CN109925605A - A kind of C arm device for image - Google Patents

Abstract

The present invention discloses a kind of C arm device for image, wherein, first X-ray bulb and the second X-ray bulb are separately fixed at the end at the both ends of C arm segmental arc, the first mounting bracket and the second mounting bracket are provided in the ring of C arm segmental arc, the plane where plane and the second mounting bracket where first mounting bracket is parallel with the axis of C arm segmental arc, first X-ray flat panel detector is arranged in the first mounting bracket, second X-ray flat panel detector is arranged in the second mounting bracket, slide track seat is provided on bracket, arc-shaped guide rail is fixedly connected with C arm segmental arc, arc-shaped guide rail is slidably disposed on slide track seat, driving device drives the rotation of C arm segmental arc.C arm device for image provided by the invention can be realized 360 degree of imagings, multi-angle and omnibearing imaging.The invention also discloses a kind of robot radiation therapy devices using above-mentioned C arm device for image.

Description

A C-arm imaging device

technical field

The invention relates to the technical field of medical equipment, in particular to a C-arm imaging device.

Background technique

During the radiotherapy process, the patient's lesions are accurately transferred to the standard treatment position under the C-arm imaging therapy equipment, and the C-arm imaging system is used to guide the positioning and precise positioning during the treatment process. In the c-arm imaging in the prior art, the inner ring of the c-arm only rotates around the outer ring of the c-arm, which cannot achieve 360-degree imaging, and cannot achieve multi-angle and omnidirectional imaging.

Therefore, how to provide a C-arm imaging device to realize multi-angle imaging is a technical problem to be solved urgently by those skilled in the art.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a C-arm imaging device to realize multi-angle imaging.

In order to achieve the above object, the present invention provides the following technical solutions:

A C-arm imaging device includes a bracket and an X-ray imaging device, wherein the X-ray imaging device includes a first X-ray tube, a second X-ray tube, and a first X-ray tube used in cooperation with the first X-ray tube. The X-ray flat-panel detector, the second X-ray flat-panel detector used in cooperation with the second X-ray tube, further comprise a driving device, an arc-shaped guide rail and a C-arm arc segment,

The first X-ray tube is fixed at the end of one end of the C-arm arc segment, and the second X-ray tube is fixed at the end of the other end of the C-arm arc segment,

A first mounting bracket and a second mounting bracket are arranged in the ring of the C-arm arc segment, and the plane where the first mounting bracket is located and the plane where the second mounting bracket is located are both aligned with the axis of the C-arm arc segment. parallel, the first X-ray flat panel detector is arranged on the first mounting bracket, the second X-ray flat panel detector is arranged on the second mounting bracket,

The support is provided with a slide rail seat,

The arc-shaped guide rail is fixedly connected with the C-arm arc segment, and the arc-shaped guide rail is slidably arranged on the slide rail seat,

The driving device drives the C-arm arc segment to rotate.

Preferably, the above-mentioned support further includes a base and a moving platform, and the moving platform includes an X-axis moving platform and a Y-axis moving platform,

The bottommost rotary joint of the robot arm is connected with the base,

The base is connected with the Y-axis moving platform, and the Y-axis moving platform is connected with the X-axis moving platform;

or,

The bracket also includes a base and a moving platform, the base is mounted on the moving platform, the bottommost rotary joint of the robot arm is connected to the base, and the robot arm is on the base. any rotation.

Preferably, the first installation bracket is a first linear guide rail, the second installation bracket is a second linear guide rail, and the first X-ray flat panel detector is movably arranged on the first installation bracket, so The second X-ray flat panel detector is movably arranged on the second mounting bracket.

Preferably, the above-mentioned driving device includes a motor and a driving gear that are connected together, and a ring gear meshing with the driving gear is provided on the outer wall of the arc segment of the C-arm.

Preferably, the above-mentioned driving device includes a motor, a tensioning pulley, a pulley and an opening belt,

The pulley is arranged on the slide rail seat, the opening belt passes through the two ends of the pulley and is fixed to the ends of the two ends of the C-arm arc segment, and the tension pulleys are respectively correspondingly arranged on the slide rail seat. On both sides of the pulley, the pulley is connected to the motor.

