X-ray machine with G-shaped arm
By introducing pressure acquisition, environmental information, and distance acquisition elements into the G-arm X-ray machine, and combining them with a host computer and human-machine interface, the problem of insufficient sensor accuracy was solved, enabling all-round obstacle detection and safe operation, and improving equipment stability and ease of operation.
Patent Information
- Application Number
- CN202423029160.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-11-18
- Estimated Expiration
- 2034-12-09
AI Technical Summary
Existing G-arm X-ray machines have limited sensor accuracy and coverage, making it impossible to fully and accurately perceive surrounding obstacles. They also lack robust safety mechanisms and user-friendly interfaces, leading to increased potential collision risks and operational difficulties.
It employs pressure acquisition elements, environmental information acquisition elements, and distance acquisition elements (such as binocular 3D cameras and ultrasonic sensors) to monitor the G-shaped boom and its surrounding environment in real time. It achieves all-round, multi-level obstacle detection through the main control element and is equipped with a host computer and a touch screen display for human-computer interaction.
It significantly reduces equipment damage and downtime caused by accidental collisions, improves the accuracy and reliability of obstacle detection, ensures the continuous execution of surgery, and reduces the difficulty of operation and the risk of escalation of failures.
Smart Images
Figure CN223554864U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of medical equipment, in particular to a G-arm X-ray machine. BACKGROUND
[0002] The G-arm X-ray machine integrates two sets of X-ray emitting and imaging devices, generates X-rays from two mutually perpendicular directions, and through X-ray enhancement equipment and computer image processing technology, can simultaneously expose and image the patient's diseased area from the front and side positions, thereby obtaining the patient's front and side medical images in real time. Through this device, the position and depth of the patient can be judged, the accuracy of the operation is significantly increased, the operation time is reduced, and the X-ray radiation received by the patient and the doctor is reduced. However, in actual use, the movement and operation of the G-arm X-ray machine are limited by the complex environment in the operating room, such as the operating bed, the patient, the surgical instruments, other medical equipment, and medical staff, etc., which may become potential collision sources.
[0003] In related technologies, to prevent collisions, the G-arm X-ray machine often uses a single sensor (such as a laser radar, a sensor, etc.) for obstacle detection.
[0004] However, in actual use, the following problems exist:
[0005] (a) The accuracy and coverage range of these sensors are limited, and they cannot comprehensively and accurately perceive the surrounding obstacle information; and due to insufficient sensor accuracy, the system may misreport or miss report potential collision risks, affecting the smooth progress of the operation.
[0006] (b) There is a lack of perfect safety mechanisms. For example, in emergency situations, the system may not be able to quickly stop the movement of the G-arm X-ray machine, thereby increasing the risk of collision. Some systems may lack fault self-checking and alarm functions, and cannot timely discover and handle potential safety hazards.
[0007] (c) There are deficiencies in human-computer interaction. For example, the warning signals may not be intuitive and easy to understand, making it difficult for the operator to respond in a timely manner. In addition, some systems lack a friendly user interface and operation process, increasing the learning cost and difficulty of use for the operator. CONTENT OF THE UTILITY MODEL
[0008] The present application aims to at least solve one of the technical problems existing in related technologies.
[0009] To this end, a first aspect of the present application is to provide a G-arm X-ray machine.
[0010] Therefore, according to a first aspect of the present application, a G-arm X-ray machine is provided, comprising: a workbench; a support column arranged on the workbench; a G-arm frame arranged on the support column; a frontal flat panel detector arranged at one end of the G-arm frame; a lateral flat panel detector arranged at the other end of the G-arm frame; at least two ball tubes arranged on the inner side of the G-arm frame; a pressure acquisition element arranged on the ball tube; an environmental information acquisition element arranged on the frontal flat panel detector, used to acquire three-dimensional space information of the surrounding environment; and a main control element connected with the environmental information acquisition element and the pressure acquisition element, used to collect data state information of the environmental information acquisition element and the pressure acquisition element, and control the G-arm X-ray machine to stop moving when the data state information is abnormal.
[0011] In the above technical solution, by monitoring the dynamic changes of the G-arm frame and its surrounding environment in real time, collision can be effectively avoided, equipment damage and downtime caused by accidental collision can be significantly reduced, and continuous operation of the surgery or operation can be ensured, thereby helping to improve the overall stability of the equipment. Meanwhile, through the cooperation of the pressure acquisition element and the environmental information acquisition element, omnidirectional and multi-level obstacle detection can be realized, thereby helping to improve the accuracy and reliability of obstacle detection.
