CN111265229A - Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof - Google Patents
Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof Download PDFInfo
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Abstract
The invention discloses omnidirectional moving type multi-degree-of-freedom double-source X-ray equipment and application thereof, wherein the omnidirectional moving platform is provided with Mecanum wheels at the bottom, a multi-degree-of-freedom motion device is arranged at the front side of the omnidirectional moving platform and is connected with a double-source rack so as to realize translation, lifting and deflection of the double-source rack, and a battery pack and a high-voltage generator are arranged at the rear side of the omnidirectional moving platform; the double-source rack comprises an open type support, a rotor is located in an arc guide rail groove on the inner side of the open type support and rotates through a driving gear to drive the rotor to rotate, an arc guide rail, two X-ray bulb tubes and two detectors are arranged on the inner side of the rotor, and the rotor can be sealed into an O-shaped rotating body by the rotation of an arc rotating frame along the arc guide rail. The equipment can move in all directions, has strong operability in an operating room, high freedom degree and high positioning precision of the double-source rack, can realize accurate positioning scanning of a plurality of positions in an operation and operation result inspection, can be applied to an angiography operation, realizes scanning in different directions, and has high angiography efficiency.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to omnidirectional moving type multi-degree-of-freedom double-source X-ray equipment.
Background
In the 80 s, the computer-assisted surgery navigation system was applied to neurosurgery first, and after the technical problems of real-time image processing and instrument tracking are solved, the accurate minimally invasive spine surgery is gradually applied. In recent years, minimally invasive surgery is concerned, the spine, head and neck, limbs and the like are matured, the influence of the minimally invasive surgery on various systems of the whole body of a patient is reduced to the maximum extent, and the minimally invasive surgery becomes one of the main directions of surgical medical development in the 21 st century. China has a large population, many sick groups and large operation amount of doctors, and in the past decades, the minimally invasive surgery technology of China is rapidly developed, however, the technical characteristics of the minimally invasive therapy mean that the surgery cannot be performed in a completely open state, the surgery can be performed in a narrow space only by using a slender surgical instrument according to the evaluation of a patient preoperative CT image by a surgeon and combining the experience of the surgeon, the surgery risk is high, the surgery quality completely depends on the experience of the surgeon, and the CT scanning is performed after the surgery to confirm the surgery effect and determine whether to perform secondary surgery.
Taking the operation of putting into of backbone pedicle of vertebral arch nail as an example, the bare-handed rate of accuracy of putting into the nail only is about 90.3%, and the main reason that leads to this phenomenon lies in the change of patient's position, causes the difference with CT image evaluation before the art, and the art person is in the in-process of putting into the backbone with the pedicle of vertebral arch nail, lacks the basis of adjusting the nail way in real time to cause the operation effect not good. The fundamental method for solving the problems is to adopt the advanced intraoperative CT scanning equipment to scan and reconstruct a high-precision three-dimensional image and correct the operation in time, thereby reducing the operation difficulty, improving the operation precision and avoiding the occurrence of secondary operation.
Common minimally invasive surgery equipment in the market is mostly C type arm X ray scanning equipment at present, and bulb and flat panel detector install respectively at rotatable C type opening frame both ends, are difficult to obtain positive position and side position image simultaneously in the operation, need frequently rotate the C arm, and in the operating room, time and space all are nervous, can't give sufficient equipment travel time. Therefore, in many surgeries, two C-arm X-ray scanning devices are required to be arranged in a crossed manner, so that the surgery time and the fluoroscopy time are reduced, the equipment cost is greatly increased, and radiation injury is caused to doctors.
Disclosure of Invention
The purpose of the invention is as follows: to overcome the above-mentioned deficiencies of the prior art, the above-mentioned problems are solved. The invention provides an omnidirectional moving type multi-degree-of-freedom dual-source X-ray device which can realize accurate positioning scanning of a plurality of positions in an operation and operation result inspection, can realize scanning of two different directions at one time when being used in an angiography operation, reduces radiation dose and enhances an angiography effect.
