CN114209346A - A C-arm and digital subtraction angiography equipment - Google Patents
A C-arm and digital subtraction angiography equipment Download PDFInfo
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- CN114209346A CN114209346A CN202111520398.8A CN202111520398A CN114209346A CN 114209346 A CN114209346 A CN 114209346A CN 202111520398 A CN202111520398 A CN 202111520398A CN 114209346 A CN114209346 A CN 114209346A
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
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- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/504—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of blood vessels, e.g. by angiography
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Abstract
The application discloses a C-shaped arm and a digital subtraction angiography device, wherein the C-shaped arm comprises a connecting arm, a first driving device, a first supporting arm, a second driving device and a second supporting arm; the first support arm is provided with a ray generator, and the second support arm is provided with a ray detector; the first supporting arm and the second supporting arm are both movably connected with the connecting arm; the first driving device is used for driving the first supporting arm to move relative to the connecting arm; the second driving device is used for driving the second supporting arm to move relative to the connecting arm.
Description
Description of the cases
The scheme is a divisional application of a Chinese patent application entitled "C-shaped arm and X-ray machine" and having an application number of "201911147731.8", which is filed on 21.11.2019.
Technical Field
The application relates to the field of medical equipment, in particular to a C-shaped arm and digital subtraction angiography equipment.
Background
The C-arm is a support with a C-shape, which can be used to carry equipment, such as an X-ray generator and an X-ray detector respectively mounted on the C-arm, and can be applied to an X-ray machine (such as a digital subtraction angiography device) as a component for X-ray irradiation. In some cases, the equipment mounted on the C-arm needs to be able to move on the C-arm. For example, when using an X-ray machine, the distance (SID) between the X-ray generator and the X-ray detector needs to be adjusted.
Disclosure of Invention
One of the embodiments of the present application provides a C-arm, which includes a connecting arm, a first driving device, a first supporting arm, a second driving device, and a second supporting arm; the first support arm is provided with a ray generator, and the second support arm is provided with a ray detector; the first supporting arm and the second supporting arm are both movably connected with the connecting arm; the first driving device is used for driving the first supporting arm to move relative to the connecting arm; the second driving device is used for driving the second supporting arm to move relative to the connecting arm.
Some embodiments of the present application provide a digital subtraction angiography apparatus, which includes a frame, a radiation generator, a radiation detector, and the C-arm according to any one of the above technical solutions; the connecting arm of the C-shaped arm is rotatably connected to the rack.
Drawings
The present application will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:
FIG. 1 is a schematic illustration of a C-arm configuration according to some embodiments of the present application;
FIG. 2 is a schematic illustration of another state of a C-arm according to some embodiments of the present application.
In the figure, 1000 is a digital subtraction angiography apparatus, 110 is a C-arm, 120 is a radiation generator, 130 is a radiation detector, 140 is a gantry, 1 is a connecting arm, 2 is a first supporting arm, 3 is a second supporting arm, 4 is a first driving device, and 5 is a second driving device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
On the contrary, this application is intended to cover any alternatives, modifications, equivalents, and alternatives that may be included within the spirit and scope of the application as defined by the appended claims. Furthermore, in the following detailed description of the present application, certain specific details are set forth in order to provide a better understanding of the present application. It will be apparent to one skilled in the art that the present application may be practiced without these specific details.
The embodiment of the application relates to a C-shaped arm and a digital subtraction angiography device, wherein the C-shaped arm is a C-shaped support, the C-shaped arm drives a first supporting arm to move relative to a connecting arm through a first driving device, and drives a second supporting arm to move relative to the connecting arm through a second driving device, and therefore the distance between the first supporting arm and the second supporting arm of the C-shaped arm can be adjusted more flexibly. The C-arm can be applied to various fields, and for example, the C-arm can be used for an X-ray machine (such as a digital subtraction angiography device) of a medical instrument, a CT device, a linear accelerator, or the like.
