X-ray generating device and X-ray imaging system

Abstract

The utility model discloses an X-ray generating device and an X-ray imaging system, the X-ray generating device comprises a suspension assembly, a machine head assembly, an electric power assisting assembly, a combined type multi-dimensional force sensor and a controller, the suspension assembly comprises a guide rail, a moving part, a lifting arm and a rotating arm, and the machine head assembly comprises a connecting seat, a support, a control machine head and a handle. Due to the fact that the handle can drive the control machine head to move in the X-axis direction, move in the Y-axis direction, ascend and descend in the Z-axis direction, rotate around the Z-axis direction, rotate around the first direction and rotate around the second direction, and the control machine head has six degrees of freedom, the control machine head can move to any position within the range to shoot and image a patient. Shooting and imaging of patients with different postures and different positions of the patients are met; moreover, the X-ray generating device is provided with six electric power assisting pieces, the control machine head can be driven to move in six degrees of freedom, medical staff can drive the control machine head to move only by applying small force on the handle, and time and labor are saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical detection technical field, concretely relates to a kind of X-ray generating device and X-ray imaging system. BACKGROUND

[0002] Suspension type X-ray imaging system includes X-ray generating device suspended under ceiling, and X-ray generating device includes the steering head that can emit X-ray.

[0003] Current suspension type X-ray imaging system mainly carries out imaging to patient standing beside lifting arm and patient lying on flat plate, that is, mainly to the patient in fixed position, so in current product, the degree of freedom of steering head is relatively less, leading to current steering head cannot be used to other positions or other posture angle patient to carry out imaging;And, due to the overall weight of suspension type steering head is larger, medical staff is more time-consuming and laborious when steering head. UTILITY MODEL CONTENTS

[0004] The utility model provides a kind of X-ray generating device and X-ray imaging system, to solve the problem of steering head activity freedom and the operation steering head activity difficult.

[0005] In one embodiment, an X-ray generating device is provided, comprising:

[0006] Suspension assembly, including first guide rail, second guide rail, moving piece, lifting arm and rotating arm, the first guide rail is laid along X-axis direction, the second guide rail is laid along Y-axis direction, the second guide rail is movably connected with the first guide rail, the second guide rail can move along X-axis direction relative to the first guide rail, the moving piece is movably connected with the second guide rail, and the moving piece can move along Y-axis direction relative to the second guide rail;The lifting arm includes opposite first end and second end, the first end of the lifting arm is connected with the moving piece, and the second end of the lifting arm can be lifted along Z-axis direction;The rotating arm is connected with the second end of the lifting arm, and the rotating arm can rotate around Z-axis direction;

[0007] Head assembly, including connecting seat, support, steering head and handle, the connecting seat is connected with the rotating arm, the support is rotatably connected with the connecting seat, the support can rotate around first direction relative to the connecting seat, the steering head is used to generate X-ray and emit to the detection site, the steering head is rotatably connected with the support, and the steering head can rotate around second direction relative to the support;The handle is connected with the steering head, and the handle is used for user to operate the movement, the lifting and / or the rotation of the steering head;

[0008] The electric power assisting assembly comprises a first electric power assisting part, a second electric power assisting part, a third electric power assisting part, a fourth electric power assisting part, a fifth electric power assisting part and a sixth electric power assisting part, the first electric power assisting part is connected with the second guide rail, the first electric power assisting part is used for driving the second guide rail to move along the X-axis direction, the second electric power assisting part is connected with the moving part, the second electric power assisting part is used for driving the moving part to move along the Y-axis direction; the third electric power assisting part is connected with the lifting arm, the third electric power assisting part is used for driving the lifting arm to lift along the Z-axis direction; the fourth electric power assisting part is connected with the rotating arm, the fourth electric power assisting part is used for driving the rotating arm to rotate around the Z-axis direction; the fifth electric power assisting part is connected with the support, the fifth electric power assisting part is used for driving the support to rotate around the first direction relative to the connecting base; the sixth electric power assisting part is connected with the control head, the sixth electric power assisting part is used for driving the control head to rotate around the second direction relative to the support;

[0009] A combined multi-dimensional force sensor is connected with the handle, and is used for detecting a stress condition of the handle and generating a corresponding detection signal; and

[0010] A controller is signal-connected with the combined multi-dimensional force sensor, the first electric power assisting part, the second electric power assisting part, the third electric power assisting part, the fourth electric power assisting part, the fifth electric power assisting part and the sixth electric power assisting part, the controller is used for acquiring the detection signal and generating a corresponding control signal, and sending the control signal to one or more of the first electric power assisting part, the second electric power assisting part, the third electric power assisting part, the fourth electric power assisting part, the fifth electric power assisting part and the sixth electric power assisting part, so as to control the movement, the lifting and / or the rotation of the control head.

[0011] In an embodiment, the first electric power assisting part comprises a first driving motor, a first transmission wheel and a first transmission belt, the first driving motor and the first transmission wheel are installed on the second guide rail, the first transmission belt is installed on the first guide rail along the X-axis direction, an output shaft of the first driving motor is fixedly connected with the first transmission wheel, the first transmission wheel is in transmission connection with the first transmission belt, and the first driving motor is used for driving the first transmission wheel to move along the X-axis direction relative to the first transmission belt, so as to drive the second guide rail to move along the X-axis direction relative to the first guide rail;

[0012] And / or, the second electric power-assisted component comprises a second driving motor, a second transmission wheel and a second transmission belt, the second driving motor and the second transmission wheel are installed on the moving component, the second transmission belt is installed on the second guide rail along the Y-axis direction, the output shaft of the second driving motor is fixedly connected with the second transmission wheel, the second transmission wheel is in transmission connection with the second transmission belt, and the second driving motor is used to drive the second transmission wheel to move along the Y-axis direction relative to the second transmission belt, so as to drive the moving component to move along the Y-axis direction relative to the second guide rail.

[0013] In an embodiment, the third electric power-assisted component comprises a third driving motor installed on the moving component, a first transmission assembly and a traction component, the third driving motor is connected with the traction component through the first transmission assembly, the traction component extends to be connected with the second end of the lifting arm, and the third driving motor is used to drive the traction component to move up and down through the first transmission assembly, so as to drive the second end of the lifting arm to move up and down along the Z-axis direction.

[0014] In an embodiment, the first transmission assembly comprises two third transmission wheels, a third transmission belt and a roller shaft, the output shaft of the third driving motor is fixedly connected with one of the third transmission wheels, the roller shaft is fixedly connected with the other third transmission wheel, and the two third transmission wheels are connected in linkage through the third transmission belt; the traction component is a traction rope, the traction rope is wound on the roller shaft, one end of the traction rope is fixedly connected with the roller shaft, and the other end of the traction rope is fixedly connected with the second end of the lifting arm.

[0015] In an embodiment, the lifting arm comprises at least a first sub-lifting arm and a second sub-lifting arm, the first sub-lifting arm and the second sub-lifting arm are connected to move up and down along the Z-axis direction, one end of the first sub-lifting arm away from the second sub-lifting arm is the first end of the lifting arm, and one end of the second sub-lifting arm away from the first sub-lifting arm is the second end of the lifting arm; the first sub-lifting arm is a hollow structure, and one end of the traction component extends through the first sub-lifting arm to be fixedly connected with the second sub-lifting arm.

[0016] In an embodiment, the fourth electric power-assisted component comprises a fourth driving motor, a first helical gear and a second helical gear, the fourth driving motor is installed on the rotating arm, the output shaft of the fourth driving motor is fixedly connected with the first helical gear, the second helical gear is fixedly connected with the second end of the lifting arm, the first helical gear and the second helical gear are in meshing connection, the central axis of the second helical gear is parallel to the Z-axis direction, and the central axis of the first helical gear is arranged to cross the central axis of the second helical gear.

[0017] In an embodiment, the central axis of the first helical gear is perpendicular to the central axis of the second helical gear.

[0018] In an embodiment, the rotating arm is a hollow structure, and the fourth driving motor, the first helical gear and at least part of the second helical gear are located in the rotating arm.

[0019] In an embodiment, the second helical gear is a hollow structure, and the second end of the lifting arm is rotationally connected to the rotating arm through a first rotating shaft, and the first rotating shaft is arranged in the middle of the second helical gear.

[0020] In an embodiment, the suspension assembly further comprises a first limiting structure, the first limiting structure comprises a first limiting piece and a second limiting piece, the first limiting piece is installed on the second end of the lifting arm, and the second limiting piece is arranged on the rotating arm, the first limiting piece is installed on the track of the circumferential rotation of the second limiting piece, and the first limiting piece and the second limiting piece abut to limit the angle range of the rotation of the rotating arm around the Z-axis direction to -180°-+180°.

[0021] In an embodiment, the first limiting piece comprises a swing piece and an angle limiting piece, one end of the swing piece is rotationally connected to the second end of the lifting arm, the other end of the swing piece is a limiting end, the limiting end is used to block and abut the second limiting piece, and the angle limiting piece is arranged on the track of the swing of the swing piece, and the angle limiting piece is used to limit the swing angle of the swing piece to limit the rotation of the rotating arm around the Z-axis direction to be positioned at -180° and 180°.

[0022] In an embodiment, the middle part of the swing piece is provided with a first arc-shaped groove or a first arc-shaped hole, part of the angle limiting piece is located in the first arc-shaped groove or the first arc-shaped hole, and the first arc-shaped groove or the first arc-shaped hole has a preset arc length to limit the swing angle of the swing piece.

[0023] In an embodiment, the suspension assembly further comprises a positioning structure, the positioning structure comprises a first positioning piece and a second positioning piece, one of the first positioning piece and the second positioning piece is installed on the second end of the lifting arm, and the other of the first positioning piece and the second positioning piece is installed on the rotating arm; the first positioning piece is an annular structure, a plurality of positioning holes are arranged on one circumference of the first positioning piece, an end part of the second positioning piece is provided with an elastic part which can be extended and retracted, and the elastic part can be clamped into the positioning hole to position the rotation angle of the rotating arm.

[0024] In an embodiment, the fifth electric power-assisted component comprises a fifth driving motor and a transmission shaft, the fifth driving motor is mounted on the connecting seat, one end of the transmission shaft is fixedly connected with an output shaft of the fifth driving motor, and the other end of the transmission shaft is fixedly connected with the support, and the transmission shaft is parallel to the first direction.

[0025] In an embodiment, the head assembly further comprises a second limiting structure, the second limiting structure comprises a third limiting component and two fourth limiting components, the third limiting component is mounted on the transmission shaft, and the two fourth limiting components are mounted on the connecting seat, the two fourth limiting components are arranged on a track of the third limiting component rotating in a circumferential direction, and the two fourth limiting components are respectively used for abutting against the third limiting component to limit an angle range of the support rotating in the first direction to -140°-+140°.

[0026] In an embodiment, the sixth electric power-assisted component comprises a sixth driving motor and a second transmission assembly, the sixth driving motor is mounted on the control head, and the sixth driving motor is connected with the support through the second transmission assembly, and the sixth driving motor is used for driving the support to rotate in a second direction through the second transmission assembly.

[0027] In an embodiment, the support and the control head are rotationally connected through a second rotating shaft, the second transmission assembly comprises two fourth transmission wheels and a fourth transmission belt, an output shaft of the sixth driving motor is fixedly connected with one of the fourth transmission wheels, the other fourth transmission wheel is fixedly connected with the support and is coaxially arranged with the second rotating shaft, and the two fourth transmission wheels are connected through the fourth transmission belt.

[0028] In an embodiment, the head assembly further comprises a third limiting structure, the third limiting structure comprises a fifth limiting component and a sixth limiting component, one of the fifth limiting component and the sixth limiting component is mounted on the support, and the other of the fifth limiting component and the sixth limiting component is mounted on the control head, the fifth limiting component is provided with a second arc-shaped slot or a second arc-shaped hole, part of the sixth limiting component is clamped into the second arc-shaped slot or the second arc-shaped hole, the sixth limiting component moves along the second arc-shaped slot or the second arc-shaped hole, and the second arc-shaped slot or the second arc-shaped hole is provided with a preset arc length to limit an angle range of the control head rotating in the second direction to -10°-+90°.

[0029] In one embodiment, the combined multi-dimensional force sensor comprises a force sensor group, the force sensor group comprises one or more of a one-dimensional force sensor, a two-dimensional force sensor and a three-dimensional force sensor, the force sensor group is configured to detect forces in a first direction, a second direction and a third direction of the handle and output the detection signals representing movements of the handle along an X-axis direction, a Y-axis direction, a Z-axis direction, a rotation around the Z-axis direction, a rotation around the first direction and / or a rotation around the second direction.

[0030] In one embodiment, the force sensor group comprises at least four two-dimensional force sensors, the at least four two-dimensional force sensors are divided into a first group and a second group, the first group and the second group comprise two two-dimensional force sensors arranged oppositely, the two two-dimensional force sensors of the first group are configured to detect forces in a first direction and a second direction of the handle, the two two-dimensional force sensors of the second group are configured to detect forces in a first direction and a third direction of the handle, the first direction, the second direction and the third direction are not on the same plane.

[0031] In one embodiment, the at least four two-dimensional force sensors are distributed in a quadrilateral shape, the quadrilateral shape is a planar quadrilateral or a three-dimensional quadrilateral.

[0032] In one embodiment, the plane of the quadrilateral shape is parallel to the plane of the handle, the quadrilateral shape is a rectangle, the two two-dimensional force sensors of the first group are symmetrically arranged on two sides of the rectangle, the two two-dimensional force sensors of the second group are symmetrically arranged on the other two sides of the rectangle; or, a two-dimensional force sensor is arranged at the center of each side of the rectangle; or, a two-dimensional force sensor is arranged at each corner of the rectangle.

[0033] In one embodiment, the force sensor group comprises at least three three-dimensional force sensors, the three three-dimensional force sensors are distributed at three vertices of a triangle, the plane of the triangle is parallel to the plane of the handle, the three-dimensional force sensors are configured to detect forces in a first direction, a second direction and a third direction, the first direction, the second direction and the third direction are not on the same plane.

[0034] In one embodiment, the first direction, the second direction and the third direction are perpendicular to each other, the first direction is perpendicular to the plane of the handle.

[0035] In one embodiment, the combined multi-dimensional force sensor further comprises a first fixing frame and a second fixing frame, the force sensor group is installed between the first fixing frame and the second fixing frame, the first fixing frame is connected to the control head, and the second fixing frame is connected to the handle.

[0036] In one embodiment, the force sensor group is fixedly connected with the first fixed frame and the second fixed frame.

