Intelligent moving device for medical C-shaped arm

Abstract

The utility model provides an intelligent moving device for a medical C-shaped arm, which comprises two intelligent trundle assemblies fixedly arranged on two sides of the middle part of the bottom surface of a C-shaped arm rack of the medical C-shaped arm and used for driving the medical C-shaped arm to move; two control handles are fixedly arranged on the C-shaped arm rack, and a first switch and a second switch are respectively arranged on the two control handles; an operating rod mounting plate is further fixedly arranged on the C-shaped arm rack, and an operating rod is fixedly arranged on the operating rod mounting plate; a control module and a servo driver are further fixedly arranged on the C-shaped arm rack, the control module is electrically connected with the servo driver, the operating rod, the first switch and the second switch, and the servo driver is electrically connected with the intelligent trundle assembly. According to the utility model, the defects of manual operation are overcome, and the operation efficiency and safety are improved.

Description

Technical Field

[0001] The utility model relates to a mobile device, in particular to an intelligent mobile device for a medical C-arm. Background Art

[0002] The information provided in this part is only background information related to the present disclosure, and it does not necessarily represent the prior art.

[0003] In modern medical surgeries, as an important device in the radiology department and operating room, the C-arm's operation accuracy is crucial for the diagnostic and therapeutic effects. Currently, most medical C-arms rely on manual casters for position movement and positioning. This method is not only inaccurate in operation but also time-consuming and laborious, making it difficult to meet the requirements of rapid and precise positioning, especially in emergency and complex surgical situations.

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

[0005] Object of the Invention: The technical problem to be solved by the present utility model is to provide an intelligent mobile device for a medical C-arm in view of the deficiencies of the prior art.

[0006] To solve the above technical problem, the present utility model discloses an intelligent mobile device for a medical C-arm, comprising:

[0007] Two intelligent caster assemblies fixedly arranged on both sides of the middle part of the bottom surface of the C-arm frame of the medical C-arm for driving the medical C-arm to move;

[0008] Two operating handles are fixedly arranged on the C-arm frame, and a first switch and a second switch are respectively arranged on the two operating handles;

[0009] An operating rod mounting plate is also fixedly arranged on the C-arm frame, and an operating rod is fixedly arranged on the operating rod mounting plate;

[0010] A control module and a servo driver are also fixedly arranged on the C-arm frame. Among them, the control module is electrically connected to the servo driver, the operating rod, the first switch, and the second switch, and the servo driver is electrically connected to the intelligent caster assembly.

[0011] Further, the intelligent caster assembly includes:

[0012] A mounting plate fixedly connected to the C-shaped arm frame by fixing bolts. A steering device is fixedly arranged on the mounting plate. A wall plate is fixedly arranged at the bottom of the steering device. The steering device drives the wall plate to rotate in the horizontal direction. The side surface of the wall plate is rotatably connected to a caster wheel.

[0013] A traveling device for driving the caster wheel to roll is also fixedly arranged on the mounting plate.

[0014] Further, the wall plate is a 7-shaped hollow structure, and its top is fixedly connected to the bottom of the steering device.

[0015] Further, the steering device includes: a planetary reducer fixedly arranged on one side of the top of the mounting plate. A steering servo motor is arranged above the planetary reducer, and its input end is connected to the output end of the steering servo motor. The output end at the lower part of the planetary reducer passes through a through hole on the mounting plate and is fixedly connected to a steering pinion to drive it to rotate. A steering gear is rotatably arranged at the center of the bottom of the mounting plate and meshes with the steering pinion. The bottom of the steering gear is fixedly connected to the top of the wall plate.

[0016] Further, the traveling device includes: a traveling servo motor fixedly arranged at the center of the top of the mounting plate, and its output end is fixedly connected to a cylindrical gear shaft. A deep groove ball bearing is arranged below the cylindrical gear shaft, and the deep groove ball bearing is installed on the bottom surface of the transverse hollow structure of the wall plate for fixing the cylindrical gear shaft. On one side of the top surface of the transverse hollow structure of the wall plate, a lock nut and a bearing assembly are arranged, and a driving gear is arranged between the lock nut and the bearing assembly. The cylindrical gear shaft meshes with the driving gear. A small bevel gear shaft is sleeved in the bearing assembly, the upper end of the small bevel gear shaft is fixedly connected to the driving gear, and the lower end is meshed with a large bevel gear.

[0017] One end of the large bevel gear is fixedly connected to a driving flange shaft, and the other end of the driving flange shaft is fixedly connected to the caster wheel for driving the caster wheel to rotate.