Fig. 1 is a schematic structural view of a C-arm according to some embodiments of the present application, and fig. 2 is a schematic structural view of another state of the C-arm according to some embodiments of the present application. The C-arm according to the embodiment of the present application will be described in detail with reference to fig. 1 and 2. It should be noted that the following examples are only for explaining the present application and do not constitute a limitation to the present application.
In the embodiment of the present application, as shown in fig. 1, the C-shaped arm 110 includes a connecting arm 1, a first driving device 4, a first support arm 2, a second driving device 5, and a second support arm 3; the first support arm 2 is provided with a ray generator 120, and the second support arm 3 is provided with a ray detector 130; the first supporting arm 2 and the second supporting arm 3 are both movably connected with the connecting arm 1; the first driving device 4 is used for driving the first supporting arm 2 to move relative to the connecting arm 1; the second driving device 5 is used for driving the second supporting arm 3 to move relative to the connecting arm 1 as shown in fig. 1, the first supporting arm 2 and the second supporting arm 3 are respectively located at two ends of the connecting arm 1, and the combination of the first supporting arm 2, the second supporting arm 3 and the connecting arm 1 is in a C shape. By the movement of the first support arm 2 and the second support arm 3 on the connection arm 1, a greater range of adjustment of the relative distance of the radiation generator 120 and the radiation detector 130 can be facilitated. Fig. 2 is a schematic structural diagram illustrating another state after the first support arm 2 and the second support arm 3 are moved toward each other from the state illustrated in fig. 1 according to some embodiments of the present application. It should be noted that the radiation generator 120 may be understood as a device capable of emitting radiation (X-ray, gamma ray, electronic wire, etc.), and the radiation detector 130 may be understood as a device capable of receiving radiation emitted by the radiation generator 120, so that medical examination or treatment, etc. can be performed by the cooperation of the radiation generator 120 and the radiation detector 130. In some embodiments, a first sliding groove may be disposed on the connecting arm 1, a first sliding block capable of sliding along the first sliding groove is disposed on the first supporting arm 2, meanwhile, a second sliding groove may be further disposed on the connecting arm 1, and a second sliding block capable of sliding along the second sliding groove is disposed on the second supporting arm 3, so that the first supporting arm 2 can move relative to the connecting arm 1 and the second supporting arm 3 can also move relative to the connecting arm 1. In the application process of the C-arm 110, since the distance between the first support arm 2 and the second support arm 3 of the C-arm 110 can be flexibly adjusted, an operator of an apparatus (such as the digital subtraction angiography apparatus 1000, the CT apparatus, or the linear accelerator, etc.) using the C-arm 110 can more conveniently perform an operation such as examination or treatment on a patient.
In some embodiments, the first support arm 2 is movable along a first path on the connecting arm 1; the second support arm 3 is movable along a second path on the connecting arm 1; the first path is parallel or collinear with the second path. For example, the first path may be a path along which the first slider slides along the first slide groove, and the second path may be a path along which the second slider slides along the second slide groove. In some embodiments, the extending direction of the first path and the extending direction of the second path may be both set as the length extending direction of the connecting arm 1. In some embodiments, when the first path and the second path are collinear, the first chute and the second chute may be the same chute.
In some embodiments, the C-arm 110 further comprises a controller (not shown) for controlling the first driving device 4 to drive the first support arm 2 to move and/or controlling the second driving device 5 to drive the second support arm 3 to move. The controller can control the first support arm 2 and the second support arm 3 to move independently, can also control the first support arm 2 and the second support arm 3 to move in the same direction, and can also control the first support arm 2 and the second support arm 3 to move in the opposite direction or in the opposite direction. For example, the controller may control the first support arm 2 to move while the second support arm 3 is stationary, or control the second support arm 3 to move while the first support arm 2 is stationary. In some embodiments, the controller may be mounted within the C-arm 110 or in the frame 140. In some embodiments, the controller may also be a stand-alone device and have a signal connection (e.g., electrical connection, wireless connection, etc.) with the C-arm. It should be noted that the controller may be implemented by hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory for execution by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the methods and systems described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided, for example, on a carrier medium such as a hard disk, magnetic disk, CD or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The controller of the present application may be implemented not only by a hardware circuit such as a very large scale integrated circuit or gate array, a semiconductor such as a logic chip, a transistor, or the like, or a programmable hardware device such as a field programmable gate array, a programmable logic device, or the like, but also by software executed by various types of processors, for example, and by a combination of the above hardware circuit and software (for example, firmware).
