CN202873171U - Cable guider used for medical instrument - Google Patents

Abstract

The utility model discloses a cable guider. The cable guider comprises a cable storage unit (11) arranged on a robot arm (7) of a medical instrument for accommodating a superfluous section of a cable harness (13), and a gravity balance unit (15) for uniformly applying a tractive force (ZF) onto the cable harness (13) inside the cable storage unit (11) independent of the superfluous section. The utility model also discloses the medical instrument having the cable guider. The cable guider is advantaged in that the tractive force applied on the cable harness in the robot arm is invariant at all operation positions of the rotor arm so that the cable harness always can be drawn back smoothly and does not need to bear a over heavy load.

Description

Cable guides for medical instruments

technical field

The utility model relates to a cable guiding device for medical instruments and a medical instrument with the cable guiding device.

Background technique

A cable guide in a robot-based C-arm x-ray apparatus is known, for example, from DE 10 2008 035 196 A1. The robotic instrument has more degrees of freedom than a typical C-arm instrument, which can affect the cable guidance. Figure 1 shows an X-ray diagnostic device according to DE 10 2008 035 196 A1, which has a C-arm 2 mounted rotatably on a support in the form of a six-axis crank robot 1, with a C-arm 2 at its end. X-ray emitter 3 and an X-ray image detector 4 .

The C-arm 2 can be moved spatially arbitrarily by means of the curved-arm robot 1 , for example in such a way that the C-arm surrounds a center of rotation between the x-ray emitter 3 and the x-ray detector 4 rotate. The x-ray systems 1 to 4 are in particular rotatable about a center of rotation and an axis of rotation in the plane of the x-ray image detector 4, preferably about a center point of the x-ray image detector 4 and about the x-ray image detector The center point of the detector 4 intersects the rotation axis to rotate.

The curved-arm robot 1 has a base frame firmly mounted on a base plate. A turntable is fixed thereon rotatable about a first axis of rotation. A robot rocker rotatable around the second axis of rotation is provided on the turntable, and a robot arm 7 rotatable around the third axis of rotation is fixed thereon. A robot hand rotatable about a fourth axis of rotation is provided at the end of the robot arm 7 . The robot hand has a mount, which is rotatable about an axis of rotation and swivels about a fifth axis of rotation extending perpendicularly to the axis of rotation.

In the beam path of the x-ray emitter 3 a patient 6 to be examined is located on a patient support table 5 for imaging.

In order to provide electrical energy to the imaging units 3, 4 and to derive the detected X-ray images, a power supply line 9 is provided as a laying cable, which enters the C arm in the cable inlet 8 on the C arm 2 and leads to the imaging unit 3, 4 components.

The supply line 9 consists of one or more cable bundles and may also include coolant lines. The supply line 9 is sheathed by a grooved hose. The cable harness and coolant lines are divided into a plurality of supply lines which are each led along the robot arm 7 to the C-arm 2 where they are led into the C-arm via a plurality of cable inlets. The power supply lines 9 are fixed and guided by cable guides 10 firmly arranged on the robot arm 7 . In order to accommodate the extra cable length, ceiling-connected (deckengebundene) cable stores are known.

Contents of the invention

The technical problem to be solved by the utility model is to provide a cable guiding device and a medical instrument with the cable guiding device, which can store cables.

The utility model claims a cable guiding device, which includes a cable storage unit arranged on the robot arm of a medical instrument, which accommodates the excess cable length of the cable bundle, and includes a gravity balance unit, which is independent of the excess cable length Apply even traction to the cable bundles inside the cable storage unit. The advantage of the invention is that the traction force acting on the cable harness in the robot arm is constant in all operating positions of the robot arm. The cable harness is thus always pulled back smoothly and never has to be subjected to excessive loads.

In a refinement, the gravitational compensation unit is firmly attached to the robot arm.

According to another embodiment of the present invention, the cable storage unit can be designed in the shape of a circular arc, wherein the cable bundle is led out from one end of the circular arc and the leads can move along the circular arc.

Additionally, the apparatus includes a pod removably disposed within the cable storage unit and holding the cable bundle.

In yet another embodiment of the present utility model, the gravity balance unit acts on the pod with a uniform traction force.

According to a further embodiment of the invention, the device comprises a connecting device between the gravity balancing unit and the nacelle, which transmits the tractive force from the gravity balancing unit to the nacelle.

Said connection means may preferably comprise a rope, chain or drawbar.