[0037] In one embodiment, the force sensor group is connected with the first fixed frame and the second fixed frame, and there is a moving gap between the force sensor group and the first fixed frame and / or the second fixed frame, and the force sensor group can move in the gap.

[0038] In one embodiment, the connection part of the handle and the control head is a rectangular structure, the rectangular structure is connected with the second fixed frame, and the outer contours of the first fixed frame and the second fixed frame are flush with the outer contour of the rectangular structure.

[0039] In one embodiment, the combined multi-dimensional force sensor includes a six-dimensional force sensor, which is used to detect forces in the first direction, the second direction and the third direction, and output the detection signal representing the movement of the handle along the X-axis direction, the movement along the Y-axis direction, the lifting along the Z-axis direction, the rotation around the Z-axis direction, the rotation around the first direction and / or the rotation around the second direction.

[0040] In one embodiment, the second end of the lifting arm is rotationally connected with the rotating arm, or the second end of the lifting arm is rotationally connected with the first end.

[0041] In one embodiment, an X-ray generating device is provided, comprising:

[0042] A suspension assembly includes a first guide rail, a second guide rail, a moving member, a lifting arm and a rotating arm, the first guide rail is laid along the X-axis direction, the second guide rail is laid along the Y-axis direction, the second guide rail is movably connected with the first guide rail, the second guide rail can move along the X-axis direction relative to the first guide rail, the moving member is movably connected with the second guide rail, the moving member can move along the Y-axis direction relative to the second guide rail; the lifting arm includes opposite first and second ends, the first end of the lifting arm is connected with the moving member, the second end of the lifting arm can lift along the Z-axis direction relative to the first end; the rotating arm is connected with the second end of the lifting arm, the rotating arm can rotate around the Z-axis direction relative to the first end of the lifting arm; and

[0043] The head assembly comprises a connecting seat, a support, a control head and a handle, the connecting seat is connected with the rotating arm, the support is rotationally connected with the connecting seat, the support can rotate relative to the connecting seat around a first direction, the control head is used for emitting X-ray to a detection site, the control head is rotationally connected with the support, and the control head can rotate relative to the support around a second direction; the handle is connected with the control head, and the handle is used for a user to operate movement, lifting and / or rotation of the control head.

[0044] In an embodiment, the head assembly further comprises:

[0045] The electric power-assisted assembly comprises at least one electric power-assisted part, the at least one electric power-assisted part is connected with at least one of the second guide rail, the moving part, the lifting arm, the rotating arm, the support and the control head, and the at least one electric power-assisted part is used to drive at least one of the second guide rail to move along the X-axis direction relative to the first guide rail, the moving part to move along the Y-axis direction relative to the second guide rail, the second end of the lifting arm to lift along the Z-axis relative to the first end, the rotating arm to rotate around the Z-axis relative to the lifting arm, the support to rotate around the first direction relative to the rotating arm, and the control head to rotate around the second direction relative to the support.

[0046] The combined multi-dimensional force sensor is connected with the control head and the handle, and is used to detect a force direction and a force size of the handle and generate a corresponding detection signal.

[0047] The controller is signal-connected with the combined multi-dimensional force sensor and the at least one electric power-assisted part, and is used to acquire the detection signal and generate a corresponding control signal, and send the control signal to the at least one electric power-assisted part to control driving movement, lifting and / or rotation of the control head.

[0048] In an embodiment, the combined multi-dimensional force sensor comprises a force sensor group, the force sensor group comprises at least four two-dimensional force sensors, the at least four two-dimensional force sensors are divided into a first group and a second group, the first group and the second group comprise two two-dimensional force sensors arranged oppositely, the two two-dimensional force sensors of the first group are used to detect forces in a first direction and a second direction of the handle, the two two-dimensional force sensors of the second group are used to detect forces in a first direction and a third direction, and the first direction, the second direction and the third direction are not in the same plane.

[0049] In one embodiment, the combined multi-dimensional force sensor further comprises a first fixing frame and a second fixing frame, the force sensor group is installed between the first fixing frame and the second fixing frame, the first fixing frame is connected with the control head, and the second fixing frame is connected with the handle.

[0050] In one embodiment, the connection part of the handle and the control head is a rectangular structure, the rectangular structure is connected with the second fixing frame, and the outer contours of the first fixing frame and the second fixing frame are flush with the outer contour of the rectangular structure.

[0051] In one embodiment, the first direction, the second direction and the third direction are perpendicular to each other, and the first direction is perpendicular to the plane on which the handle is located.

[0052] In one embodiment, an X-ray generating device is provided, comprising:

[0053] A suspension assembly comprises a first guide rail, a second guide rail, a moving part, a lifting arm and a rotating arm, the first guide rail is laid along the X-axis direction, the second guide rail is laid along the Y-axis direction, the second guide rail is movably connected with the first guide rail, the second guide rail can move along the X-axis direction relative to the first guide rail, the moving part is movably connected with the second guide rail, and the moving part can move along the Y-axis direction relative to the second guide rail; the lifting arm comprises opposite first and second ends, the first end of the lifting arm is connected with the moving part, and the second end of the lifting arm can be lifted along the Z-axis direction relative to the first end; the rotating arm is connected with the second end of the lifting arm, and the rotating arm can rotate around the Z-axis direction relative to the second end of the lifting arm.

[0054] A head assembly comprises a connecting seat, a support, a control head and a handle, the connecting seat is connected with the rotating arm, the support is rotatably connected with the connecting seat, the support can rotate around the first direction relative to the connecting seat, the control head is used for emitting X-rays to a detection site, and the control head is connected with the support; the handle is connected with the control head, and the handle is used for a user to operate the movement, lifting and / or rotation of the control head.

[0055] An electric power-assisted assembly comprises at least one electric power-assisted part, the at least one electric power-assisted part is connected with at least one of the second guide rail, the moving part, the lifting arm, the rotating arm and the support, and the at least one electric power-assisted part is used for driving the second guide rail to move along the X-axis direction relative to the first guide rail, the moving part to move along the Y-axis direction relative to the second guide rail, the second end of the lifting arm to lift along the Z-axis relative to the first end, the rotating arm to rotate around the Z-axis relative to the lifting arm, and the support to rotate around the Y-axis relative to the rotating arm.

[0056] a combined multi-dimensional force sensor connected with the control head and the handle, the combined multi-dimensional force sensor being configured to detect a force direction and a force magnitude of the handle and generate a corresponding detection signal; and

[0057] a controller connected with the combined multi-dimensional force sensor and the at least one electric power-assisted component, the controller being configured to acquire the detection signal and generate a corresponding control signal, and send the control signal to the at least one electric power-assisted component to control driving movement, lifting and / or rotation of the control head.

[0058] In one embodiment, the electric power-assisted component includes a first electric power-assisted component, a second electric power-assisted component, a third electric power-assisted component, a fourth electric power-assisted component and a fifth electric power-assisted component, the first electric power-assisted component being connected with the second guide rail, the first electric power-assisted component being configured to drive the second guide rail to move along an X-axis direction, the second electric power-assisted component being connected with the moving component, the second electric power-assisted component being configured to drive the moving component to move along a Y-axis direction; the third electric power-assisted component being connected with the lifting arm, the third electric power-assisted component being configured to drive the second end of the lifting arm to lift relative to the first end along a Z-axis direction; the fourth electric power-assisted component being connected with the rotating arm, the fourth electric power-assisted component being configured to drive the rotating arm to rotate relative to the lifting arm around the Z-axis; the fifth electric power-assisted component being connected with the support, the fifth electric power-assisted component being configured to drive the support to rotate relative to the rotating arm around a first direction.

[0059] a controller connected with the first electric power-assisted component, the second electric power-assisted component, the third electric power-assisted component, the fourth electric power-assisted component and the fifth electric power-assisted component, the controller being configured to acquire the detection signal and generate a corresponding control signal, and send the control signal to one or more of the first electric power-assisted component, the second electric power-assisted component, the third electric power-assisted component, the fourth electric power-assisted component and the fifth electric power-assisted component to control driving movement, lifting and / or rotation of the control head.

[0060] In one embodiment, the combined multi-dimensional force sensor includes a force sensor group, the force sensor group including at least four two-dimensional force sensors, the at least four two-dimensional force sensors being divided into a first group and a second group, the first group and the second group including two two-dimensional force sensors arranged oppositely, the two two-dimensional force sensors of the first group being configured to detect force in a first direction and a second direction of the handle, the two two-dimensional force sensors of the second group being configured to detect force in a first direction and a third direction.

[0061] In one embodiment, the combined multi-dimensional force sensor further comprises a first fixing frame and a second fixing frame, the force sensor group is installed between the first fixing frame and the second fixing frame, the first fixing frame is connected with the control head, and the second fixing frame is connected with the handle.

[0062] In one embodiment, the connection part of the handle and the control head is a rectangular structure, the rectangular structure is connected with the second fixing frame, and the outer contours of the first fixing frame and the second fixing frame are flush with the outer contour of the rectangular structure.

[0063] In one embodiment, an X-ray imaging system is provided, comprising:

[0064] The X-ray generating device described above;

[0065] A flat panel detector, which can be placed in a first shooting position away from a cassette in which the flat panel detector is accommodated, and can also be placed in a second shooting position accommodated in the cassette; the control head is used to align the flat panel detector, the flat panel detector is used to collect X-rays passing through the part to be detected and generate corresponding imaging signals, and the imaging signals are used to obtain a shot X-ray image. According to the X-ray generating device and the X-ray imaging system of the above embodiment, since the handle can drive the control head to move along the X-axis direction, move along the Y-axis direction, lift along the Z-axis direction, rotate around the Z-axis direction, rotate around the first direction, and rotate around the second direction, the control head has six degrees of freedom, and the coordinate system in which the first direction and the second direction are located will rotate with the Z-axis after the Z-axis rotates, so that the control head can move arbitrarily within the range of six degrees of freedom in two coordinate systems, and the control head can be moved to any position within the range to shoot and image the patient, so as to meet the shooting and imaging of patients in different postures and different positions of the patient. And, the X-ray generating device is provided with six electric power-assisted parts, which can drive the control head to move in six degrees of freedom, so that the medical staff only needs to exert a small force on the handle to drive the control head to move, saving time and effort. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 It is a structural schematic diagram of the X-ray generating device in one embodiment;

[0067] Figure 2 It is a structural schematic diagram of the X-ray generating device in one embodiment;

[0068] Figure 3 It is a structural schematic diagram of the head assembly in one embodiment;

[0069] Figure 4 It is a structural schematic diagram of the head assembly in one embodiment;

[0070] Figure 5 A structural block diagram of a control part of an X-ray generating device in an embodiment;

[0071] Figure 6 A partial structural diagram of a suspension assembly in an embodiment;

[0072] Figure 7 A structural diagram of a first electric power-assisted part in an embodiment;

[0073] Figure 8 A structural diagram of a second electric power-assisted part in an embodiment;

[0074] Figure 9 A structural diagram of a third electric power-assisted part in an embodiment;

[0075] Figure 10 A structural diagram of an X-ray generating device in an embodiment;

[0076] Figure 11 A structural diagram of a fourth electric power-assisted part in an embodiment;

[0077] Figure 12 A structural diagram of a connection structure of a rotating arm and a lifting arm in an embodiment;

[0078] Figure 13 A structural diagram of a first limiting structure and a positioning structure in an embodiment;

[0079] Figure 14 A structural diagram of a fifth electric power-assisted part in an embodiment;

[0080] Figure 15 A structural diagram of a head assembly in an embodiment;

[0081] Figure 16 A structural diagram of a third limiting structure in an embodiment;

[0082] Figure 17 A structural diagram of a third limiting structure in an embodiment;

[0083] Figure 18 A distribution diagram of four two-dimensional force sensors in an embodiment;

[0084] Figure 19 An exploded structural diagram of a combined multi-dimensional force sensor in an embodiment;

[0085] Figure 20 A distribution diagram of three three-dimensional force sensors in an embodiment;

[0086] Figure 21A structural block diagram of a control part of an X-ray generating device in an embodiment;

[0087] Figure 22 A structural block diagram of a control part of an X-ray generating device in an embodiment;

[0088] Wherein the reference signs are as follows:

[0089] 10 - suspension assembly, 11 - guide rail, 111 - first guide rail, 112 - second guide rail, 12 - moving piece, 13 - lifting arm, 131 - first sub-lifting arm, 132 - second sub-lifting arm, 133 - first rotating shaft, 14 - rotating arm, 15 - first limiting structure, 151 - first limiting piece, 1511 - swinging piece, 15111 - first arc-shaped hole, 1512 - angle limiting piece, 152 - second limiting piece, 16 - positioning structure, 161 - first positioning piece, 1611 - positioning hole, 162 - second positioning piece, 1621 - elastic part;

[0090] 20 - head assembly, 21 - connecting seat, 22 - support, 221 - second rotating shaft, 23 - control head, 231 - operation interface, 24 - handle, 25 - second limiting structure, 251 - third limiting piece, 252 - fourth limiting piece, 26 - third limiting structure, 261 - fifth limiting piece, 2611 - second arc-shaped groove, 262 - sixth limiting piece;

[0091] 30 - electric power-assisted assembly, 31 - first electric power-assisted piece, 311 - first driving motor, 312 - first transmission wheel, 313 - first transmission belt, 32 - second electric power-assisted piece, 321 - second driving motor, 322 - second transmission wheel, 323 - second transmission belt, 33 - third electric power-assisted piece, 331 - third driving motor, 332 - first transmission assembly, 3321 - third transmission wheel, 3322 - third transmission belt, 3323 - roller shaft, 333 - traction piece, 34 - fourth electric power-assisted piece, 341 - fourth driving motor, 242 - first helical gear, 343 - second helical gear, 35 - fifth electric power-assisted piece, 351 - fifth driving motor, 352 - transmission shaft, 36 - sixth electric power-assisted piece, 361 - sixth driving motor, 362 - second transmission assembly, 3621 - fourth transmission wheel, 3622 - fourth transmission belt;

[0092] 40 - combined multi-dimensional force sensor, 41 - two-dimensional force sensor, A1 - first two-dimensional force sensor, A2 - second two-dimensional force sensor, B1 - third two-dimensional force sensor, B2 - fourth two-dimensional force sensor, 42 - first fixing frame, 43 - second fixing frame, 44 - three-dimensional force sensor;

[0093] 50 - controller. DETAILED DESCRIPTION

[0094] The utility model will be further described in detail below through specific implementation and the drawings. Similar elements in different embodiments adopt relevant similar element signs. In the following embodiments, many details are described in order to make the present application be better understood. However, the person skilled in the art can easily realize that part of the features can be omitted in different cases, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification in order to avoid the core part of the present application being overwhelmed by too much description, and for the person skilled in the art, detailed description of the related operation is not necessary, and they can completely understand the related operation according to the description in the specification and the general technical knowledge in the art.