In some embodiments the controller is arranged to control the speed of movement of the first support arm 2 relative to the connecting arm 1 to be equal to the speed of movement of the second support arm 3 relative to the connecting arm 1.
In some embodiments the controller is arranged to control the speed of movement of the first support arm 2 relative to the connecting arm 1 to be greater than the speed of movement of the second support arm 3 relative to the connecting arm 1. It should be noted that, in practical applications, the weight of the ray generator 120 is often greater than that of the ray detector 130. For example, the weight of the radiation generator 120 may be 100 KG and 120KG, and the weight of the radiation detector 130 may be 30 KG to 40KG, so that the weight of the first support arm 2 and the components thereon is greater than the weight of the second support arm 3 and the components thereon. In the application of the C-arm 110, a bearing mechanism of the C-arm 110 (e.g., the frame 140 of the digital subtraction angiography apparatus 1000, the CT apparatus, or the linear accelerator, etc.) may be connected to the middle portion of the connecting arm 1 of the C-arm 110, and the C-arm 110 may be capable of moving (e.g., rotating) relative to the bearing mechanism of the C-arm 110. The C-arm 110 is generally used in the following process: the controller first brings the first support arm 2 and the second support arm 3 at both ends of the connecting arm 1 (initial state), so that there is a large operating space between the ray generator 120 and the ray detector 130. The controller then controls the first driving device 4 to drive the first support arm 2 to move and/or controls the second driving device 5 to drive the second support arm 3 to move towards each other, so that the ray generator 120 on the first support arm 2 and the ray detector 130 on the second support arm 3 move to the proper positions. In this process, since the weight of the radiation generator 120 is greater than that of the radiation detector 130, if the support arm is symmetrically installed around the rotation center of the C-arm, the center of gravity of the C-arm 110 deviates from the rotation axis of the central portion in the initial state more, and the torque applied to the support mechanism of the C-arm 110 is larger. By making the speed of the first support arm 2 greater than the speed of the second support arm 3, the center of gravity of the C-arm 110 can be brought closer to the rotation axis in the process of adjusting the distance between the first support arm 2 and the second support arm 3 from the initial state, and therefore the torque of the bearing mechanism of the C-arm 110 becomes smaller and the bearing of the bearing mechanism of the C-arm 110 also becomes smaller.
In some embodiments, the controller may control the ratio of the speed at which the first support arm 2 moves relative to the connecting arm 1 to the speed at which the second support arm 3 moves relative to the connecting arm 1 to be any value greater than 1. For example, the ratio of the speed of movement of the first support arm 2 relative to the connecting arm 1 to the speed of movement of the second support arm 3 relative to the connecting arm 1 may be 2:1, 3:1, 5:1, etc. In some embodiments, the ratio of the speed of movement of the first support arm 2 relative to the connecting arm 1 and the speed of movement of the second support arm 3 relative to the connecting arm 1 may be equal to (or close to) the ratio of the sum of the weights of the first support arm 2 and components thereon to the sum of the weights of the second support arm 3 and components thereon. For example, when the sum of the weights of the first support arm 2 and the components thereon is 120KG, and the sum of the weights of the second support arm 3 and the components thereon is 40KG, the ratio of the speed of the first support arm 2 moving relative to the connecting arm 1 to the speed of the second support arm 3 moving relative to the connecting arm 1 may be 3: 1. It should be noted that the sum of the weights of the first support arm 2 and the components thereon can be understood as the weight of the first support arm 2 itself plus the weight of all the devices and components disposed on the first support arm 2, and the sum of the weights of the second support arm 3 and the components thereon can be understood as the weight of the second support arm 3 itself plus the weight of all the devices and components disposed on the second support arm 3. In some alternative embodiments, when the weight of the first support arm 2 is substantially the same as the weight of the second support arm 3, the ratio of the speed of movement of the first support arm 2 relative to the connecting arm 1 and the speed of movement of the second support arm 3 relative to the connecting arm 1 may be equal to or close to the ratio of the weight of the radiation generator 120 to the weight of the radiation detector 130.
