DE102008019646A1 - Computer tomography system for producing smallest details of human body, has robot arm with four axles and freely moving computer tomography-gantry is arranged at end of robot arm - Google Patents

Abstract

For a particularly good suitability for interventional interventions a computed tomography system is provided, comprising a robot arm having at least four axes, in particular a 6-axis articulated robot (10), wherein a CT gantry (7) is freely movably arranged at one end of the robot arm which has an X-ray source (8) and an X-ray detector (9).

Description

The The invention relates to a computed tomography system according to the Claim 1.

There using computer tomography high-resolution and reliable Pictures of even the smallest details of the human body Computed tomography often becomes too used in the context of interventions or operations. Mainly here are pre- or post-interventional Organs, bones, blood vessels or tumors visible made a particularly good preparation or follow-up to allow such interventions. additionally However, computerized tomography is also becoming increasingly common interventional procedures used to instruments, stents or Catheter in the body of a patient with high resolution three-dimensional visible and traceable to make.

In the article "Multislice CT: Interventional CT" by Thomas J. Vogl and Christopher Herzog (published on http://cox.zms-hosting.com/radiologie-unifrankfurt.de/content/e43/e2321/index_eng.html) describes the use of a multilayer CT in medical interventions. From the document DE 10 2005 034 683 A1 discloses a method for generating computed tomography images during an intervention.

at the use of computed tomography during medical However, interventions or surgical procedures are common the problem that a CT gantry with a recording system very much Space needed and inflexible in their positioning so that for the doctor who performs the intervention, only a difficult access to the patient is possible.

It The object of the present invention is a suitable computed tomography system provide a flexible access to a patient even during an intervention.

The The object is achieved by a computed tomography system according to the claim 1; advantageous embodiments of the invention are each the subject the dependent claims.

at the computed tomography system according to the invention is due to the at least four axes robotic arm, on whose one end freely movably a CT gantry is arranged, so that the CT gantry moves and adjusts flexibly in three dimensions An improved access to the patient is possible. In particular, the CT gantry can quickly and effortlessly into a Take the patient's position and complete it again be removed without having to move the patient. This can also be done in a simple way several times in succession become. Overall, the computed tomography system according to the invention a very good flexibility especially with regard to CT scans during interventional procedures and operations on.

A CT gantry is generally made from a fixed rotating frame and within the revolving frame relative to this rotatable receiving system, consisting of X-ray source and X-ray detector, built up.

According to one embodiment of the invention, the robot arm is formed by an articulated-arm robot, in particular by a articulated-arm robot with six axes of rotation. With such an articulated robot, it is possible to move the gantry in any desired position and further to move on an arbitrarily presettable trajectory. Such articulated robots are used in particular in the automotive industry and are widely used there. For example, the company KUKA under the Internet address www.kuka.com such robots offered.

In Advantageously, the robot arm, in particular the articulated robot, at the other end, firmly on the ground, on the ceiling or on the wall an examination room mounted. By such a fixed installation is a stable movement of the robot arm relative to a fixed one Guaranteed reference point.

Of the Robotic arm, in particular the articulated robot, can also on one Rail device, which on the floor or on the ceiling of the examination room is attached, be arranged movable. In addition, can The articulated robot also on a mobile equipment cart be arranged. This mobility is the radius of application of the CT system increased.

To Another embodiment of the invention is the X-ray detector formed by a line detector. Such line detectors are common in computed tomography to cut images for a to make and enable three-dimensional reconstruction particularly precise three-dimensional representations of a Examination subject. Alternatively, the X-ray detector becomes formed by a surface detector, as he z. B. in the Radiography or fluoroscopy is common. Through a Area detector is a faster recording of a larger one Area of the examination subject possible.

Advantageously, the gantry has min at least two x-ray sources and at least two x-ray detectors. In this context, for example, dual-source images are possible if the respective recording systems are arranged in the gantry at an angle of 90 ° to each other. The speed of data acquisition is doubled in this way.

To In another embodiment of the invention, the CT gantry is on one hand of the robot arm releasably attached, so that the CT gantry, for example, can also be decoupled and as needed in their place to another component such as a Patient couch can be coupled.

The Invention and further advantageous embodiments according to features The dependent claims are described below with reference to schematically illustrated embodiments explained in more detail in the drawing, without thereby limiting the invention to these Embodiments takes place; show it:

1 a perspective view of a Knickarmroboters with six axes of rotation according to the prior art;

2 a perspective view of a computed tomography system according to the invention;

3 a perspective view of a computed tomography system according to the invention with a patient bed and an intervention instrument;

4 a perspective view of a computed tomography system according to the invention with a arranged on another articulated arm robot patient bed;

5 a view of a dual-source recording system of a CT gantry.

1 shows a known in the art robotic arm in the form of an articulated robot 10 with six axes of rotation. On a base frame 1 , which is fixedly mounted, for example, on a floor, is rotatable about a first axis of rotation A1 a carousel 2 added. At the carousel 2 is pivotable about a second axis of rotation A2 a rocker 3 appropriate. At the swingarm 3 is rotatable about a third axis of rotation A3 an arm 4 attached. At the end of the arm 4 is rotatable about a fourth axis of rotation A4 a hand 5 appropriate. The hand 5 has a fastener 6 which is rotatable about a rotational axis A6 and pivotable about a fifth axis of rotation A5 perpendicular thereto.

