Cooperative iconography system

Abstract

The utility model discloses a cooperative imaging system, which comprises a top moving seat arranged at the top in an operating room in a horizontally adjustable manner, a multi-degree-of-freedom mechanical arm connected to the lower side of the top moving seat, a C-shaped arm connected to the lower side of the multi-degree-of-freedom mechanical arm, a top rail, a top guide rail, a bottom guide rail and a bottom guide rail, the top moving seat is fixedly connected to the top in the operating room, is close to the side wall of the operating room and is in sliding fit with the top rail; the middle support is fixedly connected below the top moving seat; the bottom moving seat is fixedly connected to the bottom of the middle support; the bottom rail is fixedly connected to the ground of the operating room and close to the side wall of the operating room, the bottom rail supports the bottom moving seat, and the bottom moving seat can be horizontally adjusted relative to the bottom rail. By adopting the scheme, the translation adjustment operation of the C-shaped arm has good stability and reliability.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a collaborative imaging system. Background Art

[0002] A Chinese patent has been disclosed in the prior art, and its publication number is CN207949814U. The patent relates to a C-arm. When the machine is working, the angle of the C-arm can be adjusted according to the treatment needs by rotating the control wrench on the surface of the C-arm moving connecting frame. The machine can also be moved forward and backward and up and down by the foot switch controller, and the specific functions of the machine can be operated by the control panel. Figure 1 It can be seen that the C-arm is a floor-standing structure. The main support of the C-arm in 360 Encyclopedia is also a floor-standing structure, that is, a roller with a locking component is installed on the main support of the C-arm. However, due to the limited space in the operating room, the above-mentioned C-arm equipment often occupies the limited space inside the operating room.

[0003] In order to save space in the operating room, a suspended C-arm is disclosed in the prior art. For example, a suspended C-arm was disclosed on Docin.com on November 9, 2012 (the link is https: / / www.docin.com / p-522417607.html). In the first part "Composition, form and function of the C-arm", drawings are disclosed, showing that the C-arm is connected to the track on the top of the operating room through a suspension device, and the suspension mechanism can be adjusted horizontally.

[0004] However, since the suspension mechanism needs to bear the gravity of the C-arm, the sliding fit between the suspension mechanism and the track becomes a position subject to greater force, resulting in greater restrictions on the adjustment performance of the C-arm; considering that the C-arm is frequently used and requires multiple adjustments, how to disperse the load on the suspension mechanism and improve the stability and reliability of the C-arm translation adjustment process has become an important direction for technical improvement. Utility Model Content

[0005] The purpose of the utility model is to provide a collaborative imaging system to solve the problems existing in the prior art.

[0006] The purpose of the utility model is achieved as follows: a collaborative imaging system is arranged in an operating room, comprising a top movable seat which is arranged horizontally and adjustably at the top of the operating room, a multi-degree-of-freedom mechanical arm connected to the lower side of the top movable seat, and a C-shaped arm connected to the lower side of the multi-degree-of-freedom mechanical arm, and further comprising:

[0007] A top rail, which is fixedly connected to the top of the operating room and close to the side wall of the operating room, and the top moving seat is slidably matched with the top rail;

[0008] A middle support, which is fixedly connected below the top moving seat;

[0009] A bottom movable seat, which is fixedly connected to the bottom of the middle support;

[0010] The bottom track is parallel to the top track, fixedly connected to the floor of the operating room and close to the side wall of the operating room. The bottom track supports the bottom moving seat, and the bottom moving seat can be horizontally adjusted relative to the bottom track.

[0011] The beneficial effects of the utility model are:

[0012] The utility model adds a middle support and a bottom movable seat, so that the top movable seat, the middle support and the bottom movable seat constitute a bracket structure, the middle support and the bottom movable seat are used to bear the heavy load borne by the top movable seat, and the bottom movable seat supports the ground, so that the supporting effect is more stable, and at the same time, the matching relationship between the top movable seat and the top rail, as well as the matching relationship between the bottom movable seat and the bottom rail (to achieve the effect of supporting the ground), since the top movable seat and the bottom movable seat can both move and cooperate, the translation adjustment operation of the entire bracket structure and its C-shaped arm has good stability and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the design principle of the utility model.

[0014] Figure 2 It is a schematic diagram of embodiment 1.

[0015] Figure 3 It is a schematic diagram of the second embodiment.

[0016] Figure 4 It is a schematic diagram of embodiment 3.

[0017] Figure 5 yes Figure 2 Enlarged view of part A in .