In order to achieve the purpose, the invention adopts the following technical scheme: an omnidirectional moving type multi-degree-of-freedom double-source X-ray device comprises an omnidirectional moving platform, a multi-degree-of-freedom moving device, a double-source rack, a battery pack and a high-voltage generator;
the bottom of the omnidirectional moving platform is provided with Mecanum wheels, the multi-degree-of-freedom motion device is arranged on the front side of the omnidirectional moving platform and is connected with the double-source rack, the translation, lifting and deflection of the double-source rack are realized through the multi-degree-of-freedom motion device, and the battery pack and the high-voltage generator are arranged on the rear side of the omnidirectional moving platform;
the double-source rack comprises an open type bracket, a rotor, a first X-ray bulb tube, a first detector, a second X-ray bulb tube, a second detector, an arc-shaped rotating frame and a driving gear, wherein the rotor is positioned in an arc-shaped guide rail groove on the inner side of the open type bracket, the driving gear is arranged at the bottom of the arc-shaped guide rail groove and is meshed with an outer circumferential gear ring of the rotor, the driving gear rotates to drive the rotor to rotate in the arc-shaped guide rail groove, the X-ray tube I and the detector II are arranged on the circumference of the O-shaped rotating body at 180-degree intervals, and the X-ray tube II and the detector II are arranged on the circumference of the O-shaped rotating body at 180-degree intervals.
Furthermore, the rotor can rotate within the range of +/-190 degrees in the arc-shaped guide rail groove, and the included angle α between the X-ray bulb I and the X-ray bulb II is within the range of 50-130 degrees
Furthermore, the arc-shaped guide rail on the inner side of the rotor is provided with a limiting locking mechanism for fixing the arc-shaped rotating frame.
Furthermore, the multi-degree-of-freedom movement device comprises an X-axis movement device, a Y-axis movement device, a Z-axis movement device, an upright post rotation movement device and a double-source rack deflection movement device, wherein the double-source rack deflection movement device is connected with a double-source rack and drives the double-source rack to rotate around an X axis, the Z-axis movement device is connected with the double-source rack deflection movement device and drives the double-source rack to translate along the Z axis, the Y-axis movement device is connected with the Z-axis movement device and drives the double-source rack to ascend and descend along the Y axis, the upright post rotation movement device is connected with the Y-axis movement device and drives the double-source rack to rotate around the Y axis, and the X-axis movement device is connected with the upright post rotation movement device and drives the double.
Furthermore, the X-axis motion device comprises a mounting substrate fixed on the omnidirectional moving platform, an X-axis linear guide rail and a rack which are fixed on the mounting substrate, an X-axis sliding platform arranged on the X-axis linear guide rail, and an X-axis motor arranged on the X-axis sliding platform, wherein the X-axis motor is connected with the transmission shaft through a speed reducer, and an X-axis gear is arranged on the transmission shaft and is meshed with the rack;
the upright post rotating motion device comprises a first rotary bearing, an inner ring of the first rotary bearing is arranged on the X-axis sliding platform, a first worm wheel is arranged on an outer ring of the first rotary bearing, the first worm wheel is meshed with a first worm, and the first worm is connected with an upright post rotating motor through a planetary reducer;
the Y-axis movement device comprises an upright post bracket arranged on an outer ring of the slewing bearing, a Y-axis linear guide rail and a servo electric cylinder which are arranged on the upright post bracket, a Y-axis lifting upright post arranged on the Y-axis linear guide rail and an air spring arranged between the Y-axis lifting upright post and the upright post bracket, wherein the Y-axis lifting upright post is connected with the servo electric cylinder;
the Z-axis movement device comprises a suspension bracket arranged on the Y-axis lifting upright post, a ball screw and a Z-axis motor which are arranged on the suspension bracket, and a Z-axis sliding table arranged on the ball screw, wherein the ball screw is connected with the Z-axis motor through a synchronous belt and a speed reducer, and the synchronous belt is provided with a tensioning mechanism;
the double-source rack deflection movement device comprises a second rotary bearing, the inner ring of the second rotary bearing is arranged on the Z-axis sliding table, the outer ring of the second rotary bearing is provided with a second worm gear, the second worm gear is meshed with the second worm, the second worm is connected with the double-source rack deflection motor through a planetary reducer, and the open type support is arranged on the outer ring of the second rotary bearing.
Furthermore, the rear sides of the battery pack and the high-voltage generator are provided with protective lead glass.
