Robot-Controlled C-Arm Synchronization via Virtual Axis
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing C-arm x-ray systems for tomographic imaging require cumbersome and force-intensive movements, and robot-guided systems face synchronization challenges during orbital movements, making it difficult to record synchronized two-dimensional x-ray images for accurate three-dimensional reconstruction.
Innovation Solution
A robot-controlled recording device with a robotic hand having multiple axes of movement, where an additional drive and encoder create a synchronization signal for the recording system, allowing for synchronized movements by simulating relative rotational and shifting movements, enabling easy execution of orbital movements without mechanical connection to the support unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot with multiple axes of movement is used to guide the recording system in orbital movements, then ease of operation and patient access are improved, but synchronization of data recording becomes difficult
Solution Approach 1:
A virtual axis is introduced as an intermediary between the robot's physical axes and the recording system. This virtual axis serves as a mediator that translates complex multi-axis robot movements into a simple rotational reference that the recording system can synchronize with, using a trigger signal derived from the virtual axis rotation.
Solution Approach 2:
The patent replaces the need for direct mechanical connection between the robot and recording system with a computational approach. A transformation matrix mathematically relates the robot's joint angles to the recording system's orientation, substituting complex mechanical synchronization with software-based coordinate transformation and trigger signal generation.
2Manufacturing precision
If a C-arm is pushed back and forth for tomographic imaging, then three-dimensional reconstruction is enabled, but the operation becomes cumbersome and force-intensive
Solution Approach 1:
The patent replaces manual mechanical pushing of the C-arm with automated robotic positioning. The robot controller executes pre-programmed movement sequences that accurately position the recording system at required angles for tomographic imaging, eliminating the need for manual force application while maintaining precise angular positioning for 3D reconstruction.
Solution Approach 2:
The system changes from manual position control to automated position control with precise angular parameters. The robot controller manages multiple joint angles and coordinates to achieve the required orbital movement around the patient, transforming the operation from force-intensive manual pushing to precision-controlled automated positioning.
Data Source
AI summary
The invention relates to a robot-controlled recording device comprising a robot with a number of axes of movement which are able to be controlled via a robot controller for moving a robotic hand and a recording system fitted to the robotic hand which is able to be moved by the robot for recording data of an object supported on a support unit. The robot controller is connected to an additional drive and controls this for moving the robotic hand synchronized to the axes of movement such that the additional drive would create a relative rotation and/or translation movement between the recording system and the support unit created by the movement of the robotic hand solely by a movement of the support unit with a stationary robotic hand. The drive is however connected not to the support unit but to an encoder for creating a synchronization signal for the recording.