[0018] Figure 6 yes Figure 2 Enlarged view of part B in .

[0019] Figure 7 yes Figure 3 Enlarged view of part C in .

[0020] Figure 8 yes Figure 3 Enlarged view of part D in .

[0021] Fig. 9 yes Figure 4 Enlarged view of part E in .

[0022] Fig.10 yes Figure 4Enlarged view of part F in . DETAILED DESCRIPTION

[0023] The following will be combined with the attached embodiment of the utility model Figure 1-10 , clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] like Figure 1 As shown, a collaborative imaging system is proposed, which is arranged in the operating room, and includes a top movable seat 9 which is horizontally adjustable and arranged at the top of the operating room, a multi-degree-of-freedom mechanical arm connected to the lower side of the top movable seat 9, and a C-shaped arm 7 connected to the lower side of the multi-degree-of-freedom mechanical arm. It also includes an image acquisition device 24 installed on the top of the operating room and a high-definition display screen 25 installed on a side wall of the operating room. The image acquisition device 24 is used to acquire images of the surgical site so that the backstage can monitor the operation process of the operation. The high-definition display screen 25 is used to display the image of the angiography. The C-shaped arm 7 has a transmitting end 7a and a receiving end 7b. The wheelchair 8 in the operating room is locked in the C-shaped opening of the C-shaped arm 7 when in use. These solutions belong to the technical solutions possessed by the existing digital operating room. During use, the top movable seat 9 needs to bear the heavy load of the multi-degree-of-freedom mechanical arm and the C-shaped arm 7.

[0025] The preferred multi-degree-of-freedom robotic arm is constructed as follows:

[0026] A first rotary servo joint 1 for outputting horizontal rotary power, the first rotary servo joint 1 being connected to a top moving seat 9;

[0027] An upper cantilever 2 extends horizontally, and an upper side of one end thereof is connected to a rotation output end of the first rotation servo joint 1;

[0028] A second rotary servo joint 3 for outputting horizontal rotary power, which is installed at the lower side of the other end of the upper cantilever 2;

[0029] A vertical column 4 can be automatically raised and lowered and adjusted, and is installed at the rotation output end of the second rotation servo joint 3;

[0030] An up-and-down rotation servo joint 5 for outputting up-and-down rotation motions, which is installed at the lower end of the vertical column 4;

[0031] The self-rotating servo joint 6 is connected to the rotation output end of the upper and lower rotation servo joint 5. The C-arm 7 is connected to the rotation output end of the self-rotating servo joint 6. Driven by the self-rotating servo joint 6, the C-arm 7 rotates slowly around the wheelchair 8 to perform radiography on the patient on the wheelchair 8.

[0032] Among them, the purpose of the above-mentioned multi-degree-of-freedom robotic arm is to fine-tune the position of the C-shaped arm 7, and the adjustment freedom represented by the top movable seat 9 is to significantly adjust the relative position between the C-shaped arm 7 and the wheelchair 8, that is, the top movable seat 9 can be moved so that the C-shaped arm 7 is in the position area where the wheelchair 8 is located.

[0033] The system also includes:

[0034] A top rail 13, which is fixedly connected to the top of the operating room and close to the side wall of the operating room, and the top moving seat 9 is slidably matched with the top rail 13;

[0035] The middle support 10 is fixedly connected under the top moving seat 9;

[0036] A bottom movable seat 11, which is fixedly connected to the bottom of the middle support 10;

[0037] The bottom rail 12 is parallel to the top rail 13 and is fixedly connected to the floor of the operating room and close to the side wall of the operating room. The bottom rail 12 supports the bottom movable seat 11, and the bottom movable seat 11 can be horizontally adjusted relative to the bottom rail 12.

[0038] Therefore, through the above-mentioned setting scheme, it can be known that the utility model adds a middle support 10 and a bottom movable seat 11, so that the top movable seat 9, the middle support 10 and the bottom movable seat 11 constitute a bracket structure, and the middle support 10 and the bottom movable seat 11 are used to bear the heavy load borne by the top movable seat 9, and the bottom movable seat 11 supports the ground, so that the supporting effect is more stable. At the same time, the matching relationship between the top movable seat 9 and the top rail 13, as well as the matching relationship between the bottom movable seat 11 and the bottom rail 12 (to achieve the effect of supporting the ground), since the top movable seat 9 and the bottom movable seat 11 can both be moved and matched, the translation adjustment of the entire bracket structure has good stability and reliability. The medical staff only needs to stand on the ground and hold the middle support 10 with their hands to adjust the entire C-arm device for translation.