[0095] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various embodiments. Meanwhile, the steps or actions in the method description can also be sequentially replaced or adjusted in a manner that is obvious to the person skilled in the art. Therefore, the various sequences in the specification and drawings are only for the purpose of clearly describing a certain embodiment, and do not mean that the sequence is necessary, unless otherwise stated that a certain sequence must be followed.

[0096] The serial numbers of components in this paper, such as "first", "second", etc., are only used to distinguish the described objects, and have no any sequence or technical meaning. The "connection" and "coupling" in the present application include direct and indirect connection unless otherwise specified. Among them, the X-axis, Y-axis and Z-axis are three mutually perpendicular direction axes, the first direction, second direction and third direction are three mutually perpendicular directions, and the X-axis and Y-axis are two horizontal direction axes, and the Z-axis is a vertical direction axis. In Figure 1 In the state shown, the first direction is parallel to the Y-axis, the second direction is parallel to the X-axis, and the third direction is parallel to the Z-axis, and the coordinate system composed of the first direction, the second direction and the third direction will change with the rotation of the Z-axis, that is, the X-axis, the Y-axis and the Z-axis are fixed directions relative to the ceiling, and the coordinate system in which the first direction, the second direction and the third direction are located will rotate with the rotation of the Z-axis. In this paper, the X-axis, the Y-axis and the Z-axis are perpendicular to each other, and the first direction, the second direction and the third direction are perpendicular to each other, including determining perpendicular and approximately perpendicular, and when approximately perpendicular, the corresponding movement or rotation can be compensated by algorithm.

[0097] In an embodiment, an X-ray generating device is provided, which is installed in a suspended manner on a ceiling and is used to generate and emit X-rays. The X-ray generating device is used in cooperation with a flat panel detector, and emits X-rays to a to-be-detected part of a patient. The flat panel detector collects X-rays that have passed through the patient and generates a corresponding imaging signal, which is used to calculate a photographed X-ray image.

[0098] The X-ray generating device of the embodiment is a multi-degree-of-freedom device, and the control head has three mutually perpendicular linear movement degrees of freedom and three mutually perpendicular rotation degrees of freedom relative to the ceiling. The control head can be moved to any position within the range of motion through the combination of movement, lifting and rotation, so as to increase the use scenarios of the X-ray generating device. For example, the control head can be moved to the to-be-detected part of a patient in different postures such as standing, lying and sitting through six degrees of freedom, and especially can facilitate the photographing of patients with difficulty in moving.

[0099] The X-ray generating device of the embodiment is also provided with an electric power assistance function. The X-ray generating device is provided with a force sensor and an electric power assistance component. When a medical staff operates a handle, the force sensor can detect the force of the handle and calculate and analyze the size and direction of the force applied by the medical staff when operating the handle. Then, the electric power assistance component drives the control head and the handle to move together with the operation of the medical staff, so that the medical staff can easily drive the movement of the control head with a smaller force. Even the medical staff can realize one-handed operation, and at the same time, the accuracy of the medical staff in operating the handle to drive the movement of the control head is improved, so as to ensure that the part to be photographed of the patient is aligned, and the photographing efficiency is improved.

[0100] Please refer to Figures 1 to 5 The X-ray generating device of the embodiment mainly comprises a suspension assembly 10, a head assembly 20, an electric power assistance assembly 30, a combined multi-dimensional force sensor 40 and a controller 50. The suspension assembly 10 is connected with the ceiling. The head assembly 20 is installed at the lower end of the suspension assembly 10. The electric power assistance assembly 30 is arranged in the suspension assembly 10 and the head assembly 20. The combined multi-dimensional force sensor 40 is arranged in the electric power assistance assembly 30. The controller 50 can be arranged in the head assembly 20 or in an external host. The controller 50 communicates with the head assembly 20, the electric power assistance assembly 30 and the combined multi-dimensional force sensor 40 in a wired or wireless manner.

[0101] The suspension assembly 10 serves as a support to suspend and install the head assembly 20 in a photographing room. The head assembly 20 also has multiple degrees of freedom, and can drive the head assembly 20 to move horizontally, move up and down and rotate.

[0102] ​​​​​​​​​​The suspension assembly 10 mainly comprises a guide rail 11, a moving piece 12, a lifting arm 13 and a rotating arm 14. The guide rail 11 comprises a first guide rail 111 and a second guide rail 112, the first guide rail 111 is laid on the ceiling along the X-axis direction and is fixedly installed relative to the ceiling, and the second guide rail 112 is laid on the first guide rail 111 along the Y-axis direction and can move relative to the first guide rail 111 along the X-axis direction. The first guide rail 111 can be provided with two parallel ones and form a frame type structure, and the second guide rail 112 can also be provided with two parallel ones and form a frame type structure, and the first guide rail 111 and the second guide rail 112 both adopt the double rail structure of the frame type, which can improve the uniformity of the stress and the stability of the movement.

[0103] The moving piece 12 is movably connected with the guide rail 11, and the moving piece 12 is movably connected with the second guide rail 112. The moving piece 12 can move together with the second guide rail 112 relative to the first guide rail 111 along the X-axis direction, and the moving piece 12 can also move relative to the second guide rail 112 along the Y-axis direction. The X-axis direction and the Y-axis direction are horizontal directions. Since the X-ray generating device has six degrees of freedom, the X-axis direction and the Y-axis direction can also be inclined relative to the horizontal plane. For example, when the ceiling is an inclined plane, the X-ray generating device is installed on the inclined ceiling, and the head can also be moved to any position for shooting.

[0104] The moving piece 12 can be a moving trolley or a moving block, and the moving piece 12 is used to drive the entire X-ray emitting device to move along the X-axis direction and the Y-axis direction.

[0105] The lifting arm 13 comprises opposite first and second ends. The first end of the lifting arm 13 can be an upper end, and the second end of the lifting arm 13 can be a lower end. The first end of the lifting arm 13 is connected with the moving piece 12, and the lifting arm 13 is suspendedly installed at the lower end of the moving piece 12. The second end of the lifting arm 13 can be lifted and lowered relative to the first end along the Z-axis direction to drive the load such as the head assembly 20 to move along the Z-axis direction.

[0106] The lifting arm 13 can comprise at least two lifting columns which are movably connected along the Z-axis direction in sequence to form at least two sections of lifting columns which can move up and down. For example, the lifting arm 13 comprises three lifting columns which are connected in sequence from top to bottom, and the outer diameter and the inner diameter of the three lifting columns decrease from top to bottom. The upper end of the uppermost lifting column is the first end of the lifting arm 13, and the lower end of the lowermost lifting column is the second end of the lifting arm 13. The three lifting columns can be provided with a hollow structure to realize lifting storage and threading. When being lifted to the highest position, the three lifting columns are nested together, and the two lower lifting columns are hidden in the uppermost lifting column. When being lowered to the lowest position, the two lower lifting columns are exposed.

[0107] The rotating arm 14 is connected with the second end of the lifting arm 13, and the rotating arm 14 can rotate along the Z-axis direction relative to the first end of the lifting arm 13. The rotating arm 14 and the second end of the lifting arm 13 can be rotatably connected through components such as rotating shafts and bearings, that is, the rotating pair is arranged at the lowermost end of the lifting arm 13, so as to reduce the load along the Z-axis direction to the minimum, thereby facilitating to improve the stability and accuracy of rotation along the Z-axis direction. The rotating arm 14 can be connected perpendicularly with the lifting arm 13, that is, the rotating arm 14 can be arranged horizontally, and the rotating arm 14 rotates around the Z-axis direction in the horizontal plane.

[0108] In other embodiments, the rotating pair of the lifting arm 13 can also be arranged at the upper end or the middle position, the rotating arm 14 is fixedly connected with the second end of the lifting arm 13, and the second end of the lifting arm 13 is rotatably connected relative to the first end, that is, the second end of the lifting arm 13 can not only be lifted relative to the first end along the Z-axis direction, but also can rotate along the Z-axis direction. For example, among the three lifting columns of the lifting arm 13, the uppermost lifting column is rotatably connected with the middle lifting column, or the middle lifting column is rotatably connected with the lowermost lifting column, and the lowermost lifting column is fixedly connected with the rotating arm 14, so that the lower lifting column can drive the rotating arm 14 to rotate around the Z-axis direction.

[0109] In this embodiment, the head assembly 20 mainly includes a connecting seat 21, a support 22, a control head 23 and a handle 24. The connecting seat 21 is connected with the rotating arm 14, and the connecting seat 21 can be an integral structure with the rotating arm 14. The connecting seat 21 can be fixedly connected with the connecting seat 21 through screw connection, clamping, welding and the like.

[0110] The support 22 is rotatably connected with the connecting seat 21, and the support 22 can rotate relative to the connecting seat 21 along a first direction. The first direction is perpendicular to the length direction of the connecting seat 21, as shown in the position state of FIG. 6, the first direction is parallel to the Y-axis direction, and when the control head 23 rotates around the Z-axis to other positions, the first direction will intersect the Y-axis direction. Figure 1 The support 22 can be rotatably connected through components such as rotating shafts and bearings, and the connecting seat 21 can be provided with a mounting hole. One end of the rotating shaft is rotatably connected with the connecting seat 21, and the other end of the rotating shaft is fixedly connected with the support 22. Arranging the rotating pair on the connecting seat 21 can simplify the structure of the support 22, and facilitate the support 22 to leave more space for the rotation of the control head 23.

[0111] The control head 23 is used to generate X-rays and generate X-rays to the to-be-measured part of the patient. The control head 23 is rotatably connected with the support 22, and the control head 23 can rotate relative to the support 22 around a second direction, as shown in the position state of FIG. 7, the second direction is parallel to the X-axis direction, and when the control head 23 rotates around the Z-axis to other positions, the second direction will intersect the Z-axis direction. Figure 1

[0112] ​The support 22 can be a C-shaped structure, the middle outer side of the support 22 is rotationally connected with the connecting seat 21, the two ends of the control head 23 are respectively rotationally connected with the two ends of the support 22 through a rotating shaft and a bearing and the like, and the control head 23 is located in the C-shaped structure of the support 22. The support 22 can drive the control head 23 to rotate in the first direction.

[0113] In other embodiments, the support 22 can also be a straight rod structure, one side of the control head 23 is provided with a C-shaped structure, the straight rod structure of the support 22 is rotationally connected in the C-shaped structure of the control head 23, and the rotationally connection of the control head 23 and the support 22 and the rotation of the control head 23 relative to the support 22 in the second direction can also be realized.

[0114] In the embodiment, the handle 24 is connected with the control head 23, one side of the control head 23 faces the support 22 and the connecting seat 21, and the other side of the control head 23 faces the handle 24, that is, the handle 24 and the support 22 are located on the opposite sides of the control head 23, so that the support 22 does not interfere with the use of the handle 24.

[0115] The handle 24 can be fixedly connected with the control head 23, the handle 24 can drive the control head 23 to move along the X-axis direction, move along the Y-axis direction, ascend and descend along the Z-axis direction, rotate around the Z-axis direction, rotate in the first direction and rotate in the second direction, the handle 24 and the control head 23 move, ascend and rotate together, and no relative movement occurs between the handle 24 and the control head 23.

[0116] The handle 24 includes a main body part and a connecting part, the main body part of the handle 24 can be an approximately quadrilateral annular structure, and the length and width of the quadrilateral are not equal, which is beneficial to the perception of the angle of rotation by medical staff, for example, when the handle 24 rotates 90°, the long side of the handle 24 rotates to the position of the short side, and the short side rotates to the position of the long side. The connecting part of the handle 24 is connected with the control head 23.

[0117] The outer side of the connecting part of the handle 24 can also be provided with an operation interface 231, the operation interface 231 can be a touch screen or a combination of a display screen and a key, the operation interface 231 is signal connected with the control head 23, and the operation interface 231 is used to generate instructions such as inputting X-rays and emitting X-rays.

[0118] In this embodiment, the 6 degrees of freedom of the control head 23 have a certain stroke range, and the three-dimensional movement space composed of the movement of the control head 23 along the X-axis direction, the movement along the Y-axis direction, and the lifting along the Z-axis direction covers the standing shooting position, the lying shooting position, and other sitting shooting positions. The control head 23 can rotate relative to the support 22 around the second direction by an angle range of -10° to +90°; and / or, the support 22 can rotate relative to the rotating arm 14 around the first direction by an angle range of -140° to +140°; and / or, the rotating arm 14 can rotate relative to the first end of the lifting arm 13 around the Z-axis direction by an angle range of -180° to +180°. The control head 23 can be rotated to different parts of the patient to be shot at the standing shooting position, the lying shooting position, and other sitting shooting positions.

[0119] The stroke range of the 6 degrees of freedom of the control head 23 can be set according to the needs and scenes of use.

[0120] In this embodiment, the electric power-assisted assembly 30 is used to provide driving force to drive the movement, lifting, and rotation of the control head 23, realize power assistance of the 6 degrees of freedom of the control head 23, and reduce the operation difficulty of medical personnel.

[0121] The electric power-assisted assembly 30 includes a first electric power-assisted piece 31, a second electric power-assisted piece 32, a third electric power-assisted piece 33, a fourth electric power-assisted piece 34, a fifth electric power-assisted piece 35, and a sixth electric power-assisted piece 36. The 6 electric power-assisted pieces electrically and power-assistedly drive the activities of the 6 degrees of freedom of the control head 23, one of which corresponds to the driving of the activities of one degree of freedom of the control head 23. The adoption of one electric power-assisted piece to drive one degree of freedom is conducive to simplifying the structure of the electric power-assisted piece, especially the transmission mechanism, and also simplifies the control and driving of a single degree of freedom. The first electric power-assisted piece 31, the second electric power-assisted piece 32, the third electric power-assisted piece 33, the fourth electric power-assisted piece 34, the fifth electric power-assisted piece 35, and the sixth electric power-assisted piece 36 all include driving motors, which can directly drive or drive through a transmission mechanism. For example, when driving the movement and lifting of the control head 23, the motor can drive the movement and lifting of the control head 23 through a transmission mechanism such as a worm gear, a synchronous belt, and a synchronous wheel; when driving the rotation of the control head 23, the motor can directly drive the rotation of the control head 23.

