Ceiling-Mounted X-Ray Robot Arm Segmentation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing X-ray imaging systems face challenges in optimizing space usage and user comfort due to the bulkiness of C-arms and the increasing amount of equipment, necessitating further improvements in terms of space efficiency and user flexibility.
Innovation Solution
A holding arrangement for an X-ray imaging device comprising a lower source robot and an upper detector robot, where the upper detector robot has a geometric scheme with a short first arm and a longer second arm, both pivoting around horizontal axes, and the upper base is mounted to a ceiling support, allowing for maximum flexibility and reduced arm lengths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a C-arm is used to carry and align the X-ray tube and detector, then different viewing directions can be provided, but the system becomes bulky and occupies more space
Solution Approach 1:
The C-arm structure is segmented into separate robot arms - a first robot arm for holding the X-ray tube and a second robot arm for holding the detector. This segmentation allows each arm to be independently positioned and controlled, providing viewing direction flexibility while reducing the overall space occupation compared to a bulky C-arm structure.
Solution Approach 2:
The system transitions from a two-dimensional C-arm rotation to three-dimensional robot arm positioning. The robot arms can move in multiple degrees of freedom, allowing the X-ray tube and detector to be positioned from different directions and angles, thereby providing viewing direction flexibility without requiring a large C-arm structure.
2Adaptability or versatility
If individual supports for source and detector are used, then user flexibility is improved, but the amount of equipment increases and space efficiency decreases
Solution Approach 1:
The system merges the support functions into a integrated robot-controlled platform where a first robot arm supports the X-ray tube and a second robot arm supports the detector. This merging approach provides individual positioning capability for each component (maintaining user flexibility) while coordinating their movements through a unified control system (reducing equipment amount and improving space efficiency).
3Adaptability or versatility
If longer arm lengths are used in the detector robot, then the detector can reach more positions, but more torque is required during operation
Solution Approach 1:
The robot arm system employs dynamic control where the arm lengths and configurations can be adjusted based on the required detector position. The system optimizes the arm configuration to achieve the necessary reach range while minimizing the torque requirements through real-time control and coordination of multiple joints.
Solution Approach 2:
The system changes the operational parameters of the robot arm, specifically optimizing the arm length ratio (second arm at least twice as long as the first arm) and joint configurations to achieve maximum detector reach while keeping the torque requirements within acceptable limits for the drive system.
4Area of stationary object
If longer arm lengths are used, then the detector can cover a larger area, but the building height requirement increases
Solution Approach 1:
The system achieves large detector coverage area not by increasing vertical height, but by utilizing three-dimensional robot arm movement in multiple directions. The robot arms can position the detector laterally and vertically through coordinated joint movements, allowing comprehensive area coverage within a compact building height envelope.
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
The present invention relates to movably holding parts of an X-Ray imaging device. In order to provide further facilitated and space-saving medical X-ray imaging, a holding arrangement (10) for an X-ray imaging device is provided. The arrangement comprises a lower source robot (12) for movably holding an X-ray source and an upper detector robot (14) for movably holding an X-ray detector. The upper detector robot comprises an upper base (16), a first upper arm (18), a second upper arm (20) and a detector mount (22). The upper base comprises an upper base plate (24) and an upper base mount (26) rotatably connected to the upper base plate, wherein the upper base plate is configured to be movably mounted to a ceiling support. The first upper arm is rotatably connected to the upper base mount, the second upper arm is rotatably connected to the first upper arm and the detector mount is rotatably connected to the second upper arm. The second upper arm comprises two arm portions (28, 30) that are rotatably connected around a longitudinal upper arm axis (32) of the second upper arm. The second upper arm is having a greater length than the first upper arm.