[0012] In some technical solutions, the G-arm X-ray machine further comprises: distance acquisition elements arranged at the edges of the frontal flat panel detector and the lateral flat panel detector, respectively; and the main control element is connected with the distance acquisition elements to collect data state information of the distance acquisition elements.
[0013] In the above technical solution, by measuring the SID (Source Image Distance) of the frontal and lateral positions in real time through the distance acquisition elements, the positions between the frontal flat panel detector and the lateral flat panel detector and the human body can be ensured, thereby effectively avoiding collision and providing a solid guarantee for the operation safety of the equipment. In actual application, by introducing the distance acquisition elements and cooperating with the pressure acquisition element and the environmental information acquisition element, omnidirectional and multi-level obstacle detection can be further realized, thereby helping to improve the accuracy and reliability of obstacle detection.
[0014] In some technical solutions, the distance acquisition element comprises an ultrasonic sensor.
[0015] The ultrasonic sensor has the advantages of wide measurement range, high measurement accuracy, and fast response speed, thereby enabling the operator to quickly understand the motion state of the G-arm X-ray machine, thereby helping to prevent fault expansion and improve the reliability and stability of the entire equipment.
[0016] In some embodiments, the G-arm X-ray machine further comprises a walking device; the walking device is arranged at the bottom of the workbench; wherein the walking device is provided with a distance acquisition element.
[0017] This design enables the device to monitor the distance to the surrounding environment in real time and accurately during movement, thereby effectively avoiding potential collision risks.
[0018] In some embodiments, the walking device comprises: motorized casters symmetrically arranged on both sides of the walking direction of the workbench and located at the rear side of the workbench; walking wheels symmetrically arranged on both sides of the walking direction of the workbench and located at the front side of the workbench; wherein the distance acquisition element is arranged on the motorized casters.
[0019] In actual application, the cooperation of the motorized casters and the walking wheels can ensure the stability of the workbench during operation, that is, the stability of the entire G-arm X-ray machine during movement.
[0020] In some embodiments, the environmental information acquisition element comprises a binocular 3D camera.
[0021] The binocular 3D camera can capture three-dimensional spatial information of the surrounding environment, and it can obtain the spatial relationship between the obstacle and the device in real time, including distance, direction and angle, etc., which can more accurately determine the position and shape of the obstacle, thereby improving the accuracy and reliability of obstacle detection. At the same time, the binocular 3D camera also has high measurement accuracy and anti-interference ability, which can accurately capture the three-dimensional information of the surrounding environment in complex light environment and spatial layout, providing strong support for the safe operation of the G-arm X-ray machine.
[0022] In some embodiments, the pressure acquisition element comprises a pressure sensor.
[0023] In some embodiments, the G-arm X-ray machine further comprises a host computer; the host computer is arranged on the workbench and connected with the main control element.
[0024] When the main control element detects an abnormal situation, it immediately starts a fault handling mechanism to control the G-arm X-ray machine to stop related actions, and sends the abnormal situation to the host computer; through this feedback mechanism, the operator can quickly understand the state change of the G-arm X-ray machine and take appropriate protective measures in time, thereby helping to prevent the expansion of faults and improving the reliability and stability of the entire system.
[0025] In some embodiments, the host computer comprises a display screen and / or a touch screen.
[0026] In the technical solution, the display screen is used to display the abnormal information, so that the operator can quickly understand the state change of the G-arm X-ray machine. The touch screen provides a more intuitive and convenient human-computer interaction mode. The operator can input instructions, adjust parameters or view information through the touch screen, so that the operator can make a timely response.
[0027] In some technical solutions, the G-arm X-ray machine further comprises a lifting device; the lifting device is arranged on the support column and connected with the G-arm frame to drive the G-arm frame to move.
[0028] In actual application, the height of the G-arm frame can be adjusted through the lifting device, so that various scenes can be adapted, which helps to improve the practicability and reliability of the equipment.