Preferably, reinforcing ribs arranged along the radial direction of the C-arm arc segment are fixed in the ring of the C-arm arc segment.

Preferably, the first X-ray flat panel detector is connected to the first linear guide rail through a screw nut structure, and the second X-ray flat panel detector is connected to the second linear guide rail through a screw nut structure.

Preferably, the above-mentioned C-arm imaging device further includes a first linear motor and a second linear motor, and the first linear motor drives the first X-ray flat panel detector to move linearly on the first linear guide rail , the second linear motor drives the second X-ray flat panel detector to move linearly on the second linear guide rail.

Preferably, the above-mentioned lead screw and nut structures are all driven by motors.

Preferably, the connection line between the first X-ray tube and the first X-ray flat panel detector is the same as the connection line between the second X-ray tube and the second X-ray flat panel detector. pay.

Preferably, the above-mentioned bracket includes a robot arm, the robot arm includes at least one rotary joint, and the slide rail seat is connected to the working end of the robot arm.

The present invention also provides a robotic radiotherapy device, including an imaging device, a treatment robot and a treatment couch, wherein the treatment couch and the treatment robot are respectively located on both sides of the imaging device, and the imaging device is any one of the above The C-arm imaging device.

The C-arm imaging device provided by the present invention includes a bracket and an X-ray imaging device. The X-ray imaging device includes a first X-ray tube, a second X-ray tube, and a A first X-ray flat panel detector, a second X-ray flat panel detector used in cooperation with the second X-ray tube, further comprising a driving device, an arc guide and a C-arm arc segment, the first X-ray tube The second X-ray tube is fixed at the end of one end of the C-arm arc segment, the second X-ray tube is fixed at the end of the other end of the C-arm arc segment, and a first X-ray tube is arranged in the ring of the C-arm arc segment. The mounting bracket and the second mounting bracket, the plane where the first mounting bracket is located and the plane where the second mounting bracket is located are both parallel to the axis of the C-arm arc segment, and the first X-ray flat panel detector is arranged at On the first installation bracket, the second X-ray flat panel detector is arranged on the second installation bracket, the bracket is provided with a slide rail seat, and the arc guide rail is fixed to the C-arm arc segment The arc-shaped guide rail is slidably arranged on the slide rail seat, and the driving device drives the C-arm arc segment to rotate, which can realize multi-angle imaging.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an X-ray imaging device according to an embodiment of the present invention;

2 is a schematic structural diagram of a robotic radiotherapy apparatus provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a C-arm imaging device according to an embodiment of the present invention.

In Figures 1-3 above:

C-arm arc segment 1, arc guide 2, first X-ray tube 3, second X-ray tube 4, first linear guide 5, first X-ray flat panel detector 6, reinforcing rib 7, beam limiting device 8. The treatment couch 9 , the treatment robot 10 , the base 11 , the X-axis moving platform 12 , and the Y-axis moving platform 13 .

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of an X-ray imaging device according to an embodiment of the present invention.

The C-arm imaging device provided by the embodiment of the present invention includes a bracket and an X-ray imaging device. The X-ray imaging device includes a first X-ray tube 3 , a second X-ray tube 4 , and is used in cooperation with the first X-ray tube 3 The first X-ray flat panel detector 6, the second X-ray flat panel detector used in conjunction with the second X-ray tube 4, also includes a driving device, an arc guide 2 and a C-arm arc segment 1, the first X-ray ball The tube 3 is fixed at the end of one end of the C-arm arc segment 1, the second X-ray tube 4 is fixed at the end of the other end of the C-arm arc segment 1, and the ring of the C-arm arc segment 1 is provided with a first mounting bracket and second mounting bracket.