[0122] The first electric power-assisted part 31 and the second electric power-assisted part 32 are connected with the moving part 12 respectively. The first electric power-assisted part 31 can be arranged on the ceiling or the second guide rail 112. The first electric power-assisted part 31 is connected with the second guide rail 112. The first electric power-assisted part 31 is indirectly connected with the moving part 12. The first electric power-assisted part 31 is used to drive the second guide rail 112 and the moving part 12 to move along the X-axis direction relative to the first guide rail 111. The second electric power-assisted part 32 is arranged on the second guide rail 112 or the moving part 12. The second electric power-assisted part 32 is directly connected with the moving part 12. The second electric power-assisted part 32 is used to drive the moving part 12 to move along the Y-axis direction relative to the second guide rail 112.

[0123] In other embodiments, the first electric power-assisted part 31 and the second electric power-assisted part 32 can be combined into one electric drive assembly. The combined electric drive assembly includes one power source and two sets of transmission mechanisms. The power source is connected with the second guide rail 112 through one set of transmission mechanisms to drive the movement along the X-axis direction. The power source is connected with the moving part 12 through another set of transmission mechanisms to drive the movement along the Y-axis direction. The two sets of transmission mechanisms can be operated separately and simultaneously to realize the separate driving of the movement along the X-axis direction or the separate driving of the movement along the Y-axis direction, and the simultaneous driving of the movement along the X-axis direction and the separate driving of the movement along the Y-axis direction.

[0124] In the present embodiment, the third electric power-assisted part 33 is arranged on the moving part 12. The third electric power-assisted part 33 is connected with the second end of the lifting arm 13 through a transmission assembly such as a rope. The third electric power-assisted part 33 is used to drive the second end of the lifting arm 13 to move up and down along the Z-axis direction relative to the first end, i.e., the third electric power-assisted part 33 is used to drive the lowermost lifting cylinder of the lifting arm 13 to move up and down along the Z-axis direction relative to the uppermost lifting cylinder.

[0125] In other embodiments, the third electric power-assisted part 33 can also be arranged in the first end of the lifting arm 13. The third electric power-assisted part 33 is connected with the second end of the lifting arm 13. The third electric power-assisted part 33 can also drive the second end of the lifting arm 13 to move up and down along the Z-axis direction relative to the first end.

[0126] The fourth electric power-assisted part 34 is arranged on the second end of the lifting arm 13 or the rotating arm 14. The fourth electric power-assisted part 34 is connected with the rotating arm 14. The fourth electric power-assisted part 34 is used to drive the rotating arm 14 to rotate around the Z-axis direction relative to the second end of the lifting arm 13.

[0127] In other embodiments, if the rotation pair around the Z-axis direction is arranged in the lifting arm 13, the fourth electric power-assisted part 34 is arranged in the lifting arm 13. The fourth electric power-assisted part 34 is used to drive the second end of the lifting arm 13 to rotate around the Z-axis direction relative to the first end.

[0128] In this embodiment, the fifth electric power-assisted part 35 is arranged on the connecting seat 21 or the support 22, the fifth electric power-assisted part 35 is connected with the support 22, and the fourth electric power-assisted part 34 is used to drive the support 22 to rotate relative to the connecting seat 21 in the first direction.

[0129] The sixth electric power-assisted part 36 is arranged on the support 22 or the control handle 23, the sixth electric power-assisted part 36 is connected with the control handle 23, and the sixth electric power-assisted part 36 is used to drive the control handle 23 to rotate relative to the support 22 in the second direction.

[0130] In this embodiment, the combined multi-dimensional force sensor 40 is connected with the handle 24, the force on the handle 24 can be transmitted to the combined multi-dimensional force sensor 40, so that the combined multi-dimensional force sensor 40 can be used to detect the force condition of the handle 24 and generate a corresponding detection signal. The combined multi-dimensional force sensor 40 can be arranged between the connecting part of the control handle 23 and the handle 24, and the control handle 23 provides support for the combined multi-dimensional force sensor 40, so that the combined multi-dimensional force sensor 40 can collect the force of the handle 24.

[0131] The combined multi-dimensional force sensor 40 is a force sensor, which is used to detect the force of the handle 24 in the first direction, the second direction and the third direction, and output a detection signal representing the movement of the handle 24 along the X-axis direction, the movement of the handle 24 along the Y-axis direction, the movement of the handle 24 along the Z-axis direction, the rotation of the handle 24 around the Z-axis direction, the rotation of the handle 24 around the first direction and / or the rotation of the handle 24 around the second direction. In other words, the combined multi-dimensional force sensor 40 can derive and calculate the degree of freedom and the size of the electric power-assisted force required by the control handle 23 by detecting the force of the handle 24 in the first direction, the second direction and the third direction, and combining the posture position of the handle 24.

[0132] The controller 50 can be arranged on the control head 23, and is signal connected with the combined multi-dimensional force sensor 40, the first electric power-assisted member 31, the second electric power-assisted member 32, the third electric power-assisted member 33, the fourth electric power-assisted member 34, the fifth electric power-assisted member 35 and the sixth electric power-assisted member 36. The controller 50 is used to acquire the detection signal generated by the combined multi-dimensional force sensor 40, and calculate a corresponding control signal according to the detection signal. The controller 50 is used to send the control signal to one or more of the first electric power-assisted member 31, the second electric power-assisted member 32, the third electric power-assisted member 33, the fourth electric power-assisted member 34, the fifth electric power-assisted member 35 and the sixth electric power-assisted member 36, so as to control the movement, lifting and / or rotation of the control head 23. If the controller 50 calculates that only one degree of freedom of the control head 23 needs to be controlled according to the detection signal, the detection signal is sent to one of the first electric power-assisted member 31, the second electric power-assisted member 32, the third electric power-assisted member 33, the fourth electric power-assisted member 34, the fifth electric power-assisted member 35 and the sixth electric power-assisted member 36, so as to control the movement, lifting or rotation of the control head 23. If the controller 50 calculates that at least two degrees of freedom of the control head 23 need to be controlled according to the detection signal, the detection signal is sent to two or more of the first electric power-assisted member 31, the second electric power-assisted member 32, the third electric power-assisted member 33, the fourth electric power-assisted member 34, the fifth electric power-assisted member 35 and the sixth electric power-assisted member 36, so as to control one or more of the movement, lifting and rotation of the control head 23. The controller 40 can control the electric power-assisted members to be driven at the same time, so as to realize the fitting movement of the control head 23, for example, the movement and rotation of the control head 23 can be realized at the same time, so as to fit the three-dimensional trajectory of the movement of the control head 23 driven by the medical staff.

[0133] In other embodiments, the controller 50 can also be arranged in an external host computer. The controller 50 can be wired or wirelessly connected with the control head 23, and the controller 50 is signal connected with the combined multi-dimensional force sensor 40, the first electric power-assisted member 31, the second electric power-assisted member 32, the third electric power-assisted member 33, the fourth electric power-assisted member 34, the fifth electric power-assisted member 35 and the sixth electric power-assisted member 36 through the control head 23.

[0134] In the embodiment, the handle 24 can drive the control head 23 to move along the X-axis direction, move along the Y-axis direction, lift along the Z-axis direction, rotate around the Z-axis direction, rotate around the first direction, and rotate around the second direction, so that the control head 23 has six degrees of freedom, and the coordinate system in which the first direction and the second direction are located will rotate with the Z-axis after the Z-axis rotates, so that the control head can move in the range of six degrees of freedom in the two coordinate systems, the flexibility of the control head 23 is high, and the control head 23 can move to any position in the range to perform imaging on the patient, so as to meet the imaging of patients in different postures and different positions of the patient; and the X-ray generating device is provided with six electric power-assisted devices, the six electric power-assisted devices can drive the six degrees of freedom of the control head 23 to move, so that the medical staff only needs to exert a small force on the handle 24 to drive the control head 23 to move, which saves time and effort.

[0135] Please refer to Figure 6 and Figure 7 In an embodiment, the first electric power-assisted device 31 includes a first driving motor 311, a first transmission wheel 312, and a first transmission belt 313. The first guide rail 111 can be directly fixed to the ceiling, and the second guide rail 112 can be installed below the first guide rail 111 and can move along the X-axis direction. The first driving motor 311 and the first transmission wheel 312 are installed on the second guide rail 112, and the first transmission wheel 312 can be directly installed on the output shaft of the first driving motor 311. The first transmission belt 313 is installed on the first guide rail 111 along the X-axis direction, and the first transmission belt 313 can be a fixed structure. The output shaft of the first driving motor 311 is fixedly connected with the first transmission wheel 312, the first transmission wheel 312 is in transmission connection with the first transmission belt 313, and the first transmission wheel 312 can roll along the length direction of the first transmission belt 313. The first driving motor 311 is used to drive the first transmission wheel 312 to move along the X-axis direction relative to the first transmission belt 313, so as to drive the second guide rail 112 to move along the X-axis direction relative to the first guide rail 111.

[0136] The first driving motor 311 is in signal connection with the controller 50, and the controller 50 can control the first driving motor 311 to drive the second guide rail 112 to move along the X-axis direction relative to the first guide rail 111 to an accurate position, so as to drive the control head 23 to move along the X-axis direction to a preset position.

[0137] In other embodiments, the first driving motor 311 can also be installed on the first guide rail 111, the first transmission belt 313 can be in transmission connection with the first guide rail 111 through the first transmission wheel 312, and the second guide rail 112 can be fixedly connected with the first transmission belt 313 through a connecting block. The first driving motor 311 can also drive the second guide rail 112 to move along the X-axis direction relative to the first guide rail 111 by driving the first transmission belt 313 to move along the X-axis direction.

[0138] In other embodiments, the first electric power-assisted part 31 can also be other driving structures, for example, the first electric power-assisted part 31 includes a driving motor, a chain wheel and a transmission chain, and the driving motor can also drive the second guide rail 112 to move along the X-axis direction relative to the first guide rail 111 through the chain wheel and the transmission chain.

[0139] Please refer to Figure 8 In an embodiment, the second electric power-assisted part 32 includes a second driving motor 321, a second transmission wheel 322 and a second transmission belt 323, the second driving motor 321 and the second transmission wheel 322 are fixedly installed on the moving part 12, the second transmission belt 323 is installed along the Y-axis direction on the second guide rail 112, the second transmission belt 323 can be a fixed structure, the output shaft of the second driving motor 321 and the second transmission wheel 322 are fixedly connected, the second transmission wheel 322 is in transmission connection with the second transmission belt 323, the second transmission wheel 322 can roll along the length direction of the second transmission belt 323, and the second driving motor 321 is used to drive the second transmission wheel 322 to move along the Y-axis direction relative to the second transmission belt 323, so as to drive the moving part 12 to move along the Y-axis direction relative to the second guide rail 112.

[0140] The second electric power-assisted part 32 is in signal connection with the controller 50, and the controller 50 can control the second electric power-assisted part 32 to drive the moving part 12 to move along the Y-axis direction relative to the second guide rail 112 to an accurate position, so as to drive the control head 23 to move along the Y-axis direction to a preset position.

[0141] In other embodiments, the second driving motor 321 can also be installed on the second guide rail 112, the second transmission belt 323 is in transmission connection with the second guide rail 112 through the second transmission wheel 322, the moving part 12 is fixedly connected with the second transmission belt 323 through a connecting block, and the second driving motor 321 drives the second transmission belt 323 to move along the Y-axis direction, so as to drive the moving part 12 to move along the Y-axis direction relative to the second guide rail 112.

[0142] In other embodiments, the second electric power-assisted part 32 can also be other driving structures, for example, the second electric power-assisted part 32 includes a driving motor, a chain wheel and a transmission chain, and the driving motor can also drive the moving part 12 to move along the Y-axis direction relative to the second guide rail 112 through the chain wheel and the transmission chain.

[0143] Please refer to Figure 9In an embodiment, the third electric power-assisted component 33 comprises a third driving motor 331, a first transmission assembly 332, and a traction component 333, which are installed on the moving component 12. The third driving motor 331 is fixedly installed on the moving component 12, and is connected with the traction component 333 through the first transmission assembly 332. The traction component 333 extends to be connected with the second end of the lifting arm 13. The third driving motor 331 is configured to drive the traction component 333 to move up and down through the first transmission assembly 332, so as to drive the second end of the lifting arm 13 to move up and down along the Z-axis direction, and further drive the control head 23 to move up and down along the Z-axis direction.

[0144] The first transmission assembly 332 comprises two third transmission wheels 3321, a third transmission belt 3322, and a roller shaft 3323. The output shaft of the third driving motor 331 is fixedly connected with one of the third transmission wheels 3321. The roller shaft 3323 is rotatably installed on the moving component 12 and is fixedly connected with the other third transmission wheel 3321. The two third transmission wheels 3321 are connected through the third transmission belt 3322. The traction component 333 is a flexible traction structure such as a traction rope. The traction rope is wound around the roller shaft 3323. One end of the traction rope is fixedly connected with the roller shaft 3323, and the other end of the traction rope is fixedly connected with the second end of the lifting arm 13. The rotation of the roller shaft 3323 drives the other end of the traction rope to move up and down, and further drives the second end of the lifting arm 13 to move up and down relative to the first end.

[0145] The roller shaft 3323 has a certain diameter, so that the roller shaft 3323 can form a certain rotation arm to more easily drive the second end of the lifting arm 13 to move up and down relative to the first end, and can form a larger circumferential surface to accommodate the traction rope.

[0146] The traction component 333 is set as a flexible traction rope, which can improve the driving stroke of the Z-axis lifting, and the traction rope can be wound and accommodated, which can reduce the occupied space.

[0147] In other embodiments, the first transmission assembly 332 can also have other transmission structures, such as a transmission gear set and a roller shaft. The third driving motor 331 can also drive the roller shaft to rotate through the transmission gear set, and further drive the second end of the lifting arm 13 to move up and down relative to the first end.

[0148] Please refer to Figure 10 In an embodiment, the lifting arm 13 comprises at least two lifting arms. The lifting arm 13 can also comprise three or four lifting arms connected in series. Adjacent lifting arms can move up and down relative to each other. Taking the lifting arm 13 comprising a first sub-lifting arm 131 and a second sub-lifting arm 132 as an example for illustration.

[0149] The first sub-lifting arm 131 and the second sub-lifting arm 132 are connected to move up and down along the Z-axis direction, one end of the first sub-lifting arm 131 away from the second sub-lifting arm 132 is the first end of the lifting arm 13, and one end of the second sub-lifting arm 132 away from the first sub-lifting arm 131 is the second end of the lifting arm 13; the first sub-lifting arm 131 is a hollow structure, the inner diameter of the first sub-lifting arm 131 is greater than the outer diameter of the second sub-lifting arm 132, and the second sub-lifting arm 132 can be retracted into the first sub-lifting arm 131. One end of the traction member 333 extends through the first sub-lifting arm 131 to be fixedly connected with the second sub-lifting arm 132, so that the traction member 333 can pull the second sub-lifting arm 132 to move up and down along the Z-axis direction relative to the first sub-lifting arm 131.