Further, the protection lead glass includes lead glass, the direction slide rail, the front end director, elevator motor, the diverting pulley, the wire winding gear, wire rope, the glass collet, the spool, the direction slide rail passes through the vertical installation of support on omnidirectional movement platform, the glass collet is installed on the direction slide rail, the lead glass lower extreme is installed on the glass collet, the front end director is installed in direction slide rail upper end, lead glass passes the front end director, the diverting pulley, wire winding gear and elevator motor are installed on support upper portion, wire rope one end is fixed on the glass collet, the other end is walked around the diverting pulley and is linked to each other with the spool, the spool passes through the wire winding gear and links to each other with elevator motor.
Furthermore, the rear side of the omnidirectional moving platform is also provided with a handle, and a handle switch is arranged on the handle and used for controlling the speed and the direction of the Mecanum wheel.
Furthermore, the handle switch comprises a pressing strip, a switch connecting column, a reset spring, a guide column spring and a force sensor, wherein the switch connecting column and the guide column are parallel to each other, the rear end of the switch connecting column penetrates through the pressing strip, the front end of the switch connecting column is fixed on the handle, the reset spring is sleeved on the switch connecting column, the rear end of the guide column is fixed on the pressing strip, the front end of the guide column is close to the force sensor, the force sensor is fixed on the handle, and the guide column spring is sleeved on.
The application of the omnidirectional moving type multi-degree-of-freedom double-source X-ray equipment in the angiography operation is disclosed.
Has the advantages that:
1) the equipment can move in all directions, has strong operability in an operating room, high degree of freedom and high positioning precision of the double-source rack, can realize accurate positioning scanning of a plurality of positions in the operation and operation result examination, can display two angles once for an angiography operation, and has small using amount of contrast agent and high examination efficiency;
2) the protective lead glass on the rear side of the equipment can effectively prevent an operator from being irradiated by X rays, and the protective lead glass can be freely lifted;
3) the handle switch at the rear side of the equipment controls the movement of the whole equipment, and the running direction and the running speed of the equipment can be directly controlled.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic view of the rotor opening configuration of the present invention;
FIG. 4 is a schematic exploded view of a rotor structure;
FIG. 5 is a schematic structural diagram of a multiple degree of freedom exercise apparatus;
FIG. 6 is a schematic view of a Z-axis motion device;
FIG. 7 is a schematic view of a lifting structure of the lead-protected glass;
FIG. 8 is a schematic view of the left and right control knob button distribution;
FIG. 9 is a schematic view of the internal structure of the knob button;
in the figure: 1. an omnidirectional mobile platform; 11. a Mecanum wheel; 2. a multi-degree-of-freedom motion device; x-axis motion means; y-axis motion means; a Z-axis motion device; 24. a column rotation motion device; 25. a dual source gantry yaw motion device; an X-axis linear guide; 212. a mounting substrate; 213. X-axis sliding platform; an X-axis motor; 215. an X-axis gear; 216. a rack; 221. a servo electric cylinder; 222. a gas spring; a Z-axis linear guide rail; 232. a ball screw; 233. a Z-axis motor; 234. a synchronous belt; 235. a Z-axis sliding table; 3. a dual-source gantry; 31. an open stent; 311. a driving gear; 312. an arc-shaped guide rail groove; 32. a rotor; 321, X-ray tube I; 322. a first detector; 323, X-ray bulb tube II; 324. a second detector; 325. a front collimator; 326. an arc-shaped rotating frame; 327. an arc-shaped guide rail; 4. a battery pack; 5. a high voltage generator; 6. lead-protected glass; 601. lead glass; 602. a guide slide rail; 603. a lifting motor; 604. a winding gear; 605. a wire rope; 606. a glass base; 607. a spool; 61. a front end guide; 62. a diverting pulley; 7. a handle switch; 71. a first handle button; 72. a handle button II; 701. pressing the pressing strip; 702. a switch connection post; 703. a return spring; 704. a guide post; 705. a guide post spring; 706. a force sensor.
The specific implementation mode is as follows:
the invention is further explained below with reference to the drawings.
As shown in fig. 1, the omnidirectional mobile multi-degree-of-freedom dual-source X-ray device of the present invention includes an omnidirectional mobile platform 1, a multi-degree-of-freedom motion apparatus 2, a dual-source frame 3, a battery pack 4, a high voltage generator 5, a protective lead glass 6, and a handle switch 7.