[0039] Moreover, the top movable seat 9, the middle support seat 10 and the bottom movable seat 11 are all close to the side wall and will not occupy much layout space.

[0040] As a further improved solution, the widths of the top moving seat 9 and the bottom moving seat 11 are both greater than the middle support 10, so that the top moving seat 9, the middle support 10 and the bottom moving seat 11 form an I-shaped structure, the structure is more stable, a gap is left between the middle support 10 and the side wall of the operating room, the connection position of the multi-degree-of-freedom manipulator and the top moving seat 9 (the first rotation servo joint 1) is biased toward the interior space of the operating room relative to the middle support 10, the position of the top rail 13 is on the side of the top moving seat 9 facing the interior space of the operating room, and the side of the top moving seat 9 facing the interior space of the operating room is slidably matched with the top rail 13 (reference Figure 2-4 As shown), to offset the horizontal force component generated when the C-arm 7 and the multi-degree-of-freedom robotic arm are in operation.

[0041] Three preferred embodiments are proposed below with respect to the movement and coordination between the top and the bottom, but are not limited to the three embodiments proposed in the present utility model.

[0042] Embodiment 1

[0043] like Figure 2 , 5 As shown in FIG. 6 , the bottom rail 12 has a bottom guide groove 12a ( Figure 6 ), the bottom moving seat 11 is slidably arranged in the bottom guide groove 12a, from Figure 6 From the perspective, both sides of the bottom moving seat 11 cooperate with the two side walls of the bottom guide groove 12a; the bottom moving seat 11 is threadedly connected with two locking studs 14, and the locking studs 14 penetrate the bottom moving seat 11 from top to bottom. The upper ends of the locking studs 14 are located outside the bottom moving seat 11 and are fixedly inserted with tightening handles 15 for tightening operations when locking. The lower ends of the locking studs 14 abut against the inner bottom wall of the bottom guide groove 12a when locking, so as to lock the position of the bottom moving seat 11, thereby preliminarily locking the horizontal position of the C-shaped arm 7.

[0044] The bottom rail 12 is integrally connected with a locking strap 16 , which is located on the side of the bottom rail 12 facing the interior space of the operating room, so as to facilitate screwing to fix the bottom rail 12 on the ground during installation.

[0045] like Figure 5 As shown, it also includes a top rear support rail 17 fixed to the upper part of the side wall of the operating room. The top rear support rail 17 is parallel to the top rail 13, and the side of the top movable seat 9 facing the side wall of the operating room is slidably matched with the top rear support rail 17.

[0046] The above-mentioned top rear support rail 17 and top rail 13 both have V-shaped matching grooves, and both sides of the top movable seat 9 are V-shaped so as to slide with the matching grooves of the top rear support rail 17 and the top rail 13; for ease of installation, the top rear support rail 17 and the top rail 13 are both detachably connected to the inner surface of the operating room by screws.

[0047] Since the top rear support rail 17 and the top rail 13 cooperate with the two sides of the top movable seat 9 respectively, the reliability of the movement and adjustment scheme of the top movable seat 9 is further improved.

[0048] Embodiment 2

[0049] like Figure 3 , 7 8, it also includes a strip-shaped top backrest plate 18 fixed to the upper part of the operating room side wall and parallel to the top track 13. The top backrest plate 18 slides against the side of the top movable seat 9 facing the operating room side wall. The top track 13 has a supporting top 13a ( Figure 7 As shown), the support top 13a supports the top moving seat 9 and slides with the bottom surface of the top moving seat 9 to assist in offsetting the vertical component force generated when the C-arm 7 and the multi-degree-of-freedom robotic arm are in operation.

[0050] like Figure 7 As shown, the top backrest plate 18 is used to fill the gap between the top movable seat 9 and the side wall, so that the top movable seat 9 can be more closely attached to the top rail 13, ensuring the stability of the movement and adjustment of the top movable seat 9.

[0051] like Figure 8 As shown, the bottom moving seat 11 is installed with a power box 19, and the power box 19 has an electric control driver built in. The bottom track 12 is provided with two walking guide grooves 12b extending along its length direction. The bottom moving seat 11 is rotatably connected with two groups of walking wheels 20 arranged front and back along the moving direction. Each group of walking wheels 20 has two and are distributed left and right, and respectively roll with the two walking guide grooves 12b. The output side of the power box 19 is transmission-connected with one group of walking wheels 20, and the other group of walking wheels 20 is the driven part.