[0150] In an embodiment, the moving member 12 has a receiving cavity, and the third electric power-assisted member 33 is installed in the moving member 12, so that the third electric power-assisted member 33 is hidden and installed, the appearance of the moving member 12 is more simple, and the third electric power-assisted member 33 is protected.

[0151] Please refer to Figure 11 In an embodiment, the fourth electric power-assisted member 34 is installed in the rotating arm 14, and the fourth electric power-assisted member 34 is used to drive the rotating arm 14 to rotate around the Z-axis direction relative to the second end of the lifting arm 13. The fourth electric power-assisted member 34 is arranged in the rotating arm 14, so that the hidden installation can be realized, and the appearance is more neat and beautiful.

[0152] The fourth electric power-assisted member 34 includes a fourth driving motor 341, a first helical gear 342, and a second helical gear 343. The fourth driving motor 341 is fixedly installed in the rotating arm 14, the output shaft of the fourth driving motor 341 is fixedly connected with the first helical gear 342, the second helical gear 343 is fixedly connected with the second end of the lifting arm 13, the first helical gear 342 and the second helical gear 343 are meshingly connected, the central axis of the second helical gear 343 is parallel to the Z-axis direction, and the central axis of the first helical gear 342 and the central axis of the second helical gear 343 are cross arranged, and the fourth driving motor 341 can drive the rotating arm 14 to rotate around the Z-axis direction relative to the second end of the lifting arm 13 through the meshing transmission of the first helical gear 342 and the second helical gear 343.

[0153] The first bevel gear 342 can be provided with two, one first bevel gear 342 is fixedly connected with the output shaft of the fourth driving motor 341, and the other first bevel gear 342 can be installed in the rotating arm 14 through a transmission shaft coaxial with the output shaft of the fourth driving motor 341, the two first bevel gears 342 are arranged on the two sides of the second bevel gear 343 and are in meshing connection with the second bevel gear 343. The first bevel gear 342 connected with the fourth driving motor 341 is the driving tooth, and the other is the driven tooth, and the arrangement of the two first bevel gears 342 can improve the stability of the meshing transmission of the first bevel gear 342 and the second bevel gear 343. Of course, one first bevel gear 342 can also be arranged to mesh with the second bevel gear 343 to drive the rotating arm 14 to rotate relative to the second end of the lifting arm 13 around the Z-axis direction.

[0154] The first bevel gear 342 and the second bevel gear 343 can be arranged as 90° intersecting bevel gears, and the central axis of the first bevel gear 342 is arranged perpendicular to the central axis of the second bevel gear 343. In this way, the fourth driving motor 341 can be arranged in a horizontal state, which is convenient for the installation and fixation of the fourth driving motor 341.

[0155] In other embodiments, the first bevel gear 342 and the second bevel gear 343 can also be arranged as bevel gears intersecting at other angles, for example, the included angle between the central axis of the first bevel gear 342 and the central axis of the second bevel gear 343 is 80°, and the fourth driving motor 341 is correspondingly inclined to be installed, which can also drive the rotating arm 14 to rotate relative to the second end of the lifting arm 13 around the Z-axis direction.

[0156] Please refer to Figure 12 In one embodiment, the rotating arm 14 is a hollow structure, and the fourth driving motor 341, the first bevel gear 342 and at least part of the second bevel gear 343 are located in the rotating arm 14. In this way, the fourth electric power-assisted member 34 can be hidden and installed in the rotating arm 14, reducing the occupied space of the fourth electric power-assisted member 34 and reducing the size of the X-ray generating device. The fourth electric power-assisted member 34 can also be protected from external interference.

[0157] Please refer to Figure 12In an embodiment, the second bevel gear 343 is a hollow structure, the second end of the lifting arm 13 is rotationally connected with the rotating arm 14 through a first rotating shaft 133, the first rotating shaft 133 is arranged in the middle of the second bevel gear 343. The lower end of the first rotating shaft 133 can be fixedly connected with the rotating arm 14, and the upper end of the first rotating shaft 133 is rotationally connected with the second end of the lifting arm 13 through a bearing. The first rotating shaft 133 plays a role of connection and load bearing, so that the load of the cantilevered lifting arm 13 is supported by the first rotating shaft 133, and the first bevel gear 342 and the second bevel gear 343 in the fourth electric power-assisted part 34 only bear the rotating driving and are not affected by gravity, thereby ensuring the accuracy of the electric power-assisted driving of the fourth electric power-assisted part 34.

[0158] Please refer to Figure 11 and Figure 13 In an embodiment, the suspension assembly 10 further comprises a first limiting structure 15, which is arranged between the second end of the lifting arm 13 and the rotating arm 14, and is used for limiting the angle range of the rotating arm 14 relative to the second end of the lifting arm 13 rotating around the Z-axis direction, the angle range being -180°~+180°, wherein the angle range includes two boundary values of ±180°, so that the control head can rotate by 360° without dead angle, and can be limited to stop at the same position in forward and reverse rotation.

[0159] The first limiting structure 15 comprises a first limiting piece 151 and a second limiting piece 152, the first limiting piece 151 is installed on the second end of the lifting arm 13, and the second limiting piece 152 is arranged on the rotating arm 14, the first limiting piece 151 is installed on the circumferential rotation track of the second limiting piece 152, when the rotating arm 14 rotates relative to the lifting arm 13 around the X-axis direction to the limit position, the first limiting piece 151 abuts against the second limiting piece 152, so as to limit the angle range of the rotating arm 14 rotating around the Z-axis direction to -180°~+180°.

[0160] In order to avoid the circumferential thickness of the first limiting piece 151 and the second limiting piece 152 affecting the angle range of the rotating arm 14 rotating around the Z-axis direction, the first limiting piece 151 is arranged as a swing structure, and the circumferential thickness of the first limiting piece 151 is offset by the swing of the first limiting piece 151.

[0161] The first limiting member 151 can include a swing member 1511 and an angle limiting member 1512. One end of the swing member 1511 is rotationally connected to the second end of the lifting arm 13, and the other end of the swing member 1511 is a limiting end for blocking and abutting against the second limiting member 152. The angle limiting member 1512 is arranged on the swing track of the swing member 1511, and is used to limit the swing angle of the swing member 1511, so as to limit the rotation of the rotating arm 14 around the Z-axis direction to be positioned at -180° and 180°. The swing angle of the swing member 1511 is set to a specific value, so that the space avoided by the swing of the swing member 1511 is equal to the space occupied by the limiting end of the swing member 1511 in the circumferential direction, that is, the swing of the swing member 1511 is used to offset the influence of the circumferential thickness of the swing member 1511 on the angle limiting.

[0162] Specifically, the swing member 1511 can be a circular ring structure, and the middle part of the swing member 1511 is provided with a first arc-shaped groove or a first arc-shaped hole 15111. The angle limiting member 1512 is fixed on the lifting arm 13, and part of the angle limiting member 1512 is located in the first arc-shaped groove or the first arc-shaped hole 15111. The first arc-shaped groove or the first arc-shaped hole 15111 has a preset arc length, so as to limit the swing angle of the swing member 1511. When the angle limiting member 1512 abuts against both ends of the first arc-shaped groove or the first arc-shaped hole 15111, the swing angle of the swing member 1511 can be limited.

[0163] In other embodiments, the swing member 1511 is provided with a protruding structure, and the angle limiting member 1512 is provided with a first arc-shaped groove or a first arc-shaped hole 15111. Part of the protruding structure of the swing member 1511 is located in the first arc-shaped groove or the first arc-shaped hole 15111, which can also limit the swing angle of the swing member 1511.

[0164] In other embodiments, the second limiting member 152 is arranged as a swing structure. By swinging the second limiting member 152, the circumferential thickness of the first limiting member 151 and the second limiting member 152 can also offset the influence on the rotation range of the rotating arm 14 around the Z-axis direction, and the angle range of the rotating arm 14 around the Z-axis direction can also be limited to -180°-+180°.

[0165] Please refer to Figure 13In one embodiment, the suspension assembly 10 further includes a positioning structure 16, which is disposed between the second end of the lifting arm 13 and the rotating arm 14. The positioning structure 16 is used to position the angle of rotation of the rotating arm 14 around the Z-axis. Multiple positioning structures 16 can be provided, allowing the rotating arm 14 to be positioned at multiple different rotation angles. For example, four positioning structures 16 can be evenly distributed on a circumference, with a circumferential angle difference of 90° between them, allowing the rotating arm 14 to be positioned at 0°, 90°, 180°, and 270°. The positioning structure 16 can also provide a certain tactile feedback to remind the user that the rotation is in place, improving the user experience.

[0166] The positioning structure 16 may include a first positioning element 161 and a second positioning element 162. One of the first positioning element 161 and the second positioning element 162 is installed at the second end of the lifting arm 13, and the other of the first positioning element 161 and the second positioning element 162 is installed on the rotating arm 14. The first positioning element 161 is a ring structure with a plurality of positioning holes 1611 on one circumference. The end of the second positioning element 162 is provided with a retractable elastic part 1621, which can be inserted into the positioning holes 1611 to position the rotation angle of the rotating arm 14. The elastic part 1621 can be a ball connected to a spring. Under the action of the spring, the ball can be inserted into the positioning hole 1611 to achieve positioning. When the user applies a certain force or the electric assist component applies a certain force to continue rotating, the ball will disengage from the positioning hole 1611, and the rotating arm 14 can continue to rotate around the Z-axis.

[0167] In other embodiments, the positioning structure 16 can also be configured as two magnetic blocks with opposite magnetic properties. The positioning of the rotating arm 14 at a specific angle can also be achieved by the magnetic attraction of the two magnetic blocks.

[0168] Please refer to Figure 14 In one embodiment, a fifth electric assist component 35 is disposed between the connecting seat 21 and the bracket 22. The fifth electric assist component 35 is used to drive the bracket 22 to rotate relative to the connecting seat 21 about a first direction, where the first direction is perpendicular to the length direction of the rotating arm 14. Figure 1 In the position shown, the first direction is parallel to the Y-axis. As the rotating arm 14 rotates around the Z-axis, the first direction will rotate accordingly.

[0169] The fifth electric assist component 35 includes a fifth drive motor 351 and a drive shaft 352. The fifth drive motor 351 is mounted on the connecting seat 21. One end of the drive shaft 352 is fixedly connected to the output shaft of the fifth drive motor 351, and the other end of the drive shaft 352 is fixedly connected to the bracket 22. The drive shaft 352 is parallel to the first direction. The fifth drive motor 351 can drive the bracket 22 to rotate relative to the connecting seat 21 along the first direction through the drive shaft 352.

[0170] The connecting seat 21 can be a hollow structure, and the fifth driving motor 351 and part of the transmission shaft 352 can be arranged in the connecting seat 21, so that the fifth electric power-assisted part 35 is arranged in a hidden manner, the occupied space of the fifth electric power-assisted part 35 can be reduced, and the fifth electric power-assisted part 35 is protected in a hidden manner.

[0171] In other embodiments, the fifth driving motor 351 is mounted on the support 22, and the support 22 can also be driven to rotate relative to the connecting seat 21 along the first direction.

[0172] Please refer to Figure 14 In an embodiment, the head assembly 20 further comprises a second limiting structure 25, which is arranged between the connecting seat 21 and the support 22, and is used to limit the angle range of the support 22 rotating around the first direction, i.e., limit the angle range of the control head 23 rotating around the first direction, so as to avoid the control head 23 rotating around the first direction too much.

[0173] The second limiting structure 25 comprises a third limiting part 251 and two fourth limiting parts 252, the third limiting part 251 is mounted on the transmission shaft 352, and the two fourth limiting parts 252 are mounted on the connecting seat 21, the two fourth limiting parts 252 are arranged on the circumferential track of the third limiting part 251, and the two fourth limiting parts 252 are respectively used to abut against the third limiting part 251, so as to limit the angle range of the support 22 rotating around the first direction to-140°~+140°.

[0174] The third limiting part 251 and the two fourth limiting parts 252 can be protruding block or sheet structures, and the third limiting part 251 and the two fourth limiting parts 252 abut against and block each other on the same circumferential track, so as to limit the rotation of the support 22 around the first direction.

[0175] Please refer to Figure 15 In an embodiment, the sixth electric power-assisted part 36 is arranged between the support 22 and the control head 23, and is used to drive the control head 23 to rotate relative to the support 22 around the second direction, and the first direction is perpendicular to the second direction, as shown in the position state Figure 1 The second direction is parallel to the X-axis direction, and the second direction will rotate with the rotation of the rotating arm 14 around the Z-axis direction.

[0176] The sixth electric power-assisted part 36 comprises a sixth driving motor 361 and a second transmission assembly 362. The sixth driving motor 361 is installed on the control head 23. The sixth driving motor 361 is connected with the support 22 through the second transmission assembly 362. The sixth driving motor 361 is used to drive the support 22 to rotate around the second direction through the second transmission assembly 362. The sixth driving motor 361 is installed on the control head 23, so that the space on one side of the control head 23 can be fully utilized, and the structure of the support 22 is simplified.

[0177] The support 22 and the control head 23 are rotationally connected through a second rotating shaft 221. The second rotating shaft 221 plays a role of rotationally connecting the bearing, so as to ensure that the control head 23 can stably rotate.

[0178] The second transmission assembly 362 comprises two fourth transmission wheels 3621 and a fourth transmission belt 3622. The output shaft of the sixth driving motor 361 is fixedly connected with one fourth transmission wheel 3621. The other fourth transmission wheel 3621 is fixedly connected with the support 22 and coaxially arranged with the second rotating shaft 221. The two fourth transmission wheels 3621 are linkage-connected through the fourth transmission belt 3622.

[0179] In other embodiments, the sixth driving motor 361 can also be installed on the support 22, so as to drive the control head 23 to rotate around the second direction relative to the support 22.

[0180] Please refer to Figure 16 and Figure 17 In one embodiment, the head assembly 20 further comprises a third limiting structure 26. The third limiting structure 26 is arranged between the support 22 and the control head 23, so as to limit the angle range of the control head 23 rotating around the second direction to -10°~+90°. Since the control head 23 is provided with a display, the control head 23 does not need to be rotated to the display downward, which will be inconvenient for the user to use.

