Mobile X-ray Positioning via Mechanical Link Angle Encoders
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Solution Overview
Problem
Conventional X-ray imaging systems for angiographic examinations face challenges such as cumbersome design, insufficient power for image quality, limited angulations, and difficulty in moving due to large and heavy equipment, as well as contamination risks with ceiling-mounted systems. Additionally, existing navigation systems for mobile devices are expensive and prone to environmental disruptions.
Innovation Solution
An X-ray imaging apparatus mounted on an automatic mobile device with a mechanical link system that uses angle encoders to determine its position relative to a reference point, allowing for precise location and movement without environmental interaction, using a system of beams and calculating means to compute coordinates and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If X-ray apparatus is fixed to the ground with multi-degree-of-freedom arm, then positioning accuracy is improved, but patient access and mobility are worsened
Solution Approach 1:
The system transitions from a static fixed apparatus to a dynamic mobile robot platform that can automatically position itself. The mobile device with multiple wheels and adjustable arms provides both mobility for patient access and positioning capability for accurate radiography through automated control.
2Ease of operation
If mobile X-ray apparatus is mounted on carriage with batteries, then mobility is improved, but power output and image quality are worsened
Solution Approach 1:
The system separates the mobile platform (carriage with batteries) from the X-ray generation system. The mobile unit provides mobility and power, while the X-ray tube and detector are mounted on adjustable arms that can be positioned independently, allowing sufficient power delivery without compromising mobility.
3Volume of moving object
If mobile X-ray apparatus uses small diameter arm, then device size is reduced, but angulation capability and rotation speed are worsened
Solution Approach 1:
The system uses a nested structure where a smaller diameter arm is positioned within or alongside a larger diameter arm. This allows the compact mobile device to achieve complex angulations through coordinated movement of multiple arms with different diameters, maintaining both compactness and versatility.
4Measurement precision
If ceiling-mounted system with guide rails is used, then positioning precision is improved, but contamination risk and ease of installation are worsened
Solution Approach 1:
The system replaces the mechanical guide rail system with a mobile robot platform that uses sensors, encoders, and automated navigation to achieve positioning. This eliminates the physical rails that are difficult to clean and sources of contamination, while maintaining positioning precision through electronic control and feedback mechanisms.
5Measurement precision
If optical readers or GPS are used for navigation, then position determination capability is improved, but cost and environmental sensitivity are worsened
Solution Approach 1:
The system uses mechanical links with angle encoders as intermediaries to determine position. Instead of directly using expensive optical readers or GPS, the position is inferred through mechanical measurement of link angles and lengths, providing a more cost-effective and environmentally robust solution.
Data Source
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AI summary
This system for determining the position of an X-ray imaging apparatus (1) mounted on an automatic mobile device (8) comprises at least one mechanical link jointed to a reference point (17) and to the apparatus and a set of measuring means (22) for measuring a variation of rotation angles of said link relating to the reference point and to the apparatus, when moved.