In some embodiments, the controller is adapted to control the speed of movement of the first support arm 2 relative to the connecting arm 1 to be less than the speed of movement of the second support arm 3 relative to the connecting arm 1. Because the weight of the first support arm 2 and the components thereon is greater than the weight of the second support arm 3 and the components thereon, with such an arrangement, in the process of movement of the first support arm 2 and the second support arm 3 relative to the connecting arm 1, the change in the position of the center of gravity of the C-shaped arm 110 is small relative to the state where the first support arm 2 and the second support arm 3 are respectively located at both ends of the connecting arm 1. In some embodiments, the controller may control the ratio of the speed at which the first support arm 2 moves relative to the connecting arm 1 to the speed at which the second support arm 3 moves relative to the connecting arm 1 to be any value less than 1. For example, the ratio of the speed of movement of the first support arm 2 relative to the connecting arm 1 to the speed of movement of the second support arm 3 relative to the connecting arm 1 may be 1:2, 1:3, 2:5, etc. For another example, the controller may control the ratio of the speed of movement of the first support arm 2 relative to the connecting arm 1 to the speed of movement of the second support arm 3 relative to the connecting arm 1 such that the ratio of the speeds is equal to or close to the ratio of the weight of the radiation detector 130 to the weight of the radiation generator 120.
In some embodiments, the controller is adapted to control the ratio of the speeds at which the first support arm 2 and the second support arm 3 move relative to the connecting arm 1 such that the position of the centre of gravity of the C-arm 110 remains constant during movement of the first support arm 2 and the second support arm 3 relative to the connecting arm 1. The person skilled in the art can specifically determine the speed of the movement of the first support arm 2 relative to the connecting arm 1 and the speed of the movement of the second support arm 3 relative to the connecting arm 1 according to the weight of the first support arm 2 and its upper component, the second support arm 3 and its upper component, the connecting arm 1, etc. of the C-shaped arm 110, so as to ensure that the position of the center of gravity of the C-shaped arm 110 remains unchanged. For example, the controller may control the ratio of the speeds of movement of the first and second support arms 2, 3 relative to the connecting arm 1 such that the ratio of the speed of the first support arm 2 to the speed of the second support arm 3 is equal to the ratio of the sum of the weights of the second support arm 3 and components thereon to the sum of the weights of the first support arm 2 and components thereon. In this case, the position of the center of gravity of the C-arm 110 can be kept constant during the movement of the first support arm 2 and the second support arm 3 relative to the connecting arm 1. Specifically, when the total weight of the first support arm 2 and the components thereon is 120KG, and the total weight of the second support arm 3 and the components thereon is 40KG, the controller controls the ratio of the speed of the first support arm 2 moving relative to the connecting arm 1 to the speed of the second support arm 3 moving relative to the connecting arm 1 to be 1: 3. The gravity center position of the C-shaped arm 110 is kept unchanged by setting the ratio of the movement speeds of the first support arm 2 and the second support arm 3, so that the influence of the change of the gravity center position of the C-shaped arm 110 on the bearing of the structure of the C-shaped arm 110 and the bearing of a mechanism for supporting the C-shaped arm 110 can be avoided in the design and production processes of the C-shaped arm 110, and the difficulty in controlling the movement of the C-shaped arm 110 can be reduced. In some alternative embodiments, when the C-arm 110 is able to rotate on the C-arm 110 carrier, the center of gravity of the C-arm 110 may coincide with the axis of rotation to ease the load of the C-arm 110 carrier. For example, the axis of rotation of the C-arm 110 carrying mechanism may be arranged to coincide with the center of gravity of the C-arm 110.