[0181] The third limiting structure 26 comprises a fifth limiting part 261 and a sixth limiting part 262. One of the fifth limiting part 261 and the sixth limiting part 262 is installed on the support 22. The other of the fifth limiting part 261 and the sixth limiting part 262 is installed on the control head 23. The fifth limiting part 261 is provided with a second arc-shaped slot 2611 or a second arc-shaped hole. Part of the sixth limiting part 262 is clamped into the second arc-shaped slot 2611 or the second arc-shaped hole. The sixth limiting part 262 moves along the second arc-shaped slot 2611 or the second arc-shaped hole. The second arc-shaped slot 2611 or the second arc-shaped hole is provided with a preset arc length, so as to limit the angle range of the control head 23 rotating around the second direction to -10°~+90°.

[0182] The sixth limiting part 262 can be provided with a protruding shaft pin or the like structure inserted into the second arc-shaped slot 2611 or the second arc-shaped hole. When the shaft pin moves to the two ends of the second arc-shaped slot 2611 or the second arc-shaped hole, the limit to the rotation of the control head 23 in the second direction is formed.

[0183] The fifth limiting part 261 can be integrated with the bracket 22 or the shell of the control head 23, and the second arc-shaped slot 2611 or the second arc-shaped hole can be directly arranged on the bracket 22 or the shell of the control head 23, so that the rotation limit of the control head 23 in the second direction can be realized.

[0184] Please refer to Figure 15 , Figure 18 , Figure 19 and Figure 21 In an embodiment, the combined multi-dimensional force sensor 40 includes a force sensor group, and the force sensor group includes at least four two-dimensional force sensors 41. In this embodiment, four two-dimensional force sensors 41 are taken as an example for description. The four two-dimensional force sensors 41 can realize the detection of the stress in six degrees of freedom of the handle by using the least number of two-dimensional force sensors 41, which is conducive to reducing the cost of the sensor. In other embodiments, the combined multi-dimensional force sensor can include a larger number of two-dimensional force sensors 41, for example, six or eight two-dimensional force sensors 41, which can also realize the detection of the stress in six degrees of freedom of the handle.

[0185] In this embodiment, the four two-dimensional force sensors 41 are divided into a first group and a second group. The first group includes two two-dimensional force sensors 41 arranged oppositely, and the second group includes two two-dimensional force sensors 41 arranged oppositely. The oppositely arranged means that the two two-dimensional force sensors 41 are arranged at a distance from each other, and the direction in which the two two-dimensional force sensors 41 of the first group are spaced apart is perpendicular to the direction in which the two two-dimensional force sensors 41 of the second group are spaced apart.

[0186] The two two-dimensional force sensors 41 of the first group are used to detect the stress of the handle 24 in the first direction and the second direction, and the two two-dimensional force sensors 41 of the second group are used to detect the stress of the handle 24 in the first direction and the third direction. The combination of the first group and the second group can detect three degrees of freedom of movement along the X-axis direction, movement along the Y-axis direction, and lifting along the Z-axis direction, and three degrees of freedom of rotation around the Z-axis direction, rotation around the first direction, and rotation around the second direction, that is, the combination of the four two-dimensional force sensors 41 can realize the detection of six degrees of freedom. Among them, the first group and the second group can detect the stress in the first direction, so that after the handle 24 is rotated by 90° or 270°, the first group and the second group sensors will replace each other to form the same two-dimensional force sensor 41 combination as in the initial state, so as to realize the detection of six degrees of freedom of the control head 23.

[0187] The first direction, the second direction, and the third direction are not coplanar. The first direction, the second direction, and the third direction are perpendicular to each other, and the planes on which the first direction, the second direction, and the third direction are perpendicular to each other. More preferably, the first direction, the second direction, and the third direction are absolutely perpendicular to each other. In this way, the accurate force values of the 6 degrees of freedom of the handpiece 23 can be calculated according to the detection signals of the two-dimensional force sensor 41.

[0188] In other embodiments, the first direction, the second direction, and the third direction being perpendicular to each other can also belong to approximate perpendicularity. Through the addition of a compensation algorithm for the inclination angle, the accurate force values of the 6 degrees of freedom of the handpiece 23 can also be calculated according to the detection signals of the two-dimensional force sensor 41.

[0189] In this embodiment, the four two-dimensional force sensors 41 can be distributed in a quadrilateral shape. The quadrilateral shape can be a planar quadrilateral or a three-dimensional quadrilateral, that is, the quadrilateral shape can be a closed planar figure or a three-dimensional figure formed by four line segments not on the same straight line connected end to end in sequence. For example, the four two-dimensional force sensors 41 are distributed on the four sides of a rectangle. The four two-dimensional force sensors 41 are located on the four sides of the rectangle on the same plane. The plane on which the rectangle is located is parallel to the plane on which the main body of the handle 24 is located. The line connecting the center of the main body of the handle 24 and the center of the rectangle coincides with or is parallel to the second direction. The four two-dimensional force sensors 41 correspond to the four sides of the main body of the handle 24. When the medical staff holds the four sides of the main body of the handle 24, the force can be accurately transmitted to the corresponding four two-dimensional force sensors 41. This layout is conducive to improving the detection accuracy of the four two-dimensional force sensors 41 and also conducive to reducing the algorithm difficulty.

[0190] In other embodiments, the four two-dimensional force sensors 41 of the first group are arranged in the first plane, and the four two-dimensional force sensors 41 of the second group are arranged in the second plane. The first plane and the second plane are parallel to the plane on which the main body of the handle 24 is located. The interval direction of the four two-dimensional force sensors 41 of the first group is perpendicular to the interval direction of the four two-dimensional force sensors 41 of the second group. The detection of the 6 degrees of freedom can also be realized.

[0191] In this embodiment, the four two-dimensional force sensors 41 can be located at the centers of the four sides of the rectangle, and one four two-dimensional force sensor 41 is arranged on each of the centerlines of the four sides of the rectangle. That is, the four two-dimensional force sensors 41 are symmetrically distributed on a cross coordinate axis. The cross coordinate axis coincides with or is parallel to the cross coordinate formed by the X-axis and the Z-axis. In this way, the algorithm for calculating the 6 degrees of freedom of the four two-dimensional force sensors 41 can be greatly simplified, and the installation accuracy can also be more easily ensured.

[0192] In other embodiments, the four two-dimensional force sensors 41 can also be distributed on the four corners of the rectangle, i.e., one two-dimensional force sensor 41 is arranged at each of the four corners of the rectangle; or, two two-dimensional force sensors 41 of the first group are symmetrically arranged on two sides of the rectangle, and two two-dimensional force sensors 41 of the second group are symmetrically arranged on the other two sides of the rectangle; these two layouts can also achieve the detection of the six degrees of freedom, but the force calculation algorithm for the degrees of freedom is relatively more complex.

[0193] In the embodiment, the combination of the four two-dimensional force sensors 41 is used to detect the six degrees of freedom required for the movement of the control handle 23, which can greatly reduce the cost of the force sensor and improve the competitiveness of the product.

[0194] The detection scheme using the four two-dimensional force sensors 41 has the following correspondence between the force detection direction and the six degrees of freedom movement direction as shown in Table 1. When the medical staff rotates the handle 24, the two two-dimensional force sensors 41 of the first group and the second group will be replaced and adjusted, and the force of the four two-dimensional force sensors 41 is the same as before rotation.

[0195] In Table 1, the two two-dimensional force sensors 41 of the first group, the two-dimensional force sensor 41 at the upper end is the first two-dimensional force sensor A1, which can detect the force in the first direction and the second direction, the two-dimensional force sensor 41 at the lower end is the second two-dimensional force sensor A2, which can detect the force in the first direction and the second direction, the two two-dimensional force sensors 41 of the second group, the two-dimensional force sensor 41 at the left end is the third two-dimensional force sensor B1, which can detect the force in the first direction and the third direction, and the two-dimensional force sensor 41 at the right end is the fourth two-dimensional force sensor B2, which can detect the force in the first direction and the third direction. “+” and “-” represent the direction, and “ / ” represents no force. In order to more simply explain the detection principle, the position state shown in FIG. 8 is taken as the initial state, at this time the first direction is equivalent to the Y-axis direction, the second direction is equivalent to the X-axis direction, and the third direction is equivalent to the Z-axis direction. Figure 1

[0196] Table 1: Relationship table of sensor force direction and movement direction

[0197]

[0198] In other embodiments, the force sensor group can include one or more of one-dimensional force sensors, two-dimensional force sensors, and three-dimensional force sensors, and can also achieve the detection of the six degrees of freedom movement direction. At least the following schemes are included:

[0199] ​The force sensor group comprises eight one-dimensional force sensors, two one-dimensional force sensors are combined to detect different directions, two combined one-dimensional force sensors are equivalent to one two-dimensional force sensor 41 described above, and the eight one-dimensional force sensors can also be divided into the first group and the second group of the two-dimensional force sensor 41 described above according to the installation layout to realize detection of six degrees of freedom movement directions. The detection scheme composed of eight one-dimensional force sensors has relatively low sensor cost, but the number is relatively large, and the installation and calibration are more difficult.

[0200] Please refer to Figure 20 The force sensor group comprises at least three three-dimensional force sensors, each of which can be used to collect forces in the first direction, the second direction and the third direction. The at least three three-dimensional force sensors can be distributed on three vertices of a triangle, for example, the three three-dimensional force sensors are distributed on three vertices of an isosceles triangle, so that the distances between the three three-dimensional force sensors are equal, which is more conducive to simplifying the force calculation algorithm to degrees of freedom. The three three-dimensional force sensors can also be arranged on three sides of the above-mentioned rectangle, and detection of six degrees of freedom movement directions can also be realized. The detection scheme composed of three three-dimensional sensors has relatively simple installation and calibration, but the sensor cost is relatively high.

[0201] The force sensor group comprises one six-dimensional force sensor, which can detect forces in the first direction, the second direction and the third direction, and output detection signals representing movement of the handle 24 along the X-axis direction, movement along the Y-axis direction, movement along the Z-axis direction, rotation around the Z-axis direction, rotation around the first direction and / or rotation around the second direction. That is, one six-dimensional force sensor is equivalent to the combination of four two-dimensional force sensors, and one six-dimensional force sensor can realize detection of six degrees of freedom movement directions. The six-dimensional force sensor can be installed at any position between the handle 24 and the control head 23, and the force on the handle 24 can be transmitted to the six-dimensional force sensor. The use of one six-dimensional force sensor has relatively simple installation and calibration, but the sensor cost is relatively high.

[0202] In an embodiment, the combined multi-dimensional force sensor 40 can be provided as a modular structure, four two-dimensional force sensors 41 are first installed as a module, and then the module is installed between the control handle 23 and the handle 24, so that the four two-dimensional force sensors 41 are calibrated before installation, which reduces the installation difficulty and calibration difficulty of the four two-dimensional force sensors 41. The calibration of the four two-dimensional force sensors 41 refers to that after the force sensor is installed and fixed, the installation screw will press the force sensor, and there will be installation errors in the installation process of the four two-dimensional force sensors 41. Different screw locking degrees will appear different, so that the four two-dimensional force sensors 41 receive different pressures. Therefore, the internal stress of the four two-dimensional force sensors 41 needs to be calibrated before detection, and the stress error of the four two-dimensional force sensors 41 is eliminated by algorithm compensation, so that the four two-dimensional force sensors 41 can be more accurately stressed in the direction and size.

[0203] The combined multi-dimensional force sensor 40 can include a first fixing frame 42 and a second fixing frame 43. The first fixing frame 42 and the second fixing frame 43 can be rectangular plate frames. The force sensor group is installed between the first fixing frame 42 and the second fixing frame 43. The first fixing frame 42 and the second fixing frame 43 form a rectangular mounting surface, and the four two-dimensional force sensors 41 are located on the rectangular mounting surface between the first fixing frame 42 and the second fixing frame 43. The first fixing frame 42, the force sensor group and the second fixing frame 43 form a sandwich-like three-layer structure. The first fixing frame 42 and the second fixing frame 43 can fix the four two-dimensional force sensors 41 by screws or other fixing members.

[0204] The first fixing frame 42 is fixedly connected with the control handle 23, and the second fixing frame 43 is fixedly connected with the connecting portion of the handle 24. The stress on the main body portion of the handle 24 can be transmitted to the force sensor group through the connecting portion of the handle 24 and the second fixing frame 43 in sequence.

[0205] The force sensor group can be fixedly connected with the first fixing frame 42 and the second fixing frame 43 to form a rigid connection. The advantage of the rigid connection is that the second fixing frame 43 is fixed relative to the first fixing frame 42, that is, the handle 24 is fixed relative to the control handle 23, and the handle 24 will not shake.

[0206] In other embodiments, a moving gap can exist between the force sensor group and one or both of the first fixing frame 42 and the second fixing frame 43 to form a flexible connection. The advantage of the flexible connection is that the force sensor will not receive a large locking force during installation, which will not affect the stroke range of the force sensor for detecting the force size. A spring or other damping member can also be provided in the moving gap to eliminate the shaking of the handle 24 relative to the control handle 23.

[0207] In other embodiments, the combined multi-dimensional force sensor 40 can also not include the first fixed frame 42 and the second fixed frame 43, and the force sensor group is directly mounted between the control handle 23 and the handle 24. After the multi-dimensional force sensors are calibrated on the whole machine, the detection of the force received by the handle 24 and the generation of the detection signal capable of deriving the movement direction of the six degrees of freedom can also be realized.

[0208] In one embodiment, the connecting part of the handle 24 is a rectangular structure, the rectangular structure connecting part is connected with the second fixed frame 43, and the outer contour of the connecting part is the same as or similar to that of the first fixed frame 42 and the second fixed frame 43, so that the outer contour of the first fixed frame 42 and the second fixed frame 43 is flush with the outer contour of the rectangular structure connecting part. The flush connection is more beautiful, and the combined multi-dimensional force sensor 40 can be hiddenly mounted between the handle 24 and the control handle 23.

[0209] In other embodiments, the connecting part of the handle 24 or the control handle 23 is provided with a recessed mounting groove, and the combined multi-dimensional force sensor 40 is mounted in the mounting groove, which also has a hidden effect and is beneficial to improve the aesthetic appearance.

[0210] In one embodiment, an X-ray generating device is provided, which includes the suspension assembly 10 and the handle assembly 20 in any of the above embodiments, and does not include the electric power-assisted assembly 30 and the combined multi-dimensional force sensor 40. The control handle 23 can move along the X-axis direction, move along the Y-axis direction, lift along the Z-axis direction, rotate around the Z-axis direction, rotate around the first direction, and rotate around the second direction. The medical staff can push the movement, lifting and rotation of the control handle 23 by operating the handle 24. The control handle 23 has six degrees of freedom of movement direction, so that the control handle 23 is more flexible and can meet the shooting of multiple parts of the patient in different postures, for example, can meet the shooting of the patient in standing, lying and sitting postures.