2 shows in a perspective view schematically an embodiment of the invention. On the fastener 6 the hand 5 is a CT gantry 7 hitched. For this purpose, a coupling not shown here can be provided, which is a coupling and uncoupling of the CT gantry 7 allows. The CT gantry 7 Can also be fixed to the articulated robot 10 be attached. The CT gantry 7 has a recording system with an X-ray source 8th and an X-ray detector 9 on (shown in dashed lines). X-ray source 8th and x-ray detector 9 are rotatable together in a known manner within the rotary frame of the CT gantry.

3 shows another inventive computer tomography system with a articulated robot 10 at which the CT gantry 7 is attached. On a patient couch 12 there is a patient 11 to use an instrument 14 to be operated on or treated. at the instrument 14 For example, it can be a needle or a catheter. The CT gantry 7 can by means of the articulated robot 10 be flexibly brought into a receiving position around the patient and also quickly removed. Likewise, the articulated robot 10 To create slice images of the patient a slow feed of the CT gantry 7 along the patient, while the recording system, so the X-ray source 8th and the X-ray detector 9 rotated around the patient. At the CT gantry 7 may be an input device for a user to operate the CT system, for example a user IO 15 be arranged.

In addition, the instrument can 14 for better guidance, for example, on a miniature robotic arm 13 be arranged. Such a miniature robot arm 13 may for example be formed by a particularly small articulated robot, which is mounted near the patient.

In Computed tomography will be a lot of x-rays Examined object created from different directions and These 2D X-ray images become the volume information reconstructed. As a rule, the 3D reconstructions sit down from individual sections (cross-sectional method), which are transverse to the object run, together. In this way, for each volume element of the object (so-called voxel corresponds to a three-dimensional pixel) a density can be determined.

The patient bed can be manually or motor-adjustable in its height, longitudinal and transverse directions, whereby it can be floor-mounted, wall-mounted or ceiling-mounted. In addition, an inclination in all three spatial directions and a rotation around a center may be possible. In addition, the patient bed can be designed to be circular or elliptical rotation to make a fixed point in the plane or space.

4 shows a further embodiment of the invention in the form of a mounted on the ceiling of an examination room Knickarmroboters 10 which is a CT gantry 7 wearing. In addition, the CT system has another articulated robot 20 on which a patient bed 12 attached by the articulated robot 20 is three-dimensionally adjustable.

5 shows a CT gantry 7 with two recording systems, so with two x-ray sources 8th and two x-ray detectors 9 , The two x-ray sources 8th are arranged at an angle of 90 ° to each other. Such dual-source systems offer the advantage that twice as many 2D images can be created in the same time.

When X-ray detectors can either be used for Computed tomography conventional single or multi-line detectors can be used or it can surface detectors be used.

The The invention can be briefly summarized in the following way: For a particularly good suitability for interventional Interventions is a computed tomography system provided having a robotic arm having at least four axes, in particular a 6-axis articulated robot, wherein at one end of the robot arm freely movably a gantry is arranged, which is an x-ray source and an X-ray detector.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• DE 102005034683 A1 [0003]

Cited non-patent literature

• - "Multislice CT: Interventional CT" by Thomas J. Vogl and Christopher Herzog (published on http://cox.zms-hosting.com/radiologie-unifrankfurt.de/content/e43/e2321/index_eng.html) [0003]
• - www.kuka.com [0009]

Claims (11)

A computed tomography system, comprising a robot arm having at least four axes, wherein a CT gantry is freely movable at one end of the robot arm (FIG. 7 ) which is an X-ray source ( 8th ) and an x-ray detector ( 9 ) having. Computed tomography system according to claim 1, wherein the robot arm is controlled by an articulated robot ( 10 ) is formed. Computed tomography system according to claim 2, wherein the articulated robot ( 10 ) has six axes of rotation (A1, A2, A3, A4, A5, A6). Computer tomography system according to one of preceding claims, wherein the robot arm at its the other end is firmly mounted on the floor of an examination room. Computer tomography system according to one of preceding claims, wherein the robot arm at its other end on a ceiling or wall of an examination room is mounted. Computed tomography system according to one of the preceding claims, wherein the x-ray detector ( 9 ) is formed by a line detector. Computed tomography system according to one of the preceding claims, wherein the x-ray detector ( 9 ) is formed by a surface detector. Computed tomography system according to one of the preceding claims, wherein the CT gantry ( 7 ) at least two x-ray sources ( 8th ) and at least two X-ray detectors ( 9 ) having. Computed tomography system according to one of the preceding claims, wherein the CT gantry ( 7 ) is releasably secured to a hand of the robot arm. A computed tomography system according to any one of the preceding claims, wherein the computed tomography system comprises a further robotic arm comprising a patient couch ( 12 ) wearing. Computed tomography system according to one of the preceding claims, wherein the computed tomography system comprises a further robot arm, in particular a miniature robot arm ( 13 ), which is an interventional instrument ( 14 ) wearing.