The omni-directional mobile platform 1 has four mecanum wheels 11 at the bottom. The omnidirectional moving platform 1 can realize the actions of advancing, retreating, left-right side moving, pivot rotation and the like through the Mecanum wheels 11. The multi-degree-of-freedom motion device 2 is arranged on the front side of the omnidirectional moving platform 1 and connected with the double-source rack 3, and the double-source rack 3 is translated, lifted and rotated through the multi-degree-of-freedom motion device 2. The scanning function is realized through the exposure action of the X-ray bulb tube on the double-source machine frame 3. The battery pack 4 and the high-voltage generator 5 are arranged on the rear side of the omnidirectional mobile platform 1, and the battery pack 4 consists of a plurality of lead-acid storage batteries, can provide energy required by exposure of the X-ray bulb tube, and can also be used as a front balance weight and a rear balance weight of the whole device. The battery pack 4 and the high voltage generator 5 are mounted with a lead glass 6 on the rear side. The protective lead glass 6 can protect operators of operating equipment in an operating room from X-ray radiation, so that the equipment can be quickly exposed conveniently, and the operating time is saved. The rear side of the omnidirectional moving platform 1 is also provided with a handle, a handle switch 7 is arranged on the handle, and the speed and the direction of the Mecanum wheel 11 are controlled through the handle switch 7.
As shown in fig. 1 to 4, the dual-source gantry 3 includes an open-type support 31, a rotor 32, a first X-ray tube 321, a first detector 322, a second X-ray tube 323, a second detector 324, an arc-shaped rotating frame 326, and a driving gear 311.
The open bracket 31 is C-shaped and has an arc-shaped rail groove 312 on the inner side. The rotor 32 is located in the arc-shaped guide rail groove 312 inside the open bracket 31, the driving gear 311 is installed at the bottom of the arc-shaped guide rail groove 312 and is engaged with the outer circumferential gear ring of the rotor 32, and the driving gear 311 rotates to drive the rotor 32 to rotate within a range of ± 190 ° in the arc-shaped guide rail groove 312. The drive gear 311 may be manually driven by a hand wheel or may be driven by a motor.
The X-ray bulb tube 321 and the detector tube 323 are arranged on the inner side of the rotor 32, the arc-shaped guide rail 327 is arranged on the inner side of the rotor 32, the X-ray bulb tube 321 is fixed relative to the rotor 32, the detector tube 322, the X-ray bulb tube 323 and the arc-shaped rotating frame 326 are arranged on the arc-shaped guide rail 327 and can slide along the arc-shaped guide rail 327, the detector tube 324 is arranged on the arc-shaped rotating frame 326 and is fixed relative to the rotor, an included angle α between the X-ray bulb tube 321 and the X-ray bulb tube 323 ranges from 50 degrees to 130 degrees, the arc-shaped rotating frame 326 rotates along the arc-shaped guide rail 327 to seal the rotor 32 into an O-shaped rotating body, as shown in figure 2, when the rotor 32 is in a sealing state, the X-ray bulb tube 321 and the detector tube 322 are 180 degrees apart on the circumference of the O-shaped rotating body, the X-ray bulb tube 323 and the detector tube 324 are 180 degrees apart on the circumference of the rotating body, as shown in figure 3, the rotor 32 is in an open state, the arc-shaped guide rail 327 can be in a sealing state, and when the rotor 32 is in a sealing state, the rotor 32 can be sealed.
When the device is closed, the arc-shaped rotating frame 326 rotates along the arc-shaped guide rail on the inner side of the rotor 32 and is completely accommodated in the rotor 32, and the rotor 32 completely rotates into the arc-shaped guide rail groove 312. The open stent 31 maintains an open C-shape.
When the equipment works, the omnidirectional moving platform 1 moves to one side of a sickbed, and the open type bracket 31 is moved through the multi-degree-of-freedom moving device 2 to be arranged around the sickbed. The arc-shaped rotating frame 326 rotates along the arc-shaped guide rail to seal the rotor 32 into an O-shaped rotating body, at this time, the first X-ray tube 321 and the first detector 322 are spaced at 180 degrees on the circumference of the O-shaped rotating body to form a pair of radiation sources, and the second X-ray tube 323 and the second detector 324 are spaced at 180 degrees on the circumference of the O-shaped rotating body to form another pair of radiation sources. And opening the first X-ray bulb 321 and the second X-ray bulb 323, and driving the rotor 32 to rotate within a range of +/-190 degrees in the arc-shaped guide rail groove 312 by the rotation of the driving gear 311, so as to complete the exposure action of the X-ray bulb and realize the scanning function. After the scanning is completed, the arc-shaped rotating frame 326 is accommodated inside the rotor 32, the rotor 32 completely rotates into the arc-shaped guide rail groove 312, the movable open type support 31 is separated from the sickbed through the multi-degree-of-freedom movement device 2, and then the omnidirectional moving platform 1 is moved away.