[0211] In one embodiment, an X-ray generating device is provided, which includes the suspension assembly 10 and the handle assembly 20 in any of the above embodiments, and further includes the electric power-assisted assembly 30 and the combined multi-dimensional force sensor 40. The X-ray generating device does not include the electric power-assisted assembly 30 and the combined multi-dimensional force sensor 40. The control handle 23 can move along the X-axis direction, move along the Y-axis direction, lift along the Z-axis direction, rotate around the Z-axis direction, rotate around the first direction, and rotate around the second direction. The medical staff can push the movement, lifting and rotation of the control handle 23 by operating the handle 24. The control handle 23 has six degrees of freedom of movement direction, so that the control handle 23 is more flexible and can meet the shooting of multiple parts of the patient in different postures, for example, can meet the shooting of the patient in standing, lying and sitting postures.

[0212] The electric power-assisted assembly 30 can include one or more electric power-assisted components in the above-mentioned embodiments to realize electric power-assisted control of one or more degrees of freedom of the control head 23. For example, the electric power-assisted assembly 30 includes a first electric power-assisted component 31 for driving the control head 23 to move along the X-axis direction, a second electric power-assisted component 32 for driving the control head 23 to move along the Y-axis direction, and a third electric power-assisted component 33 for driving the control head 23 to move up and down along the Z-axis direction. The rotation of the control head 23 around the Z-axis direction, the rotation around the first direction, and the rotation around the second direction can be achieved by manual operation. The load of the control head 23 moving along the X-axis direction, moving along the Y-axis direction, and moving up and down along the Z-axis direction is relatively large, and the effect of increasing electric power assistance is obvious, which can improve the operation convenience of medical staff. The load of the control head 23 rotating around the Z-axis direction, rotating around the first direction, and rotating around the second direction is relatively small, and the burden of manual driving is relatively light. Therefore, the semi-electric power-assisted and semi-manual driving can improve the convenience of operating the control head 23, and save time and effort compared with the existing pure manual driving.

[0213] Please refer to Figure 22 In an embodiment, an X-ray generating device is provided, which includes the suspension assembly 10, the electric power-assisted assembly 30, and the combined multi-dimensional force sensor 40 in any of the above-mentioned embodiments. The X-ray generating device further includes a head assembly 20, which is different from the head assembly 20 in the above-mentioned embodiments in that the control head 23 of the head assembly 20 is fixedly connected to the support 22. That is, the control head 23 in the embodiment includes five degrees of freedom of movement directions, i.e., moving along the X-axis direction, moving along the Y-axis direction, moving up and down along the Z-axis direction, rotating around the Z-axis direction, and rotating around the first direction. The control head 23 provided with five degrees of freedom of movement directions can meet the shooting requirements of standing and lying patients, is suitable for most use scenarios, and has the advantage of relatively low cost.

[0214] The electric power-assisted assembly 30 includes the first electric power-assisted component 31, the second electric power-assisted component 32, the third electric power-assisted component 33, the fourth electric power-assisted component 34, and the fifth electric power-assisted component 35 in the above-mentioned embodiments to realize electric power-assisted driving of the control head 23 to move along the X-axis direction, move along the Y-axis direction, move up and down along the Z-axis direction, rotate around the Z-axis direction, and rotate around the first direction, i.e., to realize electric power-assisted driving of the control head 23 in five degrees of freedom of movement.

[0215] In other embodiments, the electric power-assisted assembly 30 can include one or more electric power-assisted components in the above-mentioned embodiments to realize electric power assistance for one or more degrees of freedom of the steering head 23, for example, the electric power-assisted assembly 30 includes a first electric power-assisted component 31, a second electric power-assisted component 32, and a third electric power-assisted component 33, the first electric power-assisted component 31 is used to drive the steering head 23 to move along the X-axis direction, the second electric power-assisted component 32 is used to drive the steering head 23 to move along the Y-axis direction, and the third electric power-assisted component 33 is used to drive the steering head 23 to move up and down along the Z-axis direction, and the steering head 23 rotates around the Z-axis direction and the first direction can be completed by manual operation. The load of the steering head 23 moving along the X-axis direction, moving along the Y-axis direction, and moving up and down along the Z-axis direction is large, and the effect of increasing electric power assistance is obvious, which can improve the operation convenience of medical staff. The load of the steering head 23 rotating around the Z-axis direction and the first direction is relatively small, and the burden of manual driving is relatively light. Therefore, the driving in the semi-electric power-assisted and semi-manual manner can also improve the convenience of operating the steering head 23, saving time and effort.

[0216] In an embodiment, an X-ray imaging system is provided, comprising a flat panel detector and an X-ray generating device according to any of the above embodiments.

[0217] The flat panel detector is a free component, which can be placed at different positions to collect X-rays passing through a patient. The flat panel detector can be placed at a first shooting position separated from a cassette housing the flat panel detector, and can also be placed at a second shooting position housed in the cassette. The first shooting position is a free position, which is placed according to the position of the patient, for example, the patient sits on a wheelchair, and the flat panel detector can be placed at the corresponding position of the patient on the wheelchair for imaging. The second shooting position is a fixed position, which is a conventional position. When the patient stands on a shooting column or lies on a shooting bed, the flat panel detector can be placed in the fixed cassette.

[0218] The 6 degrees of freedom of the steering head 23 of the X-ray generating device moving in space and the flat panel detector that can be placed freely can realize shooting and imaging of the patient in a conventional standing and lying position, and can also realize shooting and imaging of the patient in an unconventional posture and position, which has a wide application range and high compatibility.

[0219] The X-ray generating device also has an electric power-assisted assembly, which can realize electric power assistance for the movement of the steering head 23 in space, greatly facilitating the operation of the medical staff to align the steering head 23 with the to-be-measured part of the patient, effectively improving the shooting efficiency, and the medical staff can more accurately and stably align the steering head 23 with the to-be-measured part of the patient, which is beneficial to improve the imaging quality of shooting.

[0220] The utility model is described above with specific examples, which is only used for helping to understand the utility model and does not limit the utility model. For the skilled in the art to which the utility model belongs, according to the idea of the utility model, a number of simple deductions, deformations or substitutions can be made.

Claims

1. An X-ray generating apparatus, characterized by comprising: The application relates to a multi-dimensional X-ray machine, comprising the following components: a suspension assembly, comprising a first guide rail, a second guide rail, a moving piece, a lifting arm and a rotating arm, the first guide rail is laid along the X-axis direction, the second guide rail is laid along the Y-axis direction, the second guide rail is movably connected with the first guide rail, the second guide rail can move along the X-axis direction relative to the first guide rail, the moving piece is movably connected with the second guide rail, the moving piece can move along the Y-axis direction relative to the second guide rail; the lifting arm comprises opposite first and second ends, the first end of the lifting arm is connected with the moving piece, and the second end of the lifting arm can be lifted along the Z-axis direction; the rotating arm is connected with the second end of the lifting arm, and the rotating arm can rotate around the Z-axis direction; a head assembly, comprising a connecting seat, a support, a control head and a handle, the connecting seat is connected with the rotating arm, the support is rotatably connected with the connecting seat, the support can rotate around the first direction relative to the connecting seat, the control head is used for generating X-rays and emitting the X-rays to a detection part, the control head is rotatably connected with the support, and the control head can rotate around the second direction relative to the support; the handle is connected with the control head, and the handle is used for a user to operate the moving, the lifting and / or the rotating; an electric power-assisted assembly, comprising a first electric power-assisted piece, a second electric power-assisted piece, a third electric power-assisted piece, a fourth electric power-assisted piece, a fifth electric power-assisted piece and a sixth electric power-assisted piece, the first electric power-assisted piece is connected with the second guide rail, and the first electric power-assisted piece is used for driving the second guide rail to move along the X-axis direction; the second electric power-assisted piece is connected with the moving piece, and the second electric power-assisted piece is used for driving the moving piece to move along the Y-axis direction; the third electric power-assisted piece is connected with the lifting arm, and the third electric power-assisted piece is used for driving the lifting arm to lift along the Z-axis direction; the fourth electric power-assisted piece is connected with the rotating arm, and the fourth electric power-assisted piece is used for driving the rotating arm to rotate around the Z-axis direction; the fifth electric power-assisted piece is connected with the support, and the fifth electric power-assisted piece is used for driving the support to rotate around the first direction relative to the connecting seat; the sixth electric power-assisted piece is connected with the control head, and the sixth electric power-assisted piece is used for driving the control head to rotate around the second direction relative to the support; a combined multi-dimensional force sensor, connected with the handle, and used for detecting the force condition of the handle and generating a corresponding detection signal; and ​ A controller is in signal connection with the combined multi-dimensional force sensor, the first electric power-assisted part, the second electric power-assisted part, the third electric power-assisted part, the fourth electric power-assisted part, the fifth electric power-assisted part and the sixth electric power-assisted part, and is configured to acquire the detection signal and generate a corresponding control signal, and send the control signal to one or more of the first electric power-assisted part, the second electric power-assisted part, the third electric power-assisted part, the fourth electric power-assisted part, the fifth electric power-assisted part and the sixth electric power-assisted part, so as to control the driving of the movement, the lifting and / or the rotation of the control head.

2. The X-ray generating apparatus of claim 1, wherein The first electric power-assisted part comprises a first driving motor, a first transmission wheel and a first transmission belt, the first driving motor and the first transmission wheel are mounted on the second guide rail, the first transmission belt is mounted on the first guide rail along the X-axis direction, the output shaft of the first driving motor is fixedly connected with the first transmission wheel, the first transmission wheel is in transmission connection with the first transmission belt, and the first driving motor is configured to drive the first transmission wheel to move along the X-axis direction relative to the first transmission belt, so as to drive the second guide rail to move along the X-axis direction relative to the first guide rail. The second electric power-assisted part comprises a second driving motor, a second transmission wheel and a second transmission belt, the second driving motor and the second transmission wheel are mounted on the moving part, the second transmission belt is mounted on the second guide rail along the Y-axis direction, the output shaft of the second driving motor is fixedly connected with the second transmission wheel, the second transmission wheel is in transmission connection with the second transmission belt, and the second driving motor is configured to drive the second transmission wheel to move along the Y-axis direction relative to the second transmission belt, so as to drive the moving part to move along the Y-axis direction relative to the second guide rail.

3. The X-ray generating apparatus of claim 1, wherein The third electric power-assisted part comprises a third driving motor, a first transmission assembly and a traction part mounted on the moving part, the third driving motor is connected with the traction part through the first transmission assembly, the traction part extends to be connected with the second end of the lifting arm, and the third driving motor is configured to drive the traction part to move up and down through the first transmission assembly, so as to drive the second end of the lifting arm to move up and down along the Z-axis direction.

4. The X-ray generating apparatus of claim 3, wherein The first transmission assembly comprises two third transmission wheels, a third transmission belt and a roller shaft, the output shaft of the third driving motor is fixedly connected with one of the third transmission wheels, the roller shaft is fixedly connected with the other third transmission wheel, and the two third transmission wheels are connected in linkage through the third transmission belt; and the traction part is a traction rope, the traction rope is wound around the roller shaft, one end of the traction rope is fixedly connected with the roller shaft, and the other end of the traction rope is fixedly connected with the second end of the lifting arm.

5. The X-ray generating apparatus of claim 3, wherein The lifting arm at least comprises a first sub-lifting arm and a second sub-lifting arm, the first sub-lifting arm and the second sub-lifting arm are connected to move up and down along the Z-axis direction, one end of the first sub-lifting arm away from the second sub-lifting arm is the first end of the lifting arm, and one end of the second sub-lifting arm away from the first sub-lifting arm is the second end of the lifting arm; the first sub-lifting arm is a hollow structure, one end of the traction member extends through the first sub-lifting arm to be fixedly connected with the second sub-lifting arm.

6. The X-ray generating apparatus of claim 1, wherein The fourth electric power-assisted member comprises a fourth driving motor, a first helical gear and a second helical gear, the fourth driving motor is installed on the rotating arm, the output shaft of the fourth driving motor is fixedly connected with the first helical gear, the second helical gear is fixedly connected with the second end of the lifting arm, the first helical gear and the second helical gear are meshingly connected, the central axis of the second helical gear is parallel to the Z-axis direction, and the central axis of the first helical gear is crossly arranged with the central axis of the second helical gear.

7. The X-ray generating apparatus of claim 6, wherein The central axis of the first helical gear is perpendicularly arranged with the central axis of the second helical gear.

8. The X-ray generating apparatus of claim 6, wherein The rotating arm is a hollow structure, the fourth driving motor, the first helical gear and at least part of the second helical gear are located in the rotating arm.

9. The X-ray generating apparatus of claim 6, wherein The second helical gear is a hollow structure, the second end of the lifting arm is rotationally connected with the rotating arm through a first rotating shaft, and the first rotating shaft is arranged in the middle of the second helical gear.

10. The X-ray generating apparatus of claim 1, wherein The suspension assembly further comprises a first limiting structure, the first limiting structure comprises a first limiting member and a second limiting member, the first limiting member is installed on the second end of the lifting arm, the second limiting member is arranged on the rotating arm, the first limiting member is installed on the track of the second limiting member rotationally arranged in the circumferential direction, and the first limiting member and the second limiting member abut each other to limit the angle range of the rotating arm rotating around the Z-axis direction to-180°~+180°.

11. The X-ray generating apparatus of claim 10, wherein The first limiting member comprises a swinging member and an angle limiting member, one end of the swinging member is rotationally connected with the second end of the lifting arm, the other end of the swinging member is a limiting end, the limiting end is used for blocking and abutting against the second limiting member, and the angle limiting member is arranged on the track of the swinging member swinging.

12. The X-ray generating apparatus of claim 11, wherein The middle part of the swinging member is provided with a first arc-shaped groove or a first arc-shaped hole, part of the angle limiting member is located in the first arc-shaped groove or the first arc-shaped hole, and the first arc-shaped groove or the first arc-shaped hole has a preset arc length to limit the swinging angle of the swinging member.

13. The X-ray generating apparatus of claim 1, wherein The suspension assembly further comprises a positioning structure, the positioning structure comprises a first positioning member and a second positioning member, one of the first positioning member and the second positioning member is installed on the second end of the lifting arm, and the other of the first positioning member and the second positioning member is installed on the rotating arm; the first positioning member is an annular structure, a plurality of positioning holes are arranged on a circumference of the first positioning member, and an elastic part of the second positioning member is retractable and can be clamped into the positioning holes to position the rotating angle of the rotating arm.