[0029] Additional aspects and advantages of the present application will become apparent from the following description with reference to specific embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0030] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:
[0031] Figure 1 Fig. 1 shows a structural schematic diagram of a G-arm X-ray machine in an embodiment of the present application;
[0032] Figure 2 Fig. 2 shows another structural schematic diagram of a G-arm X-ray machine in an embodiment of the present application;
[0033] Figure 3 Fig. 3 shows a working flow schematic diagram of a G-arm X-ray machine in an embodiment of the present application.
[0034] In the drawings, Figure 1 and Figure 2 The correspondence between the reference signs and the component names in the drawings is as follows:
[0035] 100 workbench; 110 walking device; 111 electric castor; 112 walking wheel; 200 support column; 300 G-arm frame; 400 frontal flat panel detector; 500 lateral flat panel detector; 600 ball tube; 710 pressure acquisition element; 720 environmental information acquisition element; 730 main control element; 740 distance acquisition element; 750 transmitter; 760 RS485 concentrator; 800 upper computer; 810 display screen; 820 touch screen; 900 lifting device. DETAILED DESCRIPTION
[0036] In order to enable a more clear understanding of the above-mentioned objects, features and advantages of the present application, the present application will be further described below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.
[0037] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other manners different from those described herein, and therefore the scope of protection of the present application is not limited to the specific embodiments disclosed below.
[0038] The G-shaped arm X-ray machine provided by the embodiments of the present application will be described in detail below in conjunction with specific embodiments and application scenarios. Figures 1 to 3
[0039] As shown in Figure 1 and Figure 2 , the embodiments of the present application provide a G-shaped arm X-ray machine, the structure of which comprises a workbench 100, a support column 200, a G-shaped arm frame 300, a frontal flat panel detector 400, a lateral flat panel detector 500, a ball tube 600, a pressure acquisition element 710, an environmental information acquisition element 720 and a main control element 730.
[0040] Specifically, the workbench 100 serves as the installation base of the entire device. The support column 200 is arranged on the workbench 100. The G-shaped arm frame 300 is arranged on the support column 200. The frontal flat panel detector 400 is arranged at one end of the G-shaped arm frame, and is used to capture frontal X-ray images. The lateral flat panel detector 500 is arranged at the other end of the G-shaped arm frame, and is used to capture lateral X-ray images. The ball tube 600 has at least two, and is arranged on the inner side of the G-shaped arm frame 300, and respectively acts on different parts of the human body. The pressure acquisition element 710 is arranged on the ball tube 600, and is used to monitor pressure data in real time. The environmental information acquisition element 720 is arranged on the frontal flat panel detector 400, and is used to obtain three-dimensional space information of the surrounding environment, so as to provide rich environmental image data and space positioning information for the operator. The main control element 730 is connected with the pressure acquisition element 710 and the environmental information acquisition element 720, so as to collect data state information of the pressure acquisition element 710 and the environmental information acquisition element 720, and control the G-shaped arm X-ray machine to stop moving when the data state information is abnormal, so as to ensure the safety of the device.
[0041] In the above embodiments, by monitoring the dynamic changes of the G-shaped arm frame and its surrounding environment in real time, collisions are effectively avoided, equipment damage and downtime caused by accidental collisions are significantly reduced, and the continuous operation of the surgery or operation is ensured, thereby helping to improve the overall stability of the equipment. At the same time, through the cooperation of the pressure acquisition element 710 and the environmental information acquisition element 720, all-around and multi-level obstacle detection can be achieved, thereby helping to improve the accuracy and reliability of obstacle detection.
[0042] In actual application, the pressure acquisition element 710 includes a pressure-sensitive sensor. The pressure-sensitive sensor is a sensor that can sense and respond to pressure changes. When the ball tube 600 comes into contact with the human body, it will produce a certain pressure change, which will be converted into an electrical signal for transmission and processing. By analyzing these electrical signals, the system can determine the position, size of the obstacle and its impact on the equipment, so as to take measures to avoid collisions in time.
[0043] The environmental information acquisition element 720 includes a binocular 3D camera. The binocular 3D camera is a three-dimensional data acquisition device based on the binocular vision principle. It is usually composed of two parallel cameras and can capture two images of the same scene at the same time. By comparing the differences between the two images and using the principle of triangulation, the binocular 3D camera can calculate the three-dimensional coordinates and shape information of the objects in the scene. By capturing the three-dimensional spatial information of the surrounding environment through the binocular 3D camera, it can obtain the spatial relationship between the obstacle and the equipment in real time, including distance, direction and angle, etc., which can more accurately determine the position and shape of the obstacle, thereby improving the accuracy and reliability of obstacle detection. At the same time, the binocular 3D camera also has high measurement accuracy and anti-interference ability, which can accurately capture the three-dimensional information of the surrounding environment in complex light environment and spatial layout, providing strong support for the safe operation of the G-shaped arm X-ray machine.