As shown in fig. 5, the multiple-degree-of-freedom motion device 2 includes an X-axis motion device 21, a Y-axis motion device 22, a Z-axis motion device 23, a column rotation motion device 24, and a dual-source gantry yaw motion device 25. The double-source rack deflection motion device 25 is connected with the double-source rack 3 and drives the double-source rack 3 to rotate around an X axis, the Z axis motion device 23 is connected with the double-source rack deflection motion device 25 and drives the double-source rack 3 to translate along the Z axis, the Y axis motion device 22 is connected with the Z axis motion device 23 and drives the double-source rack 3 to ascend and descend along the Y axis, the stand column rotation motion device 24 is connected with the Y axis motion device 22 and drives the double-source rack 3 to rotate around the Y axis, and the X axis motion device 21 is connected with the stand column rotation motion device 24 and drives the double-source rack 3 to translate along the X axis.
As shown in fig. 5 and 6, the X-axis moving device 21 includes a mounting substrate 212 fixed to the omnidirectional moving platform 1, an X-axis linear guide 211 and a rack 216 fixed to the mounting substrate 212, an X-axis sliding platform 213 mounted to the X-axis linear guide 211, and an X-axis motor 214 mounted to the X-axis sliding platform 213, wherein the X-axis motor 214 is connected to a transmission shaft through a speed reducer, and an X-axis gear 215 is mounted to the transmission shaft and is engaged with the rack 216.
The upright post rotating motion device 24 comprises a first rotary bearing, an inner ring of the first rotary bearing is arranged on the X-axis sliding platform 213, a first worm wheel is arranged on an outer ring of the first rotary bearing, the first worm wheel is meshed with a first worm, and the first worm is connected with an upright post rotating motor through a planetary reducer. The first worm wheel and the first worm form self-locking and can only transmit in one direction.
The Y-axis moving device 22 includes a column support installed on an outer ring of the slewing bearing, a Y-axis linear guide and a servo electric cylinder 221 installed on the column support, a Y-axis lifting column installed on the Y-axis linear guide, and an air spring 222 installed between the Y-axis lifting column and the column support, and the Y-axis lifting column is connected to the servo electric cylinder 221.
The Z-axis moving device 23 includes a suspension bracket installed on the Y-axis lifting column, a ball screw 232 and a Z-axis motor installed on the suspension bracket, and a Z-axis sliding table 235 installed on the ball screw 232, the ball screw 232 is connected with the Z-axis motor 233 through a synchronous belt 234 and a speed reducer, and the synchronous belt 234 is provided with a tensioning mechanism.
The double-source rack deflection motion device 25 comprises a second rotary bearing, the inner ring of the second rotary bearing is arranged on the Z-axis sliding table 235, the outer ring of the second rotary bearing is provided with a second worm wheel, the second worm wheel is meshed with the second worm, the second worm is connected with the double-source rack deflection motor through a planetary reducer, and the open type support 31 is arranged on the outer ring of the second rotary bearing.
When the device works, the double-source rack deflection motor drives the second worm to rotate through the planetary reducer, the second worm drives the open type support 31 connected with the second rotary bearing outer ring to rotate through meshing transmission with the second worm wheel, and the open type support 31 rotates around the X axis. The Z-axis motor drives the ball screw 232 to rotate through the speed reducer and the synchronous belt 234, and the ball screw 232 drives the dual-source frame deflection motion device 25 and the open type bracket 31 to move horizontally along the Z-axis through the meshing transmission with the ball screw 232 nut. The telescopic end of the servo electric cylinder 221 directly drives the Y-axis lifting column to move up and down, and the Y-axis lifting column drives the Z-axis moving device 23, the dual-source rack deflection moving device 25 and the open type bracket 31 to lift along the Y-axis. The vertical column rotating motor drives the first worm to rotate through the planetary reducer, the first worm drives the first slewing bearing outer ring to rotate through meshing transmission with the first worm wheel, and the first slewing bearing outer ring drives the Y-axis moving device 22, the Z-axis moving device 23, the double-source rack deflection moving device 25 and the open type support 31 to rotate around the Y axis together. The X-axis motor 214 drives the X-axis gear 215 of the transmission shaft to rotate through the speed reducer, the X-axis gear 215 is in meshing transmission with the rack 216, and the X-axis sliding platform 213 drives the upright post rotating motion device 24, the Y-axis motion device 22, the Z-axis motion device 23, the double-source rack deflection motion device 25 and the open type bracket 31 to move horizontally along the X axis.