In some embodiments, the first drive means 4 and/or the second drive means 5 may comprise a motor and transmission means. In one embodiment, the motor may comprise a direct drive motor. The transmission means may include, but is not limited to, a combination of one or more of a worm and rack drive, a rack and pinion drive, a lead screw nut drive, a belt drive, and a chain drive. The transmission of the first drive means 4 is connected between its motor and the first support arm 2 and the transmission of the second drive means 5 is connected between its motor and the second support arm 3. The first drive means 4 and the second drive means 5 may be the same or different. For example, the first drive means 4 may comprise a worm-and-rack gear, while the second drive means 5 may comprise a rack-and-pinion gear. For another example, the first drive means 4 and the second drive means 5 may each comprise a lead screw nut transmission. In some alternative embodiments, the first and second driving means 4, 5 may comprise hydraulic cylinders, pneumatic cylinders, or the like.
In some embodiments, the first support arm 2, the second support arm 3 and the connecting arm 1 each have a hollow interior, and the first drive means 4 and the second drive means 5 are each disposed in the interior of the connecting arm 1. The inner cavity can be used for the wires or cables used by the equipment arranged on the first support arm 2 and the second support arm 3 to pass through, on the other hand, the weight of the C-shaped arm 110 can be reduced by arranging the inner cavity, and on the other hand, the use of the material of the C-shaped arm 110 can be reduced by arranging the inner cavity. It should be noted that the number of the inner cavities of the first support arm 2, the second support arm 3 and the connecting arm 1 may be one, or may be multiple (e.g. 2, 3, 4 or 6), and the multiple inner cavities may be communicated with each other. The number, arrangement, size and shape of the hollow cavities can be specifically set by those skilled in the art according to actual needs. For example, the cross-sectional shape of the lumen may be circular, square, polygonal, irregular, etc., and variations such as these are within the scope of the present application.
In the present application, the material of the first support arm 2 and the second support arm 3 may be provided as carbon fiber. For example, the first support arm 2 and/or the second support arm 3 may be integrally formed of a carbon fiber material. In some embodiments, reinforcing ribs may be provided in both the first support arm 2 and the second support arm 3. The strengthening rib can further improve its structural strength on the basis of the wall thickness that does not increase first support arm 2 and second support arm 3, avoids first support arm 2 and 3 atress deformations of second support arm to make first support arm 2 and second support arm 3 can support the equipment of setting above that better. It should be noted that the reinforcing ribs may be arranged in a strip shape, a grid shape, or the like, and a person skilled in the art may specifically design the shape of the reinforcing ribs as needed, which is not limited in this application. In some embodiments, stiffening ribs may also be provided in the connecting arm 1 in order to further enhance the structural strength of the C-arm 110. In other embodiments, the stiffener may be disposed on the outer surface of the C-shaped arm 110 (the first support arm 2, the second support arm 3, and/or the connecting arm 1). The purpose of the stiffener arrangement is primarily to increase the overall stiffness of the C-arm 110, and therefore, one skilled in the art can also place stiffeners elsewhere as desired, or can increase (or decrease) the number of stiffeners as desired. In the above embodiments, the reinforcing rib may also be other structures for enhancing rigidity, such as a reinforcing plate, a reinforcing rib, and the like, and such a variation is still within the scope of the present application. In addition, the material of the connecting arm 1 may also be provided as carbon fiber. In alternative embodiments, the connecting arm 1, the first support arm 2 and the second support arm 3 may also be made by splicing together sheet metal parts or castings.