The first X-ray flat panel detector 6 is arranged on the first mounting bracket, specifically, it can be fixed on the first mounting bracket, or can be movably arranged on the first mounting bracket, and the second X-ray flat panel detector 6 It is arranged on the second installation bracket, specifically, it can be fixed on the second installation bracket, or it can be movably arranged on the second installation bracket, wherein the first installation bracket can be the first linear guide rail 5, The second mounting bracket can be a second linear guide rail, the plane where the first linear guide rail 5 is located and the plane where the second linear guide rail is located are both parallel to the axis of the C-arm arc segment 1, and the first X-ray flat panel detector 6 can move Set on the first linear guide 5, the second X-ray flat panel detector is movably set on the second linear guide, the bracket is provided with a slide rail seat, the arc guide 2 is fixedly connected with the C arm arc segment 1, and the arc The shaped guide rail 2 is slidably arranged on the slide rail seat, and the driving device drives the C-arm arc segment 1 to rotate, which can realize multi-angle imaging.

Wherein, the first X-ray flat panel detector 6 is movably arranged on the first installation bracket, and the second X-ray flat panel detector 6 is movably arranged on the second installation bracket, which can enlarge the imaging area.

The beam end of the first X-ray tube 3 and the second X-ray tube 4 are respectively provided with beam limiting devices 8 for limiting the x-ray shapes of the first X-ray tube 3 and the second X-ray tube 4 .

In order to further optimize the above solution, the drive device includes a motor and a drive gear that are connected together, and a ring gear that meshes with the drive gear is provided on the outer wall of the C-arm arc segment 1 . Alternatively, the driving device includes a motor, a tensioning pulley, a pulley and an open belt, two tensioning pulleys are suitable, the pulley is arranged on the slide rail seat, and the open belt passes through the two ends of the pulley and is fixed at both ends of the C-arm arc section 1. At the end, two tensioning pulleys are correspondingly arranged on both sides of the slide rail seat, and the pulley is connected with the motor.

Wherein, a reinforcing rib 7 arranged along the radial direction of the C-arm arc segment 1 is fixed in the ring of the C-arm arc segment 1 . The reinforcing rib 7 is used to reinforce the rigidity of the C-arm arc segment 1 .

In order to further optimize the above solution, the first X-ray flat panel detector 6 is connected to the first linear guide rail 5 through a screw nut structure, and the second X-ray flat panel detector is connected to the second linear guide rail through a screw nut structure. Among them, the screw nut structure is driven by motor. Taking the first X-ray flat panel detector 6 as an example, the middle of the first X-ray flat panel detector 6 is connected to a lead screw nut mechanism. An X-ray flat panel detector 6 moves along the flat panel guide.

Of course, the above-mentioned C-arm imaging device may also include a first linear motor and a second linear motor, the first linear motor drives the first X-ray flat panel detector to move linearly on the first linear guide rail, and the second linear The motor drives the second X-ray flat panel detector to move linearly on the second linear guide rail.

In order to further optimize the above solution, the line between the first X-ray tube 3 and the first X-ray flat panel detector 6 is orthogonal to the line between the second X-ray tube and the second X-ray flat panel detector.

In order to further optimize the above solution, the bracket includes a robot arm, the robot arm includes at least one rotary joint, generally three are suitable, and the slide rail seat is connected to the working end of the robot arm.

In order to further optimize the above solution, the bracket also includes a base 11 and a moving platform, the moving platform includes an X-axis moving platform 12 and a Y-axis moving platform 13, the bottommost rotary joint of the robot arm is connected to the base 11, and the base 11 is connected to the Y-axis. The axis moving platform 13 is connected, and the Y axis moving platform 13 is connected with the X axis moving platform 12 . Alternatively, the bracket further includes a base 11 and a moving platform, the base 11 is installed on the moving platform, the bottommost rotary joint of the robot arm is connected to the base 11 , and the robot arm rotates arbitrarily on the base 11 .

The C-arm imaging device provided by the embodiment of the present invention can realize 360-degree imaging, and realize multi-angle and omnidirectional imaging. In addition, the C-arm imaging device provided by the embodiment of the present invention has 4 degrees of freedom, which improves the degree of freedom.

An embodiment of the present invention also provides a robotic radiotherapy device, including an imaging device, a treatment robot 10 and a treatment couch 9. The treatment couch 9 and the treatment robot 10 are respectively located on both sides of the imaging device, and the imaging device is as described in any of the above-mentioned embodiments. C-arm imaging device.