As shown in fig. 7, the protective lead glass 6 includes a lead glass 601, a guide rail 602, a front end guide 61, a lifting motor 603, a diverting pulley 62, a winding gear 604, a steel wire rope 605, a glass shoe 606, and a winding shaft 607. The guide slide rail 602 is vertically installed on the omnidirectional moving platform 1 through a support, the glass bottom support 606 is installed on the guide slide rail 602, the lower end of the lead glass 601 is installed on the glass bottom support 606, the front end guider 61 is installed at the upper end of the guide slide rail 602, the lead glass 601 penetrates through the front end guider 61, and the lead glass 601 is stabilized and guided through the front end guider 61. The diverting pulley 62, the winding gear 604 and the lifting motor 603 are arranged on the upper part of the bracket, one end of the steel wire rope 605 is fixed on the glass bottom bracket 606, the other end of the steel wire rope rounds the diverting pulley 62 and is connected with the winding shaft 607, and the winding shaft 607 is connected with the lifting motor 603 through the winding gear 604.
When the protective glass needs to be lifted, the winding motor 603 is started, the winding gear 604 drives the winding shaft 607 to rotate, so that the steel wire rope 605 is wound on the winding shaft 607 through the diverting pulley 62, the lead glass 601 is driven to lift at a constant speed, and the lead glass 601 is stabilized and guided by the front end guide 61. On the contrary, the winding motor 603 rotates reversely, and the lead glass 601 slowly descends by means of self gravity.
As shown in fig. 8, the handle switch 7 controls the overall device motion. The handle switch 7 includes a first handle button 71 and a second handle button 72. The first handle button 71 is pressed alone, the device turns right, the second handle button 72 is pressed alone, the device turns left, and the first handle button 71 and the second handle button 72 are pressed simultaneously, so that the device moves straight ahead. It is also possible to provide a separate motion function reversing button on the device, and when the motion function reversing button is touched, the handle switch 71 and the handle switch 72 are simultaneously pressed, and the device will run backwards.
As shown in fig. 9, each of the first handle button 71 and the second handle button 72 includes a pressing bar 701, a switch connection post 702, a return spring 703, a guide post 704, a guide post spring 705, and a force sensor 706. The switch connecting column 702 and the guide column 704 are parallel to each other, the rear end of the switch connecting column 702 penetrates through the pressing strip 701, the front end of the switch connecting column is fixed on the handle, the reset spring 703 is sleeved on the switch connecting column 702 and used for providing elastic force required by the resetting of the pressing strip 701, the rear end of the guide column 704 is fixed on the pressing strip 701, the front end of the guide column is close to the force sensor 706, the force sensor 706 is fixed on the handle, and the guide column spring 705 is sleeved on the guide column 704 and used for buffering the guide column 704.
By pressing the pressing bar 701, the front end of the guide post 704 presses the force sensor 706, and the force sensor 706 generates a corresponding electric signal and transmits the electric signal to the mecanum wheel 11 driving mechanism. In the process of slowly pressing the pressing bar 701, the combined action of the guide post 704 and the guide post spring 705 enables the force sensed by the force sensor 706 to be changed from small to large, so that the running speed of the bottom omnidirectional moving platform 1 is directly controlled to be changed from slow to fast. The operation speed of the omnidirectional moving platform 1 is controlled according to the magnitude of the pressing force on the pressing bar 701.