[0018] Further, the bearing assembly includes: a bearing seat and an angular contact bearing fixedly arranged inside the wall plate. The small bevel gear shaft is sleeved in the angular contact bearing.

[0019] Further, the traveling servo motor and the steering servo motor are electrically connected to the servo driver.

[0020] Further, the caster wheel is a polyurethane caster wheel.

[0021] Further, the steering gear is rotatably arranged at the center of the bottom of the mounting plate through a slewing bearing.

[0022] Furthermore, a protrusion is provided on the outer edge of the large steering gear, and a proximity switch is fixedly provided on the mounting plate at the position where the protrusion passes. The proximity switch is electrically connected to the control module.

[0023] Beneficial effects:

[0024] 1. The utility model significantly improves the operation comfort of the C-arm, realizes the advantages of easy operation, high-precision positioning, long service life and high stability, and effectively improves the efficiency and safety of medical work.

[0025] 2. The technical solution proposed by the utility model overcomes the limitations of the existing manual operation of the C-arm, provides an efficient, accurate and easy-to-operate intelligent movement and positioning solution, and has important practical significance for improving the use performance of medical imaging equipment and surgical safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The following further describes the present utility model in detail with reference to the drawings and specific embodiments, and the above and / or other advantages of the present utility model will become clearer.

[0027] Figure 1 is the overall structural schematic diagram.

[0028] Figure 2 is the top view of the overall structure.

[0029] Figure 3 is the side view of the intelligent caster assembly.

[0030] Figure 4 is the cross-sectional view of the intelligent caster assembly.

[0031] In the figure: 1 is the C-arm frame, 2 is the control handle, 3 is the touch screen, 4 is the joystick mounting plate, 5 is the joystick, 6 is the control module, 7 is the servo driver, 8 is the intelligent caster assembly, 9 is the traveling servo motor, 10 is the steering servo motor, 11 is the planetary reducer, 12 is the small steering gear, 13 is the baffle, 14 is the large steering gear, 15 is the wall panel, 16 is the proximity switch, 17 is the fixing bolt, 18 is the polyurethane caster, 19 is the slewing bearing, 20 is the cylindrical gear shaft, 21 is the deep groove ball bearing, 22 is the locking nut, 23 is the driving large gear, 24 is the angular contact bearing, 25 is the bearing seat, 26 is the small bevel gear shaft, 27 is the large bevel gear, 28 is the driving flange shaft, 29 is the mounting plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The utility model provides a new intelligent movement solution, which enhances the operation performance of the medical C-arm through electrification and intelligent improvement to improve the acquisition efficiency and accuracy of medical images.

[0033] The specific technical solution is as follows: Its structure consists of a C-arm frame 1, a control handle 2, a touch screen 3, a joystick mounting plate 4, a joystick 5, a control module 6, a servo driver 7, an intelligent caster assembly 8, a traveling servo motor 9, a steering servo motor 10, a planetary reducer 11, a steering pinion 12, a baffle 13, a steering gear 14, a wall panel 15, a proximity switch 16, a fixing bolt 17, a polyurethane caster 18, a slewing bearing 19, a cylindrical gear shaft 20, a deep groove ball bearing 21, a locking nut 22, a driving gear 23, an angular contact bearing 24, a bearing block 25, a small bevel gear shaft 26, a large bevel gear 27, a driving flange shaft 28, a mounting plate 29, etc.

[0034] As Figure 1 shown, two control handles 2 are fixedly arranged on the existing C-arm frame 1, and switches are respectively arranged on the two control handles 2, and the switches are respectively used to control the forward and backward movement of the left and right intelligent caster assemblies 8.

[0035] A joystick 5 is also fixedly arranged on the C-arm frame 1 through a joystick mounting plate 4 for controlling the steering of the intelligent caster assembly 8.

[0036] The touch screen 3 is arranged between the two control handles 2 for controlling the operation of the intelligent caster assembly 8.

[0037] A control module 6 and a servo driver 7 are also arranged on the C-arm frame 1 for receiving the electrical signals sent by the switches on the control handle 2, the joystick 5 and the touch screen 3, and driving the intelligent caster assembly 8 to move according to the electrical signals.

[0038] As Figure 2 shown, there are two intelligent caster assemblies 8, which are respectively fixedly installed on both sides of the middle part of the bottom surface of the C-arm frame 1.