The utility model also claims a medical instrument, which has an X-ray C-arm arranged on a curved arm robot and has a cable guide device according to the utility model.

Description of drawings

Other characteristics and advantages of the present utility model will be described below through the elaboration of the embodiments with the aid of the accompanying drawings. In the attached picture:

Figure 1 shows a C-arm X-ray apparatus according to the prior art with a curved-arm robot as a fixture, and

FIG. 2 shows a C-arm X-ray apparatus with an articulating robot as a fixing device and a cable guide according to the invention.

Detailed ways

FIG. 2 shows a C-arm X-ray apparatus with a C-arm 2 mounted on a robot arm 7 of a curved-arm robot 1 . The power supply lines for an x-ray emitter (not shown) and an x-ray detector (not shown) are bundled in the form of a cable bundle 13 from the base 18 of the articulating robot 1 to the C-arm 2 . The cable harness 13 is guided at least partially into the grooved hose 12 .

In order to store sufficient length compensation for the cable harness 13 for the movement of the robot arm 7 , according to the invention a cage-shaped cable storage unit 11 is provided. The cable storage unit is firmly connected to the robot arm 7 . The cage 11 includes a plurality of cage pillars 17 which are surrounded to form a circular arc-shaped hollow body. A gondola 14 , which is movable along the cage 11 , is arranged movably in the cage 11 as a guide vehicle. The cable harness 13 is located in the nacelle 14 and is movable together with the nacelle. A cable bundle 13 is introduced at one end of the cage 11 , bent after leaving the pod 14 and led to the base 18 by the following robot arm. The cage 11 can accommodate a compensating length of the cable bundle 13 of about half a meter.

The gondola 14 is connected to the gravitational compensation unit 15 via connecting means 16 , so that the same traction force ZF always acts on the cable harness 13 during each movement of the robot arm 7 . The gravity balance unit 15 is rigidly connected to the cage 11 . The weight balancing unit 15 acts on the nacelle 14 and thus on the cable bundle 13 located in the nacelle 14 with a uniform traction force ZF. The connecting means 16 can be designed as ropes, chains or pull rods.

The weight compensation unit 15 can generate the traction force ZF either mechanically, for example by means of a spring, or electrically, for example by means of a motor.

Claims (12)

1. a crinoline is characterized in that,

-having the cable storage unit (11) on the robots arm (7) of the Medical Instruments of being located at, it holds the unnecessary cable length of bunch of cables (13), and

-having gravity balance unit (15), itself and unnecessary cable length irrespectively act on uniform tractive effort (ZF) on the interior bunch of cables (13) in cable storage unit (11).

2. according to crinoline claimed in claim 1, it is characterized in that described gravity balance unit (15) is located on the described robots arm (7) securely.

3. according to claim 1 or 2 described crinolines, it is characterized in that described cable storage unit (11) is designed to circular arc, wherein, described bunch of cables (13) is drawn and is gone between and can move along described circular arc at an end of described circular arc.

4. according to claim 1 or 2 described crinolines, it is characterized in that,

-having gondola (14), it is located in the cable storage unit (11) and the described bunch of cables of fixing (13) movably.

5. according to crinoline claimed in claim 4, it is characterized in that described gravity balance unit (15) acts on uniform tractive effort (ZF) on the described gondola (14).

6. according to crinoline claimed in claim 5, it is characterized in that,

-having the interface unit (16) between described gravity balance unit (15) and described gondola (14), it is delivered to described gondola (14) with tractive effort (ZF) from described gravity balance unit (15).

7. according to crinoline claimed in claim 6, it is characterized in that described interface unit (16) comprises rope, chain or pull bar.

8. according to crinoline claimed in claim 3, it is characterized in that,

-having gondola (14), it is located in the cable storage unit (11) and the described bunch of cables of fixing (13) movably.

9. according to crinoline claimed in claim 8, it is characterized in that described gravity balance unit (15) acts on uniform tractive effort (ZF) on the described gondola (14).

10. according to crinoline claimed in claim 9, it is characterized in that,

-having the interface unit (16) between described gravity balance unit (15) and described gondola (14), it is delivered to described gondola (14) with tractive effort (ZF) from described gravity balance unit (15).

11., it is characterized in that described interface unit (16) comprises rope, chain or pull bar according to crinoline claimed in claim 10.

12. one kind has the X ray C arm (2) that is located in the robot of cranking arm (1) and has Medical Instruments according to the described crinoline of one of aforementioned claim.

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