The benefits that may be provided by the C-arm disclosed herein include, but are not limited to: (1) the first driving device drives the first supporting arm to move relative to the connecting arm, and the second driving device drives the second supporting arm to move relative to the connecting arm, so that the distance between the first supporting arm and the second supporting arm of the C-shaped arm can be adjusted more flexibly, and an operator of equipment using the C-shaped arm can perform operations such as examination or treatment on a patient more conveniently; (2) in the process of relative movement of the first support arm and the second support arm, the bearing of the connecting arm of the C-shaped arm and the bearing of the bearing mechanism of the C-shaped arm can be reduced; (3) in the movement process of the first support arm and the second support arm, the change of the gravity center position of the C-shaped arm can be reduced, even the gravity center position of the C-shaped arm is basically kept unchanged, and the movement (such as rotation) of the C-shaped arm is conveniently controlled; (4) the weight of the automobile can be reduced while higher strength and rigidity are ensured; (5) the equipment arranged on the first supporting arm and the second supporting arm can be well supported. It is to be noted that different embodiments may produce different advantages, and in different embodiments, any one or combination of the above advantages may be produced, or any other advantages may be obtained.
Some embodiments of the present application provide a digital subtraction angiography apparatus (DSA)1000, as shown in fig. 1 and 2, the digital subtraction angiography apparatus 1000 including a gantry 140, a ray generator 120, a ray detector 130, and a C-arm 110 of any of the above-described embodiments. The connecting arm 1 of the C-arm 110 is rotatably connected to the frame 140. Specifically, the connecting arm 1 may be connected to the frame 140 through a bearing, and a driving device may be provided on the frame 140 to drive the C-arm 110 to rotate relative to the frame 140. By rotatably coupling the connecting arm 1 to the gantry 140, the position of the radiation generator 120 can be easily adjusted during the X-ray photographing of the patient using the digital subtraction angiography apparatus 1000, which is advantageous for more accurately positioning the portion of the patient to be photographed or treated. The digital subtraction angiography apparatus 1000 can adjust the distance between the radiation generator 120 and the radiation detector 130 more flexibly by moving the first and second support arms 2 and 3 on the connection arm 1 during the examination of the patient by using the above-described C-shaped arm 110, so that the operator can perform the X-ray examination of the patient more conveniently. In some embodiments, the frame may include a mechanical arm, and the mechanical arm can control the rotation and the position of the C-shaped arm accurately and flexibly, and has a high application value. The digital subtraction angiography device is an X-ray machine which combines the conventional angiography and the electronic computer image processing technology, can enable the blood vessels and the lesions thereof to be displayed more clearly, and has higher application value.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (12)
1. A C-arm for use in a digital subtraction angiography apparatus, the C-arm comprising a connecting arm, a first drive means, a first support arm, a second drive means and a second support arm;
the first support arm is provided with a ray generator, and the second support arm is provided with a ray detector;
the first supporting arm and the second supporting arm are both movably connected with the connecting arm;
the first driving device is used for driving the first supporting arm to move relative to the connecting arm;
the second driving device is used for driving the second supporting arm to move relative to the connecting arm.
2. The C-arm of claim 1, wherein said first support arm moves along a first path on said connecting arm; the second support arm moves along a second path on the connecting arm; the first path is parallel or collinear with the second path.
3. A C-arm according to claim 1, further comprising a controller for controlling the first drive means to drive the first support arm in motion and/or the second drive means to drive the second support arm in motion.
4. A C-arm according to claim 3 wherein said controller is adapted to control the speed of movement of said first support arm relative to said connecting arm to be greater than the speed of movement of said second support arm relative to said connecting arm.
5. A C-arm according to claim 3 wherein said controller is adapted to control the speed of movement of said first support arm relative to said connecting arm to be less than the speed of movement of said second support arm relative to said connecting arm.
6. A C-arm according to claim 5 wherein said controller is adapted to control the ratio of the speed of movement of said first and second support arms relative to said connecting arm such that the ratio of the speed of said first support arm to the speed of said second support arm is equal to the ratio of the sum of the weight of said second support arm and components thereon to the sum of the weight of said first support arm and components thereon.