The dual-source X-ray equipment can be applied to CT scanning in operation and angiography operation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An omnidirectional moving type multi-degree-of-freedom double-source X-ray equipment is characterized in that: the device comprises an omnidirectional moving platform (1), a multi-degree-of-freedom movement device (2), a double-source rack (3), a battery pack (4) and a high-voltage generator (5);
the bottom of the omnidirectional moving platform (1) is provided with Mecanum wheels (11), the multi-degree-of-freedom moving device (2) is installed on the front side of the omnidirectional moving platform (1) and connected with the double-source rack (3), the double-source rack (3) is translated, lifted and deflected through the multi-degree-of-freedom moving device (2), and the battery pack (4) and the high-voltage generator (5) are installed on the rear side of the omnidirectional moving platform (1);
the double-source rack (3) comprises an open type support (31), a rotor (32), a first X-ray bulb tube (321), a first detector (322), a second X-ray bulb tube (323), a second detector (324), an arc-shaped rotating frame (326) and a driving gear (311), wherein the rotor (32) is positioned in an arc-shaped guide rail groove (312) on the inner side of the open type support (31), the driving gear (311) is installed at the bottom of the arc-shaped guide rail groove (312) and is mutually meshed with an outer circumferential gear ring of the rotor (32), the driving gear (311) rotates to drive the rotor (32) to rotate in the arc-shaped guide rail groove (312), the first X-ray bulb tube (321) and the arc-shaped guide rail (327) are installed on the inner side of the rotor (32), the first detector (322), the second X-ray bulb tube (323) and the arc-shaped rotating frame (326) are installed on the arc-shaped guide rail (, the arc-shaped rotating frame (326) rotates along the arc-shaped guide rail (327) to seal the rotor (32) into an O-shaped rotating body, the X-ray bulb tube I (321) and the detector I (322) are spaced at 180 degrees on the circumference of the O-shaped rotating body, and the X-ray bulb tube II (323) and the detector II (324) are spaced at 180 degrees on the circumference of the O-shaped rotating body.
2. The omnidirectional moving type multi-degree-of-freedom dual-source X-ray equipment as recited in claim 1, wherein the rotor (32) can rotate within a range of ± 190 ° in the arc-shaped guide rail groove (312), and an included angle α between the first X-ray tube (321) and the second X-ray tube (323) is within a range of 50 ° to 130 °.
3. The omnidirectional mobile multi-degree-of-freedom dual-source X-ray device as recited in claim 2, wherein: the arc guide rail (327) on the inner side of the rotor (32) is provided with a limiting locking mechanism for fixing the arc rotating frame (326).
4. The omnidirectional mobile multi-degree-of-freedom dual-source X-ray device as recited in claim 1, wherein: the multi-degree-of-freedom motion device (2) comprises an X-axis motion device (21), a Y-axis motion device (22), a Z-axis motion device (23), an upright post rotating motion device (24) and a double-source frame deflection motion device (25), the double-source rack deflection motion device (25) is connected with the double-source rack (3) and drives the double-source rack (3) to rotate around an X axis, the Z axis motion device (23) is connected with the double-source rack deflection motion device (25) and drives the double-source rack (3) to translate along the Z axis, the Y axis motion device (22) is connected with the Z axis motion device (23) and drives the double-source rack (3) to ascend and descend along the Y axis, the upright post rotation motion device (24) is connected with the Y axis motion device (22) and drives the double-source rack (3) to rotate around the Y axis, and the X axis motion device (21) is connected with the upright post rotation motion device (24) and drives the double-source rack (3) to translate along the X axis.
5. The omnidirectional mobile multi-degree-of-freedom dual-source X-ray device according to claim 4, wherein: the X-axis movement device (21) comprises a mounting substrate (212) fixed on the omnidirectional moving platform (1), an X-axis linear guide rail (211) and a rack (216) fixed on the mounting substrate (212), an X-axis sliding platform (213) mounted on the X-axis linear guide rail (211), and an X-axis motor (214) mounted on the X-axis sliding platform (213), wherein the X-axis motor (214) is connected with a transmission shaft through a speed reducer, and an X-axis gear (215) is mounted on the transmission shaft and meshed with the rack (216);
the upright post rotating motion device (24) comprises a first slewing bearing, an inner ring of the first slewing bearing is mounted on the X-axis sliding platform (213), an outer ring of the first slewing bearing is provided with a first worm wheel, the first worm wheel is meshed with a first worm, and the first worm is connected with an upright post rotating motor through a planetary reducer;
the Y-axis movement device (22) comprises an upright post bracket arranged on an outer ring of the slewing bearing, a Y-axis linear guide rail and a servo electric cylinder (221) which are arranged on the upright post bracket, a Y-axis lifting upright post arranged on the Y-axis linear guide rail and an air spring (222) arranged between the Y-axis lifting upright post and the upright post bracket, wherein the Y-axis lifting upright post is connected with the servo electric cylinder (221);
the Z-axis movement device (23) comprises a suspension bracket arranged on the Y-axis lifting upright, a ball screw (232) and a Z-axis motor which are arranged on the suspension bracket, and a Z-axis sliding table (235) arranged on the ball screw (232), wherein the ball screw (232) is connected with the Z-axis motor (233) through a synchronous belt (234) and a speed reducer, and the synchronous belt (234) is provided with a tensioning mechanism;
the double-source rack deflection movement device (25) comprises a second slewing bearing, the inner ring of the second slewing bearing is arranged on the Z-axis sliding table (235), the outer ring of the second slewing bearing is provided with a second worm gear, the second worm gear is meshed with the second worm, the second worm is connected with the double-source rack deflection motor through a planetary reducer, and the open type support (31) is arranged on the outer ring of the second slewing bearing.