[0052] During use, the power box 19 is controlled by a remote control to make the walking wheel 20 roll along the walking guide groove 12b, which ultimately makes the horizontal movement trajectory of the C-shaped arm 7 more precise, and makes the relative position between the C-shaped arm 7 and the wheelchair 8 more precise, which is conducive to the subsequent use of a multi-degree-of-freedom robotic arm to further adjust the specific position of the C-shaped arm 7.

[0053] In the second embodiment, an automatic adjustment scheme is adopted. Different from the concept of arranging the power unit on the top moving seat 9 in the prior art, the second embodiment of the utility model arranges the power unit on the bottom moving seat 11. Since the position of the power box 19 is close to the ground, maintenance operations are more convenient.

[0054] Embodiment 3

[0055] like Figure 4 , 9 As shown in 10, the system is provided with a lower backrest plate 22 fixed to the lower part of the side wall of the operating room, and the side of the bottom movable seat 11 facing the side wall of the operating room is relatively slidably fitted with the lower backrest plate 22, and the lower backrest plate 22 plays a role in protecting the side wall to prevent the bottom movable seat 11 from directly contacting the side wall and rubbing off the paint of the side wall.

[0056] like Fig.10 As shown, a plurality of self-locking universal wheels 23 with built-in locking mechanisms are installed at the bottom of the bottom movable seat 11, and the upper side of the bottom track 12 is set as a flat upper walking surface 12d, and the upper walking surface 12d of the bottom track 12 supports the self-locking universal wheels 23. During the adjustment process, the bottom movable seat 11 leans against the lower rear backboard 22, and the self-locking universal wheels 23 are in an unlocked state. After the bottom movable seat 11 moves to the specified position, the locking pedal is stepped on to lock the self-locking universal wheels 23, thereby locking the position of the bottom movable seat 11.

[0057] The side of the bottom track 12 facing the inner space of the operating room has an inclined extradition slope 12c that guides the self-locking universal wheel 23 to roll to the upper walking surface 12d. During installation, the self-locking universal wheel 23 rolls from the extradition slope 12c to the upper walking surface 12d of the bottom track 12, thereby installing the bottom mobile seat 11 in place.

[0058] It also includes a top angle plate 21 fixed at the junction of the side wall and the top wall of the operating room. The top angle plate 21 extends horizontally and is parallel to the top rail 13. Its cross-section is L-shaped. The part of the top movable seat 9 facing the side wall of the operating room slides in the L-shaped groove of the top angle plate 21.

[0059] The top rail 13 is detachably arranged, and includes an L-shaped base plate 13b, the base plate 13b having a vertical plate portion and a flat plate portion, the flat plate portion of the base plate 13b being attached to the top wall of the operating room by screws, a pair of upper guide rails 13c being fixed to the vertical plate portion of the base plate 13b, the vertical plate portion of the base plate 13b being relatively slidably attached to the top moving seat 9, the upper guide rails 13c extending along the length direction of the top rail 13, the top moving seat 9 having a pair of upper guide grooves 9a extending in the length direction of the top rail 13, the two upper guide rails 13c being respectively slidably engaged with the two upper guide grooves 9a. The advantage of adopting the above scheme is that the guiding function of the moving track of the top moving seat 9 is enhanced, and after the self-locking universal wheel 23 rolls onto the upper walking surface 12d of the bottom rail 12, the top moving seat 9 is attached to the top angle plate 21, and then the top rail 13 is installed so that the upper guide rails 13c are inserted into the upper guide grooves 9a.

[0060] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "front", "back", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention; in the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate connecting component, and the specific meaning of the terms in the present invention can be understood according to the specific circumstances.

[0061] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0062] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A collaborative imaging system, which is arranged in an operating room, comprises a top movable seat (9) which is arranged horizontally and adjustably on the top of the operating room, a multi-degree-of-freedom mechanical arm connected to the lower side of the top movable seat (9), and a C-shaped arm (7) connected to the lower side of the multi-degree-of-freedom mechanical arm, characterized in that: Also includes: A top rail (13) is fixedly connected to the top of the operating room and close to the side wall of the operating room, and the top movable seat (9) is slidably matched with the top rail (13); A middle support (10) fixedly connected below the top movable seat (9); A bottom movable seat (11) fixedly connected to the bottom of the middle support (10); The bottom rail (12) is parallel to the top rail (13), and is fixedly connected to the floor of the operating room and close to the side wall of the operating room. The bottom rail (12) supports the bottom movable seat (11), and the bottom movable seat (11) can be horizontally adjusted relative to the bottom rail (12).