7. A C-arm according to claim 5 wherein said controller is adapted to control the ratio of the speeds at which said first and second support arms move relative to said connecting arm such that the position of the centre of gravity of said C-arm remains constant during movement of said first and second support arms relative to said connecting arm.
8. A C-arm according to claim 1, wherein said first and/or second drive means comprise a motor and at least one of the following transmission means: worm and rack transmission, rack and pinion transmission, lead screw nut transmission, belt transmission and chain transmission.
9. A C-arm according to any of claims 1 to 8, wherein said first support arm, said second support arm and said connecting arm each have a hollow interior, and said first drive means and said second drive means are each located in the interior of said connecting arm.
10. The C-arm according to any of claims 1 to 8 wherein said first support arm and said second support arm are both made of carbon fiber and said first support arm and said second support arm are both provided with reinforcing ribs.
11. A digital subtraction angiography apparatus comprising a gantry, a radiation generator, a radiation detector and a C-arm according to any one of claims 1 to 10;
the connecting arm of the C-shaped arm is rotatably connected to the rack.
12. The digital subtraction angiography apparatus of claim 11, wherein the gantry comprises a robotic arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111520398.8A CN114209346A (en) | 2019-11-21 | 2019-11-21 | A C-arm and digital subtraction angiography equipment |
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| CN202111520398.8A CN114209346A (en) | 2019-11-21 | 2019-11-21 | A C-arm and digital subtraction angiography equipment |
| CN201911147731.8A CN110833426A (en) | 2019-11-21 | 2019-11-21 | C-shaped arm and X-ray machine |
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| CN202111520398.8A Pending CN114209346A (en) | 2019-11-21 | 2019-11-21 | A C-arm and digital subtraction angiography equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4033979B1 (en) | 2019-10-22 | 2024-12-11 | Shanghai United Imaging Healthcare Co., Ltd. | C-arms and x-ray devices |
| CN111528881B (en) * | 2020-05-09 | 2023-08-18 | 上海联影医疗科技股份有限公司 | Scanning system based on C-shaped arm |
| WO2021228056A1 (en) * | 2020-05-09 | 2021-11-18 | 上海联影医疗科技股份有限公司 | Scanning apparatus, and method and system |
| CN111991014B (en) * | 2020-08-11 | 2024-08-02 | 上海联影医疗科技股份有限公司 | C-shaped arm and X-ray machine |
| WO2022033522A1 (en) * | 2020-08-11 | 2022-02-17 | 上海联影医疗科技股份有限公司 | X-ray machine |
| WO2023125682A1 (en) | 2021-12-31 | 2023-07-06 | Shanghai United Imaging Healthcare Co., Ltd. | Medical device and c-arm based device thereof |
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| CN101933813A (en) * | 2010-09-14 | 2011-01-05 | 中国科学院深圳先进技术研究院 | X-ray imaging equipment adjustment device |
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| DE19958864A1 (en) * | 1999-12-07 | 2001-06-13 | Philips Corp Intellectual Pty | X-ray device |
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| DE102008003815B4 (en) * | 2008-01-10 | 2014-07-31 | Siemens Aktiengesellschaft | X-ray device comprising a preferably on a robot arm about a rotation axis rotatably mounted C-arm |
| US9265470B2 (en) * | 2011-05-24 | 2016-02-23 | General Electric Company | Pivoting X-ray imaging devices |
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| US5050204A (en) * | 1989-05-04 | 1991-09-17 | Siczek Bernard W | C-arm diagnostic equipment |
| CN101933813A (en) * | 2010-09-14 | 2011-01-05 | 中国科学院深圳先进技术研究院 | X-ray imaging equipment adjustment device |
| CN107518907A (en) * | 2016-06-22 | 2017-12-29 | 沈阳东软医疗系统有限公司 | A kind of medical imaging device and its frame |
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