6. The omnidirectional mobile multi-degree-of-freedom dual-source X-ray device as recited in claim 1, wherein: and protective lead glass (6) is arranged on the rear sides of the battery pack (4) and the high-voltage generator (5).
7. The omnidirectional mobile multi-degree-of-freedom dual-source X-ray device of claim 6, wherein: the protective lead glass (6) comprises lead glass (601), a guide sliding rail (602), a front end guider (61), a lifting motor (603), a steering pulley (62), a winding gear (604), a steel wire rope (605), a glass bottom support (606) and a winding shaft (607), wherein the guide sliding rail (602) is vertically arranged on the omnidirectional moving platform (1) through a support, the glass bottom support (606) is arranged on the guide sliding rail (602), the lower end of the lead glass (601) is arranged on the glass bottom support (606), the front end guider (61) is arranged at the upper end of the guide sliding rail (602), the lead glass (601) penetrates through the front end guider (61), the steering pulley (62), the winding gear (604) and the lifting motor (603) are arranged at the upper part of the support, one end of the steel wire rope (605) is fixed on the glass bottom support (606), and the other end of the steel wire rope (605) is connected with the, the winding shaft (607) is connected with a lifting motor (603) through a winding gear (604).
8. The omnidirectional mobile multi-degree-of-freedom dual-source X-ray device as recited in claim 1, wherein: the rear side of the omnidirectional moving platform (1) is also provided with a handle, and a handle switch (7) is arranged on the handle and used for controlling the speed and direction of the Mecanum wheel (11).
9. The omnidirectional mobile multi-degree-of-freedom dual-source X-ray device of claim 8, wherein: the handle switch (7) comprises a pressing strip (701), a switch connecting column (702), a reset spring (703), a guide column (704), a guide column spring (705) and a force sensor (706), wherein the switch connecting column (702) is parallel to the guide column (704), the pressing strip (701) penetrates through the rear end of the switch connecting column (702), the front end of the switch connecting column (702) is fixed on a handle, the reset spring (703) is sleeved on the switch connecting column (702), the rear end of the guide column (704) is fixed on the pressing strip (701), the front end of the switch connecting column is close to the force sensor (706), the force sensor (706) is fixed on the handle, and the guide column spring (705) is sleeved on the guide column (704.
10. The use of an omnidirectional mobile multi-degree of freedom dual-source X-ray apparatus as recited in claim 1 in angiography procedures.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010137768.9A CN111265229A (en) | 2020-03-03 | 2020-03-03 | Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof |
| PCT/CN2020/108849 WO2021174767A1 (en) | 2020-03-03 | 2020-08-13 | Omnidirectional mobile multi-degree-of-freedom double-source x-ray device and application thereof |
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|---|---|---|---|
| CN202010137768.9A CN111265229A (en) | 2020-03-03 | 2020-03-03 | Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof |
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| CN111265229A true CN111265229A (en) | 2020-06-12 |
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| CN202010137768.9A Pending CN111265229A (en) | 2020-03-03 | 2020-03-03 | Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof |
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| CN (1) | CN111265229A (en) |
| WO (1) | WO2021174767A1 (en) |
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| CN116098643A (en) * | 2023-04-11 | 2023-05-12 | 湖南涛尚医疗器械有限公司 | A mobile CT scanning device |
| CN117740239A (en) * | 2024-02-21 | 2024-03-22 | 无锡市宇寿医疗器械有限公司 | A bearing testing system for bipolar X-ray tubes |
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| CN118845063A (en) * | 2024-07-05 | 2024-10-29 | 武汉大学中南医院 | An X-ray imaging device for orthopedic intervertebral disc |
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