[0039] As Figure 3 shown, the intelligent caster assembly 8 includes: a mounting plate 29, a traveling device, a steering device, a wall panel 15 and a caster 18; the intelligent caster assembly 8 is fixedly installed on the C-arm frame 1 through the mounting plate 29 using fixing bolts 17; the wall panel 15 is a 7-shaped hollow structure, and the outer side is rotatably connected to the caster 18 through a caster bearing, and the top is installed at the bottom of the steering device; the steering device is arranged on the mounting plate 29 for driving the caster 18 to steer; the traveling device is arranged on the mounting plate 29 for driving the caster 18 to rotate.

[0040] The caster 20 is a polyurethane caster 18.

[0041] Steering device, comprising: a planetary speed reducer 11 mounted on one side of the top of the mounting plate 29, the input end of the upper part of the planetary speed reducer 11 is connected to the output end of the steering servo motor 10 for speed reduction; the output end of the lower part of the planetary speed reducer 11 passes through the through hole on the mounting plate 29 and is fixedly connected to the steering pinion 12 to drive it to rotate; the steering gear 14 is rotatably arranged at the bottom of the slewing bearing 19, and the slewing bearing 19 is mounted on the bottom of the mounting plate 29 to bear the load in the up and down gravity direction and provide a rotating function; the steering gear 14 meshes with the steering pinion 12 and is driven by it to rotate.

[0042] Traveling device, comprising: a traveling servo motor 9 mounted in the center of the top of the mounting plate 29, the output end of which is fixedly connected to the cylindrical gear shaft 20, and a deep groove ball bearing 21 is provided below the cylindrical gear shaft 20, and the deep groove ball bearing 21 is mounted on the bottom surface of the transverse hollow structure of the wall panel 15 for fixing the cylindrical gear shaft 20.

[0043] The cylindrical gear shaft 20 meshes with the driving gear 23.

[0044] On one side of the top surface of the transverse hollow structure of the wall panel 15, the driving gear 23 is fixed through a lock nut 22 and a bearing assembly;

[0045] Bearing assembly, comprising: a bearing seat 25 and an angular contact bearing 24 fixedly arranged inside the wall panel 15.

[0046] A small bevel gear shaft 26 is sleeved in the angular contact bearing 24, the upper end of the small bevel gear shaft 26 is fixedly connected to the driving gear 23, and the lower end meshes with the large bevel gear 27.

[0047] The large bevel gear 27 is fixedly connected to one end of the driving flange shaft 28, and the other end of the driving flange shaft 28 is fixedly connected to the caster 18 for driving it to rotate.

[0048] The traveling servo motor 9 and the steering servo motor 10 are electrically connected to the servo driver 7.

[0049] During use, the operator sends a signal to the control module 6 through the button installed on the operating handle 2 of the C-arm frame. The control module 6 outputs a signal to the two traveling servo drivers 7 to drive the two traveling servo motors 9 to operate. The two traveling servo motors 9 transmit power to the polyurethane caster 18 through a set of gear transmission systems - including the cylindrical gear shaft 20, the driving gear 23, the small bevel gear shaft 26, and the large bevel gear 27 - to control the overall forward and backward movement or left and right steering movement of the C-arm frame equipment.

[0050] After the C-arm frame walks to the designated position, input the position information for the C-arm to be positioned and moved on the touch screen 3 or manually operate the joystick 5. After the control module 6 receives the position information input on the touch screen 3 or the information sent by the joystick 5, it sends a signal to the two steering servo drivers 7 to drive the two steering servo motors 10. The two steering servo motors 10 drive the planetary reducer 11, and through the meshing of the steering pinion 12 and the steering gear 14, the direction of the caster is controlled. A protrusion is provided on the outer edge of the steering gear 14. When the protrusion rotates to a position close to the installation position of the proximity switch 16, after the caster steering action is completed, the proximity switch 16 sends a signal to the control module to control the two walking servo drivers and drive the two walking servo motors 9 to operate, realizing the overall movement of the device and meeting the clinical positioning requirements.

[0051] In one embodiment, the control module 6 includes components such as a PLC, an industrial control screen, and a power relay. The implementation method is pulse control. The signal is transmitted by the PLC. The industrial control screen is responsible for signal input.

[0052] In one embodiment, the PLC model is Simatic S7-1200, and the touch screen model is TPC 1071Gt.

[0053] In one embodiment, the two parts of the control module 6 and the servo driver 7 can be installed together (PLC and driver). Write the control program in the PLC, and through the input signal of the joystick, convey the instruction to the servo driver, and the servo driver controls the servo motor. To complete walking and steering.

[0054] The present utility model provides an idea and method for an intelligent moving device for a medical C-arm. There are many specific methods and ways to implement this technical solution. The above description is only the preferred embodiment of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present utility model. Each component not clearly defined in this embodiment can be implemented by existing technologies.