[0044] The main control element 730 includes an MCB (Miniature Circuit Breaker, i.e. miniature circuit breaker).
[0045] In some embodiments, the G-shaped arm X-ray machine further includes a distance acquisition element 740. The distance acquisition element 740 is respectively arranged at the edge of the frontal flat panel detector 400 and the lateral flat panel detector 500.
[0046] In the above embodiments, by measuring the SID (Source Image Distance, source image distance) of the frontal and lateral positions in real time through the distance acquisition element 740, the positions between the frontal flat panel detector 400 and the lateral flat panel detector 500 and the human body can be ensured, so that collisions can be effectively avoided, and the operation safety of the equipment is ensured.
[0047] In practical applications, by introducing the distance acquisition element 740 and cooperating with the pressure acquisition element 710 and the environmental information acquisition element 720, all-around and multi-level obstacle detection can be further realized, thereby helping to improve the accuracy and reliability of obstacle detection.
[0048] In the above embodiment, the distance acquisition element 740 includes an ultrasonic sensor. The ultrasonic sensor generally consists of a transmitter, a receiver and a signal processing circuit. In operation, the transmitter emits ultrasonic pulses to the surrounding environment, which are reflected back after encountering an obstacle and are received by the receiver. By measuring the time difference between the emission and reception of the ultrasonic pulses and combining parameters such as sound speed, the distance between the sensor and the obstacle can be calculated. The ultrasonic sensor has the advantages of wide measurement range, high measurement accuracy and fast response speed, thereby enabling the operator to quickly understand the movement state of the G-arm X-ray machine, thereby helping to prevent the expansion of faults and improve the reliability and stability of the entire device.
[0049] In some embodiments, the distance acquisition element 740, the pressure acquisition element 710 and the environmental information acquisition element 720 are connected through the transmitter 750 and the main control element 730. Each element communicates through an RS485 cable (Recommended Standard) and collects the signals of the distance acquisition element 740, the pressure acquisition element 710 and the environmental information acquisition element 720 through an RS485 hub 760 and transmits them to the main control element 730.
[0050] In some embodiments, the G-arm X-ray machine further includes a walking device 110. The walking device 110 is arranged at the bottom of the workbench 100 to drive other components on the workbench 100 to move simultaneously. Among them, the distance acquisition element 740 is arranged on the walking device 110. This design enables the device to monitor the distance from the surrounding environment in real time and accurately during movement, thereby effectively avoiding potential collision risks.
[0051] In the above embodiment, the walking device 110 includes motorized casters 111 and walking wheels 112. Among them, the motorized casters 111 are located at the rear side of the workbench (i.e. the side away from the G-arm stand 300) and are symmetrically arranged on both sides of the walking direction (e.g. the front-rear direction) of the workbench 100; the walking wheels 112 are located at the front side of the workbench and are symmetrically arranged on both sides of the walking direction of the workbench 100. Among them, the distance acquisition element 740 is arranged on the motorized casters 111. Figure 1
[0052] In practical applications, the cooperation of the motorized casters 111 and the walking wheels 112 can ensure the stability of the workbench 100 during operation, that is, the stability of the entire G-arm X-ray machine during movement.
[0053] In some embodiments, the G-arm X-ray machine further comprises a host computer 800. The host computer 800 is arranged on the workbench 100 and connected with the main control element 730. When the main control element 730 detects an abnormal situation, a fault handling mechanism is immediately started to control the G-arm X-ray machine to stop the relevant action, and the abnormal situation is sent to the host computer 800; through this feedback mechanism, the operator can quickly understand the state change of the G-arm X-ray machine and take corresponding protective measures in time, thereby helping to prevent the expansion of the fault and improving the reliability and stability of the entire system.
