the second sensor 13-10 adopts a photoelectric sensor, which is arranged on the vehicle body cross beam 13-4, and detects the rotation direction of the steering wheel 13-2 by identifying the shielding portion C, that is, when the shielding portion C triggers the second sensor 13-10, the rolling direction of the steering wheel 13-2 is parallel to the length direction of the operating bed 3.

[0045] Exemplarily, the calibration object is constructed as two shielding portions C that are symmetrically arranged and extend along the same radial direction of the steering plate 13 - 11 . Figure 7 , the two shielding parts C pass through the position of the second sensor 13-10, corresponding to the two target steering directions of the steering wheel 13-2 parallel to the length direction of the operating bed 3. Figure 2 For example, the steering handle 13-1 can drive the steering wheel 13-2 to turn 90 degrees left and right, forming Figure 7 State, that is, a state parallel to the length direction of the operating bed 3.

[0046] Furthermore, the second sensor 13 - 10 is connected to the display 14 via an industrial computer signal. When the blocking portion C passes through the second sensor 13 - 10 , the system prompts that the caster has turned into place, and the user can start collecting images.

[0047] In other embodiments, the calibration object may also adopt other positioning structures, including but not limited to openings, etc.; the second sensor 13-10 may also adopt other sensor types, including but not limited to proximity switches, mechanical switches, Hall sensors, pressure sensors, etc.; the position of the second sensor 13-10 may also be set at any transmission position between the steering handle 13-1 and the caster frame 13-5, so as to be able to identify the steering angle of the steering wheel 13-2.

[0048] The specific implementation of this embodiment is as follows:

[0049] like Figure 1 As shown, taking orthopedic spinal surgery as an example, the patient 2 lies in a prone position on the operating table 3, and the orthopedic C-arm machine 1 performs frontal and lateral fluoroscopic imaging of the patient 2 to assist in image observation and positioning during the operation.

[0050] First, move the C-arm 1 according to the position of the affected part of patient 2 to ensure that patient 2 is within the scanning area of ​​the orthopedic C-arm 1, and then select the scanning direction of the C-arm 1 from the lumbar spine to the cervical spine ( Figure 1 from left to right along the arrow direction) or from cervical to lumbar ( Figure 1 (From right to left along the arrow direction in the middle) to ensure that the affected area is covered by the scanning area.

[0051] Then, the steering wheel 13-2 is controlled by the steering handle 13-1 to steer until the blocking part C triggers the second sensor 13-10. The second sensor 13-10 sends a signal to the industrial computer, and the system prompts that the steering is in place. At this time, the steering wheel 13-2 rotates to be parallel to the length direction of the operating bed 3, and the steering can be stopped and the parking button can be pressed. The X-ray imaging component 11 is aligned to the starting position of image acquisition to start acquiring the first image.

[0052] After the exposure is completed for the first image acquisition, the brake is released and the C-arm 1 is pushed to move a set distance L along the length direction of the operating table 3 (due to the heavy equipment, it is defaulted to a uniform speed here) to perform the exposure acquisition of the next image. The distance L of each movement is a set parameter, which can be determined according to the requirements of the image stitching algorithm.

[0053] During the movement of the C-arm machine 1, the industrial computer identifies the two openings on the code disk 13-9 through the first sensor 13-8, wherein the time intervals between the first openings A are the same. By identifying the first opening A, the rolling angle of the steering wheel 13-2 can be known, and the distance moved by the C-arm machine 1 can be further calculated according to the caster diameter, thereby displaying the moving distance in real time; the blocking time on both sides of the second opening B is different. By identifying the second opening B, it can be determined whether the rolling direction of the steering wheel 13-2 has changed. If the rolling direction has changed, the system prompts that an erroneous operation has occurred in the movement of the equipment and it is necessary to return to the original moving direction.

[0054] When the moving distance of C-arm machine 1 reaches L, the system prompts to park and start collecting the next image. This process continues until all image collection is completed, the collected images are stored in the industrial computer, and named in chronological order. After that, feature matching is performed on the overlapping areas of adjacent images to complete image merging and stitching.

[0055] The mobile positioning device can be used to directly complete the image stitching of the C-arm machine before, during and after the operation, and collect the required global image without the need to transfer the patient to the operating room multiple times and use other tools for image stitching, which effectively reduces the operation time and relieves the patient's pain, and is efficient and accurate. In addition, the device can realize real-time monitoring and feedback of the moving distance and moving direction of the C-arm machine, has a simple structure and low cost.

[0056] The above specific implementations are only descriptions of the preferred implementations of the utility model, and do not limit the protection scope of the utility model. Without departing from the design concept and spirit of the utility model, various modifications, substitutions and improvements made by ordinary technicians in this field to the technical solution of the utility model based on the text description and drawings provided by the utility model should all fall within the protection scope of the utility model.

Claims

1. A mobile positioning device for a C-arm machine, wherein a caster assembly capable of steering and moving is provided on the body structure of the C-arm machine, the caster assembly comprising a steering wheel and a caster frame, the steering wheel is rollingly mounted on the caster frame, and the caster frame is steeringly mounted on the body structure; It is characterized in that The mobile positioning device comprises a first positioning component for detecting the angular displacement of the steering wheel and a second positioning component for detecting the rotation direction of the steering wheel; The first positioning assembly includes a first sensor and a first positioning member, the first positioning member rotates synchronously with the steering wheel, and the rotation angle of the first positioning member is detected by the first sensor; The second positioning assembly includes a second sensor and a second positioning member. The second positioning member rotates synchronously with the caster frame, and the rotation direction of the second positioning member is detected by the second sensor.

2. The C-arm mobile positioning device according to claim 1, characterized in that: The first positioning member is configured as a code disc coaxially fixed to the steering wheel, and a marker for identification by the first sensor is disposed on the code disc.

3. The C-arm mobile positioning device according to claim 2, characterized in that: The marker comprises a first opening portion which is evenly opened around the circumference of the code disk.

4. The C-arm mobile positioning device according to claim 3, characterized in that: The marker also includes a second opening portion, which is arranged between any two adjacent first opening portions, and the central angles between the second opening portion and the first opening portions on the two adjacent sides are not equal.

5. The C-arm mobile positioning device according to claim 1, characterized in that: The first sensor is fixed on the inner side of the caster frame and is constructed as a photoelectric sensor or a Hall sensor.

6. The C-arm mobile positioning device according to claim 1, characterized in that: The second positioning member is configured as a steering plate coaxially fixed to the caster frame, and a calibration object for identification by the second sensor is disposed on the steering plate.

7. The C-arm mobile positioning device according to claim 6, characterized in that: The calibration object includes at least one shielding portion extending radially along the steering plate, and the shielding portion passes through the position of the second sensor and corresponds to the target steering of the steering wheel.

8. The C-arm mobile positioning device according to claim 7, characterized in that: The calibration object is constructed as two shielding parts extending along the same radial direction of the steering plate.

9. The C-arm mobile positioning device according to claim 1, characterized in that: The second sensor is arranged on the vehicle body structure, and is configured as a photoelectric sensor, a proximity switch, a mechanical switch, a Hall sensor or a pressure sensor.

10. The C-arm mobile positioning device according to claim 1, characterized in that: The first sensor and the second sensor are respectively connected to the control system signal of the C-arm machine.

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