Robotic Arm Mobile X-ray System Torque Balancing
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Solution Overview
Problem
Current mobile C-arm x-ray imaging systems have limited isocenter displacement and range of motion, making it difficult to conduct x-ray examinations from multiple positions without repositioning the patient, which restricts the flexibility and effectiveness of imaging.
Innovation Solution
A mobile x-ray imaging system with a robotic arm comprising three links and four joints, coupled to a C-arm gantry, allows for increased isocenter displacement and range of motion, along with a torque balancing system using springs to reduce motor load, enabling precise adjustment of the x-ray source and detector for various imaging modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional mobile C-arm x-ray imaging system is used, then the system is mobile and can be positioned in operating or exam situations, but the isocenter displacement and range of motion are limited, making it difficult to conduct examinations from multiple positions without repositioning the patient
Solution Approach 1:
The robotic arm is divided into three separate links (first link, second link, third link) connected by joints, allowing independent movement of each segment. This segmentation enables the system to achieve a broader range of motion compared to a rigid single-structure C-arm, while maintaining mobility and adaptability for multiple imaging positions.
Solution Approach 2:
The system transitions from a static C-arm structure to a dynamic robotic arm with three links and four joints that can be actively controlled and repositioned. The robotic arm's links and joints provide dynamic adjustment capabilities, enabling the x-ray source and detector to be positioned at various locations around the patient without requiring patient repositioning.
2Adaptability or versatility
If the robotic arm with three links and four joints is used to increase isocenter displacement, then the flexibility and range of motion are improved, but the device complexity and motor load increase
Solution Approach 1:
A torque balancing system using springs is implemented to counteract the weight and gravitational forces acting on the robotic arm's three links. The springs provide counterbalancing torque that reduces the motor load required to move and position the links, enabling the system to achieve increased isocenter displacement and range of motion without proportionally increasing energy consumption.
3Measurement precision
If the robotic arm with three links and four joints is used, then the precision in positioning the x-ray source and detector is improved, but the device complexity increases
Solution Approach 1:
The robotic arm employs an asymmetric configuration with three links of different lengths and four joints at different positions and orientations. This asymmetric design allows for optimized positioning precision in specific imaging scenarios while maintaining overall system manageability. The asymmetric structure enables fine-tuned adjustment of the x-ray source and detector positions without requiring overly complex symmetric mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides enhanced flexibility and precision in positioning the x-ray source and detector, allowing for multiple imaging modes, including cone beam computed tomography and linear tomosynthesis, without the need for patient repositioning, thereby improving diagnostic capabilities.
Implementation Method 1
a torque balancing system using springs to reduce motor load
Implementation Method 2
x-rays emitted by the x-ray source are incident on and detected by the x-ray detector
Data Source
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AI summary
Various methods and systems are provided for a mobile x-ray imaging system. In one embodiment, a system comprises a gantry with an x-ray source and an x-ray detector mounted thereon opposite each other, a carrier coupled to the gantry and configured to rotate the gantry relative to the carrier, and a robotic arm coupling the carrier to a base, the robotic arm comprising at least three links and four joints.