Claims

1. An intelligent mobile device for a medical C-arm, characterized in that: include: Two intelligent caster assemblies (8) for driving the medical C-shaped arm to move are fixedly arranged on both sides of the middle of the bottom surface of the C-shaped arm frame (1) of the medical C-shaped arm; Two operating handles (2) are fixedly arranged on the C-shaped arm frame (1), and the two operating handles (2) are respectively provided with a first switch and a second switch; A joystick mounting plate (4) is also fixedly provided on the C-shaped arm frame (1), and a joystick (5) is fixedly provided on the joystick mounting plate (4); The C-shaped arm frame (1) is also provided with a control module (6) and a servo driver (7), wherein the control module (6) is electrically connected to the servo driver (7), the joystick (5), the first switch and the second switch, and the servo driver (7) is electrically connected to the intelligent caster assembly (8).

2. The intelligent mobile device for a medical C-arm according to claim 1, characterized in that: The intelligent caster assembly (8) comprises: a mounting plate (29) fixedly connected to the C-arm frame (1) via fixing bolts (17), a steering device being fixedly provided on the mounting plate (29), a wall panel (15) being fixedly provided at the bottom of the steering device, the steering device driving the wall panel (15) to rotate in a horizontal direction, and a side surface of the wall panel (15) being rotatably connected to a caster (18); The mounting plate (29) is also fixedly provided with a traveling device for driving the caster (18) to roll.

3. The intelligent mobile device for a medical C-arm according to claim 2, characterized in that: The wall panel (15) is a 7-shaped hollow structure, and its top is fixedly connected to the bottom of the steering device.

4. The intelligent mobile device for a medical C-arm according to claim 3, characterized in that: The steering device comprises: a planetary reducer (11) fixedly arranged on one side of the top of a mounting plate (29); a steering servo motor (10) is arranged on the upper part of the planetary reducer (11), and its input end is connected to the output end of the steering servo motor (10); the output end of the lower part of the planetary reducer (11) passes through a through hole on the mounting plate (29) and is fixedly connected to a steering pinion (12) to drive the same to rotate; a steering gear (14) is rotatably arranged at the center of the bottom of the mounting plate (29) and meshes with the steering pinion (12); the bottom of the steering gear (14) is fixedly connected to the top of the wall panel (15).

5. The intelligent mobile device for a medical C-arm according to claim 4, characterized in that: The traveling device comprises: a traveling servo motor (9) fixedly mounted at the top center of the mounting plate (29), the output end of which is fixedly connected to a cylindrical gear shaft (20), a deep groove ball bearing (21) being arranged below the cylindrical gear shaft (20), the deep groove ball bearing (21) being mounted on the bottom surface of the transverse hollow structure of the wall panel (15) and being used to fix the cylindrical gear shaft (20); a locking nut (22) and a bearing assembly being arranged on one side of the top surface of the transverse hollow structure of the wall panel (15), a driving gear (23) being arranged between the locking nut (22) and the bearing assembly; the cylindrical gear shaft (20) being meshed with the driving gear (23); a small bevel gear shaft (26) being sleeved in the bearing assembly, the upper end of the small bevel gear shaft (26) being fixedly connected to the driving gear (23), and the lower end being meshed with the large bevel gear (27); The large bevel gear (27) is fixedly connected to one end of the driving flange shaft (28), and the other end of the driving flange shaft (28) is fixed to the caster (18) for driving the caster (18) to rotate.

6. The intelligent mobile device for a medical C-arm according to claim 5, characterized in that: The bearing assembly comprises: a bearing seat (25) fixed inside the wallboard (15) and an angular contact bearing (24); the small bevel gear shaft (26) is sleeved in the angular contact bearing (24).

7. The intelligent mobile device for a medical C-arm according to claim 6, characterized in that: The walking servo motor (9) and the steering servo motor (10) are electrically connected to the servo driver (7).

8. The intelligent mobile device for a medical C-arm according to claim 7, characterized in that: The caster (18) is a polyurethane caster.

9. The intelligent mobile device for a medical C-arm according to claim 4, characterized in that: The steering gear (14) is rotatably arranged at the bottom center of the mounting plate (29) via a slewing support bearing (19).

10. The intelligent mobile device for a medical C-arm according to claim 9, characterized in that: A protrusion is provided on the outer edge of the steering gear (14), and a proximity switch (16) is fixedly provided on the mounting plate (29) at a position corresponding to the position where the protrusion passes, and the proximity switch (16) is electrically connected to the control module (6).

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