2. A collaborative imaging system according to claim 1, characterized in that: The top movable seat (9), the middle support seat (10) and the bottom movable seat (11) form an I-shaped structure, a gap is left between the middle support seat (10) and the side wall of the operating room, the connection position of the multi-degree-of-freedom robot arm and the top movable seat (9) is biased toward the interior space of the operating room relative to the middle support seat (10), the position of the top rail (13) is located on the side of the top movable seat (9) facing the interior space of the operating room, and the side of the top movable seat (9) facing the interior space of the operating room is slidably matched with the top rail (13).

3. A collaborative imaging system according to claim 2, characterized in that: The bottom rail (12) has a bottom guide groove (12a) with an opening facing upward, and the bottom moving seat (11) is slidably arranged in the bottom guide groove (12a); the bottom moving seat (11) is threadedly connected with at least two locking studs (14), and the locking studs (14) penetrate the bottom moving seat (11) from top to bottom, and the upper ends of the locking studs (14) are located outside the bottom moving seat (11) and are fixedly plugged with tightening handles (15) for tightening operations when locked, and the lower ends of the locking studs (14) abut against the inner bottom wall of the bottom guide groove (12a) when locked.

4. A collaborative imaging system according to claim 3, characterized in that: It also includes a top rear support rail (17) fixed to the upper part of the operating room side wall, the top rear support rail (17) and the top rail (13) are parallel to each other, and the side of the top movable seat (9) facing the operating room side wall is slidably matched with the top rear support rail (17).

5. A collaborative imaging system according to claim 2, characterized in that: It also includes a strip-shaped top backrest plate (18) fixed to the upper part of the operating room side wall and parallel to the top track (13), wherein the top backrest plate (18) slides against the side of the top movable seat (9) facing the operating room side wall, and the top track (13) has a supporting top portion (13a), wherein the supporting top portion (13a) supports the top movable seat (9) and slidably cooperates with the bottom surface of the top movable seat (9).

6. A collaborative imaging system according to claim 5, characterized in that: The bottom movable seat (11) is equipped with a power box (19), and the power box (19) has an electric control driver built in; The bottom track (12) is provided with two walking guide grooves (12b) extending along its length direction; The bottom moving seat (11) is rotatably connected to two groups of running wheels (20) arranged front and rear along the moving direction, each group of running wheels (20) is two and distributed left and right, and respectively rollingly cooperates with two running guide grooves (12b), and the output side of the power box (19) is drivingly connected to one of the groups of running wheels (20).

7. A collaborative imaging system according to claim 2, characterized in that: It also includes a lower backrest plate (22) fixed to the lower part of the side wall of the operating room, and the side of the bottom movable seat (11) facing the side wall of the operating room is relatively slidably attached to the lower backrest plate (22); A plurality of self-locking universal wheels (23) with self-locking mechanisms are installed at the bottom of the bottom movable seat (11); the upper side of the bottom track (12) is provided with a planar upper walking surface (12d); and the upper walking surface (12d) of the bottom track (12) supports the self-locking universal wheels (23).

8. A collaborative imaging system according to claim 7, characterized in that: It also includes a top angle plate (21) fixed at the junction of the side wall and the top wall of the operating room, the top angle plate (21) extends horizontally and is parallel to the top track (13), and its cross-section is L-shaped, and the part of the top movable seat (9) facing the side wall of the operating room is slidably matched with the L-shaped groove of the top angle plate (21).

9. A collaborative imaging system according to claim 8, characterized in that: The top rail (13) comprises an L-shaped base plate (13b), the base plate (13b) comprising a vertical plate portion and a flat plate portion, the flat plate portion of the base plate (13b) being in contact with the top wall of the operating room, the vertical plate portion of the base plate (13b) being fixed with a pair of upper guide rails (13c), the upper guide rails (13c) extending along the length direction of the top rail (13), the top movable seat (9) comprising a pair of upper guide grooves (9a) extending along the length direction of the top rail (13), the two upper guide rails (13c) respectively being slidably matched with the two upper guide grooves (9a).

10. A collaborative imaging system according to claim 7, characterized in that: The side of the bottom rail (12) facing the interior space of the operating room has an inclined guide slope (12c) for guiding the self-locking universal wheel (23) to roll onto the upper walking surface (12d).

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