[0054] In practical applications, the host computer 800 comprises a display screen 810 and / or a touch screen 820. Specifically, the display screen 810 is used to display abnormal information, thereby facilitating the operator to quickly understand the state change of the G-arm X-ray machine. The touch screen 820 provides a more intuitive and convenient human-computer interaction mode, and the operator can input instructions, adjust parameters or view information through the touch screen 820, so that the operator can respond in time.
[0055] In some embodiments, the G-arm X-ray machine further comprises a lifting device 900. The lifting device 900 is arranged on the support column 200 and connected with the G-arm frame 300 to drive the G-arm frame 300 to move.
[0056] In practical applications, the height of the G-arm frame 300 can be adjusted through the lifting device 900, thereby being able to adapt to various scenes and helping to improve the practicability and reliability of the equipment.
[0057] It can be understood that, in some embodiments, the support column 200 is a lifting support column. This design makes the entire device simpler.
[0058] Referring to Figure 3 , next, the working principle of the G-arm X-ray machine provided by the embodiments of the present application is described in detail.
[0059] S102, after the G-arm X-ray machine is powered on, the relevant operation action is performed;
[0060] S104, the MCB collects information in real time;
[0061] S106, the front and rear data do not change;
[0062] If yes, go to S114, and if no, go to S108;
[0063] S108, the G-arm X-ray machine stops the relevant action;
[0064] S110, the display screen displays the relevant collision information;
[0065] S112, after the collision is excluded, manually remove the collision fault;
[0066] S114, the G-arm X-ray machine continues to perform related actions.
[0067] In the above embodiment, the MCB master board collects the data state information of the binocular 3D camera, ultrasonic sensor and pressure sensor in real time, and transmits it to the upper computer 800; ensures that the operator can know the running state of the system at any time. When the MCB detects that the related sensor data is abnormal from the preset threshold, the fault handling mechanism is started immediately, the related movement is stopped and displayed on the upper computer 800. Through this feedback mechanism, the operator can quickly understand the state change of the G-arm X-ray machine, and take corresponding protection measures in time, which helps to prevent the expansion of the fault, and improves the reliability and stability of the whole system.
[0068] In the above embodiment, the MCB real-time acquisition information specifically includes:
[0069] S202, the binocular 3D camera monitors the patient and the operating bed position in real time;
[0070] S204, the ultrasonic sensor monitors the position change of the surrounding objects in real time;
[0071] S206, the pressure sensor monitors the pressure data in real time.
[0072] It should be clear that in the claims, the specification and the drawings of the present application, the term "a plurality of" means two or more, unless there is an additional explicit limitation, the terms "upper", "lower" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and making the description process more simple, and are not intended to indicate or imply that the device or element must have the described specific orientation, structure and operation, therefore these descriptions cannot be understood as a limitation of the present application; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances of the above data.
[0073] In the claims, specification, and drawings of this application, terms have their plain, ordinary meaning unless otherwise indicated by the context of their use. The terms "comprise", "comprising", "include", "including", "have" and "having" are used interchangeably and mean "including but not limited to". It is further noted that the claims can be drafted to exclude any elements or steps from the disclosure, or to "not include" any elements or steps, even if those elements or steps are described in the disclosure. As such, no limitation on the scope of the claims should be inferred from the inclusion of any element or step in the disclosure.
[0074] The preferred embodiments of the present application are described herein above with the understanding that the above description is intended to be illustrative and not restrictive of the application. Accordingly, many modifications and variations of the application can be possible constituting equivalents within the scope and spirit of the application.
Claims
1. A G-arm x-ray machine characterized by, The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine.
2. The G-arm x-ray machine of claim 1, wherein, The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine.
3. The G-arm x-ray machine of claim 2, wherein, The application relates to a G-shaped arm X-ray machine.
4. The G-arm x-ray machine of claim 3, wherein, The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine.
5. The G-arm x-ray machine of claim 4, wherein, The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine. The application relates to a G-shaped arm X-ray machine.
6. The G-arm x-ray machine of claim 1, wherein, The application relates to a G-shaped arm X-ray machine.
7. The G-arm x-ray machine of claim 1, wherein, The application relates to a G-shaped arm X-ray machine.
8. The G-arm x-ray machine of any one of claims 1 to 6, wherein, The application relates to a G-shaped arm X-ray machine.
9. The G-arm x-ray machine of claim 8, wherein, The application relates to a G-shaped arm X-ray machine.
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