14. The X-ray generating apparatus of claim 1, wherein The fifth electric power-assisted component comprises a fifth driving motor and a transmission shaft, the fifth driving motor is installed on the connecting seat, one end of the transmission shaft is fixedly connected with an output shaft of the fifth driving motor, and the other end of the transmission shaft is fixedly connected with the support, and the transmission shaft is parallel to the first direction.

15. The X-ray generating apparatus of claim 14, wherein The head assembly further comprises a second limiting structure, the second limiting structure comprises a third limiting member and two fourth limiting members, the third limiting member is installed on the transmission shaft, and the two fourth limiting members are installed on the connecting seat; the two fourth limiting members are arranged on a track in which the third limiting member rotates circumferentially, and the two fourth limiting members are respectively used for abutting against the third limiting member to limit the angle range of the support rotating around the first direction to-140°~+140°.

16. The X-ray generating apparatus of claim 1, wherein The sixth electric power-assisted component comprises a sixth driving motor and a second transmission assembly, the sixth driving motor is installed on the control head, and the sixth driving motor is connected with the support through the second transmission assembly; the sixth driving motor is used for driving the support to rotate around the second direction through the second transmission assembly.

17. The X-ray generating apparatus of claim 16, wherein The support and the control head are rotationally connected through a second rotating shaft, the second transmission assembly comprises two fourth transmission wheels and a fourth transmission belt, an output shaft of the sixth driving motor is fixedly connected with one of the fourth transmission wheels, the other fourth transmission wheel is fixedly connected with the support and is coaxially arranged with the second rotating shaft, and the two fourth transmission wheels are connected through the fourth transmission belt.

18. The X-ray generating apparatus of claim 1, wherein The head assembly further comprises a third limiting structure, the third limiting structure comprises a fifth limiting member and a sixth limiting member, one of the fifth limiting member and the sixth limiting member is installed on the support, and the other of the fifth limiting member and the sixth limiting member is installed on the control head; the fifth limiting member is provided with a second arc-shaped groove or a second arc-shaped hole, part of the sixth limiting member is clamped into the second arc-shaped groove or the second arc-shaped hole, the sixth limiting member moves along the second arc-shaped groove or the second arc-shaped hole, and the second arc-shaped groove or the second arc-shaped hole is provided with a preset arc length to limit the angle range of the control head rotating around the second direction to-10°~+90°.

19. The X-ray generating apparatus of claim 1, wherein The combined multi-dimensional force sensor comprises a force sensor group, the force sensor group comprises one or more of one-dimensional force sensors, two-dimensional force sensors and three-dimensional force sensors, the force sensor group is used for detecting forces of the handle in first, second and third directions and outputting the detection signals representing movement of the handle along an X-axis direction, movement of the handle along a Y-axis direction, lifting of the handle along a Z-axis direction, rotation of the handle around the Z-axis direction, rotation of the handle around the first direction and / or rotation of the handle around the second direction.

20. The X-ray generating apparatus of claim 19, wherein The force sensor group comprises at least four two-dimensional force sensors, the at least four two-dimensional force sensors are divided into a first group and a second group, the first group and the second group comprise two two-dimensional force sensors arranged oppositely, the two two-dimensional force sensors of the first group are used for detecting forces of the handle in the first and second directions, the two two-dimensional force sensors of the second group are used for detecting forces of the handle in the first and third directions, and the first, second and third directions are not coplanar.

21. The X-ray generating apparatus of claim 20, wherein The at least four two-dimensional force sensors are distributed in a quadrilateral shape, and the quadrilateral shape is a planar quadrilateral or a three-dimensional quadrilateral.

22. The X-ray generating apparatus of claim 21, wherein The plane where the quadrilateral shape is located is parallel to the plane where the handle is located, the quadrilateral shape is a rectangle, the two two-dimensional force sensors of the first group are symmetrically arranged on two sides of the rectangle, and the two two-dimensional force sensors of the second group are symmetrically arranged on the other two sides of the rectangle; or, one two-dimensional force sensor is arranged at the center of each side of the rectangle; or, one two-dimensional force sensor is arranged at each corner of the rectangle.

23. The X-ray generating apparatus of claim 19, wherein The force sensor group comprises at least three three-dimensional force sensors, the three three-dimensional force sensors are distributed at three vertices of a triangle, the plane where the triangle is located is parallel to the plane where the handle is located, and the three-dimensional force sensors are used for detecting forces in first, second and third directions, and the first, second and third directions are not coplanar.

24. The X-ray generating apparatus of claim 19, wherein The first, second and third directions are perpendicular to each other, and the first direction is perpendicular to the plane where the handle is located.

25. The X-ray generating apparatus of any one of claims 19 to 24, wherein, The combined multi-dimensional force sensor further comprises a first fixing frame and a second fixing frame, the force sensor group is mounted between the first fixing frame and the second fixing frame, the first fixing frame is connected with the control head, and the second fixing frame is connected with the handle.

26. The X-ray generating apparatus of claim 25, wherein The force sensor group is fixedly connected with the first fixing frame and the second fixing frame.

27. The X-ray generating apparatus of claim 25, wherein The force sensor group is connected with the first fixing frame and the second fixing frame, and there is a movement gap between the force sensor group and the first fixing frame and / or the second fixing frame, and the force sensor group can move in the gap.

28. The X-ray generating apparatus of claim 25, wherein, The connection part of the handle and the control head is a rectangular structure, the rectangular structure is connected with the second fixing frame, and the outer contour of the first fixing frame and the second fixing frame is flush with the outer contour of the rectangular structure.

29. The X-ray generating apparatus of claim 1, wherein The combined multi-dimensional force sensor comprises a six-dimensional force sensor for detecting forces in a first direction, a second direction and a third direction, and outputting detection signals representing movement of the handle along an X-axis direction, movement along a Y-axis direction, lifting along a Z-axis direction, rotation around the Z-axis direction, rotation around the first direction and / or rotation around the second direction.

30. The X-ray generating apparatus of claim 1, wherein The second end of the lifting arm is rotationally connected to the rotating arm, or the second end of the lifting arm is rotationally connected to the first end.

31. An X-ray generating apparatus, comprising: Comprise: A suspension assembly comprising a first guide rail, a second guide rail, a moving member, a lifting arm and a rotating arm, the first guide rail is laid along an X-axis direction, the second guide rail is laid along a Y-axis direction, the second guide rail is movably connected to the first guide rail, the second guide rail can move along the X-axis direction relative to the first guide rail, the moving member is movably connected to the second guide rail, the moving member can move along the Y-axis direction relative to the second guide rail; the lifting arm comprises opposite first and second ends, the first end of the lifting arm is connected to the moving member, the second end of the lifting arm can lift along a Z-axis direction relative to the first end; the rotating arm is connected to the second end of the lifting arm, and the rotating arm can rotate around the Z-axis direction relative to the first end of the lifting arm; And A head assembly comprising a connecting seat, a support, a control head and a handle, the connecting seat is connected to the rotating arm, the support is rotationally connected to the connecting seat, the support can rotate around a first direction relative to the connecting seat, the control head is used for emitting X-rays to a detection site, the control head is rotationally connected to the support, and the control head can rotate around a second direction relative to the support; the handle is connected to the control head, and the handle is used by a user to operate movement, lifting and / or rotation of the control head.

32. The X-ray generating apparatus of claim 31, wherein Also comprising: An electric power-assisted assembly comprising at least one electric power-assisted member, the at least one electric power-assisted member is connected to at least one of the second guide rail, the moving member, the lifting arm, the rotating arm, the support and the control head, and the at least one electric power-assisted member is used to drive at least one of the second guide rail to move along the X-axis direction relative to the first guide rail, the moving member to move along the Y-axis direction relative to the second guide rail, the second end of the lifting arm to lift along the Z-axis relative to the first end, the rotating arm to rotate around the Z-axis relative to the lifting arm, the support to rotate around the first direction relative to the rotating arm, and the control head to rotate around the second direction relative to the support; A combined multi-dimensional force sensor connected to the control head and the handle, the combined multi-dimensional force sensor is used to detect force direction and force size of the handle and generate corresponding detection signals; And A controller connected to the combined multi-dimensional force sensor and the at least one electric power-assisted member, the controller is used to obtain the detection signals and generate corresponding control signals, and send the control signals to the at least one electric power-assisted member to control driving movement, lifting and / or rotation of the control head.

33. The X-ray generating apparatus of claim 32, wherein The combined multi-dimensional force sensor comprises a force sensor group, the force sensor group comprises at least four two-dimensional force sensors, the at least four two-dimensional force sensors are divided into a first group and a second group, the first group and the second group comprise two two-dimensional force sensors arranged oppositely, the two two-dimensional force sensors of the first group are used for detecting forces in a first direction and a second direction of the handle, the two two-dimensional force sensors of the second group are used for detecting forces in a first direction and a third direction, the first direction, the second direction and the third direction are not in the same plane.

34. The X-ray generating apparatus of claim 33, wherein The combined multi-dimensional force sensor further comprises a first fixing frame and a second fixing frame, the force sensor group is installed between the first fixing frame and the second fixing frame, the first fixing frame is connected with the control head, and the second fixing frame is connected with the handle.

35. The X-ray generating apparatus of claim 34, wherein, The connecting part of the handle and the control head is a rectangular structure, the rectangular structure is connected with the second fixing frame, and the outer contours of the first fixing frame and the second fixing frame are flush with the outer contour of the rectangular structure.

36. The X-ray generating apparatus of claim 33, wherein, The first direction, the second direction and the third direction are perpendicular to each other, and the first direction is perpendicular to the plane where the handle is located.

37. An X-ray generating apparatus, comprising: It comprises: A suspension assembly comprises a first guide rail, a second guide rail, a moving part, a lifting arm and a rotating arm, the first guide rail is laid along the X-axis direction, the second guide rail is laid along the Y-axis direction, the second guide rail is movably connected with the first guide rail, the second guide rail can move along the X-axis direction relative to the first guide rail, the moving part is movably connected with the second guide rail, and the moving part can move along the Y-axis direction relative to the second guide rail; the lifting arm comprises opposite first and second ends, the first end of the lifting arm is connected with the moving part, and the second end of the lifting arm can be lifted along the Z-axis direction relative to the first end; the rotating arm is connected with the second end of the lifting arm, and the rotating arm can rotate around the Z-axis direction relative to the second end of the lifting arm; A head assembly comprises a connecting seat, a support, a control head and a handle, the connecting seat is connected with the rotating arm, the support is rotatably connected with the connecting seat, the support can rotate around the first direction relative to the connecting seat, the control head is used for emitting X-rays to a detection site, and the control head is connected with the support; the handle is connected with the control head, and the handle is used for a user to operate the movement, lifting and / or rotation of the control head; An electric power-assisted assembly comprises at least one electric power-assisted part, the at least one electric power-assisted part is connected with at least one of the second guide rail, the moving part, the lifting arm, the rotating arm and the support, and the at least one electric power-assisted part is used to drive the second guide rail to move along the X-axis direction relative to the first guide rail, the moving part to move along the Y-axis direction relative to the second guide rail, the second end of the lifting arm to lift along the Z-axis relative to the first end, the rotating arm to rotate around the Z-axis relative to the lifting arm, and the support to rotate around the Y-axis relative to the rotating arm. A combined multi-dimensional force sensor connected with the handle and the grip, the combined multi-dimensional force sensor being configured to detect a force direction and a force magnitude of the grip and generate a corresponding detection signal; and A controller connected with the combined multi-dimensional force sensor and the at least one electric power-assisted component, the controller being configured to acquire the detection signal and generate a corresponding control signal, and send the control signal to the at least one electric power-assisted component to control the movement, the lifting and / or the rotation of the handle.

38. The X-ray generating apparatus of claim 37, wherein The electric power-assisted component includes a first electric power-assisted component, a second electric power-assisted component, a third electric power-assisted component, a fourth electric power-assisted component and a fifth electric power-assisted component, the first electric power-assisted component being connected with the second guide rail, the first electric power-assisted component being configured to drive the second guide rail to move along the X-axis direction, the second electric power-assisted component being connected with the moving component, the second electric power-assisted component being configured to drive the moving component to move along the Y-axis direction; the third electric power-assisted component being connected with the lifting arm, the third electric power-assisted component being configured to drive the second end of the lifting arm to lift relative to the first end along the Z-axis direction; the fourth electric power-assisted component being connected with the rotating arm, the fourth electric power-assisted component being configured to drive the rotating arm to rotate relative to the lifting arm around the Z-axis direction; the fifth electric power-assisted component being connected with the support, the fifth electric power-assisted component being configured to drive the support to rotate relative to the rotating arm around the first direction. A controller connected with the first electric power-assisted component, the second electric power-assisted component, the third electric power-assisted component, the fourth electric power-assisted component and the fifth electric power-assisted component, the controller being configured to acquire the detection signal and generate a corresponding control signal, and send the control signal to one or more of the first electric power-assisted component, the second electric power-assisted component, the third electric power-assisted component, the fourth electric power-assisted component and the fifth electric power-assisted component to control the movement, the lifting and / or the rotation of the handle. The combined multi-dimensional force sensor includes a force sensor group, the force sensor group including at least four two-dimensional force sensors, the at least four two-dimensional force sensors being divided into a first group and a second group, the first group and the second group including two two-dimensional force sensors arranged oppositely, the two two-dimensional force sensors of the first group being configured to detect a force in a first direction and a second direction of the grip, the two two-dimensional force sensors of the second group being configured to detect a force in a first direction and a third direction.

39. The X-ray generating apparatus of claim 38, wherein, The combined multi-dimensional force sensor further includes a first fixing frame and a second fixing frame, the force sensor group being installed between the first fixing frame and the second fixing frame, the first fixing frame being connected with the handle, and the second fixing frame being connected with the grip.

40. The X-ray generating apparatus of claim 39, wherein, The connection part of the grip and the handle is a rectangular structure, the rectangular structure being connected with the second fixing frame, and the outer contour of the first fixing frame and the second fixing frame being flush with the outer contour of the rectangular structure.

41. The X-ray generating apparatus of claim 40, wherein, The X-ray generating device according to any one of claims 1 to 41; 42. An x-ray imaging system, characterized by, ​ ​ The flat panel detector can be placed in a first shooting position away from a cassette housing the flat panel detector, and can also be placed in a second shooting position housed in the cassette; the control head is used to align the flat panel detector, and the flat panel detector is used to collect X-rays passing through the to-be-detected part and generate corresponding imaging signals, and the imaging signals are used to obtain a shot X-ray image.

Images