In actual use, the first X-ray flat panel detector 6 and the second X-ray flat panel detector need to avoid the accelerator on the treatment robot 10 in a straight line to avoid being damaged by it. Therefore, the first X-ray flat panel detector 6 can The movable one is arranged on the first installation bracket, and the second X-ray flat panel detector is movably arranged on the second installation bracket, so that the position can be adjusted in real time. When sliding, the accelerator on the treatment robot 10 can be avoided to avoid being damaged by it.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A C-arm imaging device, comprising a bracket and an X-ray imaging device, the X-ray imaging device comprising a first X-ray tube, a second X-ray tube, a The first X-ray flat panel detector and the second X-ray flat panel detector used in cooperation with the second X-ray tube are characterized in that, further comprising a driving device, an arc-shaped guide rail and a C-arm arc segment, The first X-ray tube is fixed at the end of one end of the C-arm arc segment, and the second X-ray tube is fixed at the end of the other end of the C-arm arc segment, A first mounting bracket and a second mounting bracket are arranged in the ring of the C-arm arc segment, and the plane where the first mounting bracket is located and the plane where the second mounting bracket is located are both aligned with the axis of the C-arm arc segment. parallel, the first X-ray flat panel detector is arranged on the first mounting bracket, the second X-ray flat panel detector is arranged on the second mounting bracket, The support is provided with a slide rail seat, The arc-shaped guide rail is fixedly connected with the C-arm arc segment, and the arc-shaped guide rail is slidably arranged on the slide rail seat, The driving device drives the C-arm arc segment to rotate. 2. The C-arm imaging device according to claim 1, wherein, The bracket also includes a base and a moving platform, the moving platform includes an X-axis moving platform and a Y-axis moving platform, the bottommost rotary joint of the robot arm is connected to the base, and the base is connected to the The Y-axis moving platform is connected, and the Y-axis moving platform is connected with the X-axis moving platform; or, The bracket also includes a base and a moving platform, the base is mounted on the moving platform, the bottommost rotary joint of the robot arm is connected to the base, and the robot arm is on the base. any rotation. 3 . The C-arm imaging device according to claim 1 , wherein the first mounting bracket is a first linear guide rail, the second mounting bracket is a second linear guide rail, and the first X-ray flat plate The detector is movably arranged on the first installation bracket, and the second X-ray flat panel detector is movably arranged on the second installation bracket. 4 . The C-arm imaging device according to claim 1 , wherein the driving device comprises a motor and a driving gear that are connected together, and an outer wall of the C-arm arc segment is provided with a gear meshing with the driving gear. 5 . ring gear. 5. The C-arm imaging device according to claim 1, wherein the driving device comprises a motor, a tensioning pulley, a pulley and an opening belt, The pulley is arranged on the slide rail seat, the opening belt passes through the two ends of the pulley and is fixed to the ends of the two ends of the C-arm arc segment, and the tensioning pulley is correspondingly arranged on the slide rail seat. On both sides of the pulley, the pulley is connected to the motor. 6 . The C-arm imaging device according to claim 3 , wherein the first X-ray flat panel detector is connected to the first linear guide rail through a screw nut structure, and the second X-ray flat panel detector The device is connected with the second linear guide rail through a screw nut structure. 7 . The C-arm imaging device according to claim 3 , further comprising a first linear motor and a second linear motor, and the first linear motor drives the first X-ray flat panel detector at the location. 8 . The first linear guide rail moves linearly, and the second linear motor drives the second X-ray flat panel detector to linearly move on the second linear guide rail. 8 . The C-arm imaging device according to claim 1 , wherein the connecting line between the first X-ray tube and the first X-ray flat panel detector and the second X-ray tube and the connecting line between the second X-ray flat panel detector and the second X-ray flat panel detector is orthogonal. 9 . The C-arm imaging device according to claim 1 , wherein the support comprises a robot arm, the robot arm comprises at least one rotary joint, and the slide rail seat is connected to the working end of the robot arm. 10 . 10. A robotic radiotherapy device, comprising an imaging device, a treatment robot and a treatment couch, wherein the treatment couch and the treatment robot are respectively located on both sides of the imaging device, and the imaging device is as described in the above claim. The C-arm imaging device according to any one of claims 1-9.