DE102018203427B4 - Imaging medical device with an energy guide chain for the flexible mounting of at least one flexible, in particular current-carrying, line - Google Patents

Abstract

Imaging medical device (1), in particular an x-ray device, with at least one imaging component (B, 5, 6, 7) for generating image data of an examination object stored in an examination area (U), in particular patients, which are guided so as to be pivotable with respect to the examination area (U) is that the imaging component (B, 5, 6, 7) can be positioned in different orbital angular positions with respect to an orbital axis of rotation (O) running through the examination area (U), at least one with the imaging component (B, 5, 6, 7) Connected, flexible, in particular current-carrying, line is movably guided in an energy guide chain (11), the energy guide chain (11) comprising a plurality of chain links (12) articulated to one another, each of which is designed to accommodate longitudinal sections of the flexible line, the chain links ( 12) have coupling elements (19) which joint axes (G) Define the energy guide chain (11), the coupling elements (19) being designed to arrange the energy guide chain (11) in a region in the form of a spherical shell segment in such a way that all the joint axes (G) of the chain links (12) are directed to a center assigned to the region in the form of a spherical shell segment characterized in that the coupling elements (19) of the respective chain links (12) have such play that the joint axes (α) of each chain link (12) are arranged at least in one plane in such a way that they are at an angle of division (α ), the center point being predetermined by a center of rotation (Z), which is formed by the intersection between the orbital axis of rotation (O) and an angular axis of rotation (A) of the imaging medical device (1).

Description

The invention relates to an imaging medical device with an energy guide chain for the movable mounting of at least one flexible, in particular current-carrying line, comprising a plurality of chain links which are connected to one another in an articulated manner and are each designed to accommodate longitudinal sections of the flexible line. The chain links have coupling elements which define articulated axes of the energy chain.

The invention further relates to an imaging medical device, in particular an x-ray device, with at least one imaging component for generating image data of an examination object stored in an examination area, in particular patients, which is pivotably guided with respect to the examination area in such a way that the imaging component is rotatable with respect to an axis of rotation running through the examination area, in particular orbital axis of rotation, can be positioned in different orbital angular positions.

In the field of mechanical engineering, energy guiding chains are known which are designed to protect flexible lines, such as current-carrying cables and / or pneumatic or hydraulic lines, from wear and / or mechanical damage if they are connected to a movably guided component. Such an energy guide chain typically has a plurality of chain links which are connected to one another in an articulated manner, the joint axes of which run parallel to one another generally allow pivoting over a defined restricted angular range, in order to ensure that a predetermined minimum bending radius of the line guided in the energy guide chain is not undershot. Such energy chains are used, among other things, in the field of machine tools.

Energy guiding chains that can be guided along curved trajectories are, for example, out US 2012/0085078 A1 , US 2010/0193642 A1 , DE 199 16 791 A1 , DE 601 20 307 T2 or EP 0 277 389 A1 known.

Imaging components of medical imaging devices, such as X-ray emitters or detectors, are often mounted so that they can move, for example, to capture projection images from different viewing directions. Other applications are tomography or tomosynthesis, in which projection data recorded from different directions are recorded in order to generate three-dimensional images. The power supply lines, in particular lines, must be arranged in such a way that the necessary rotational and longitudinal movements of the imaging components can be carried out. With some X-ray devices, such as C-arm X-ray devices, movements about more than five axes are involved. The lines are usually mechanically stressed during the movements. Damage to the power supply due to wear can occur, particularly at articulation points.

Starting from this prior art, the present invention has for its object to protect movably guided cables of an imaging medical device, which in particular perform multidimensional movements during operation.

This object is achieved by an imaging medical device with the characterizing features of patent claim 1
Advantageous embodiments of the invention are the subject of the dependent claims.

An energy guide chain for the movable mounting of at least one flexible, in particular current-carrying, line of an imaging medical device comprises a plurality of chain links which are connected to one another in an articulated manner and are each designed to accommodate longitudinal sections of the flexible line. The chain links have coupling elements which define articulated axes of the energy chain. According to the invention, the coupling elements are designed for arranging the energy guide chain in a region in the form of a spherical shell segment in such a way that at least two of the joint axes are directed towards a center point assigned to the region in the form of a spherical shell segment.

The energy supply chain is designed in such a way that at least all the joint axes can be aligned to the center of the region in the form of a spherical shell segment, advantageously advantageously allowing the energy supply chain to move largely freely within the region in the region of the spherical shell segment. This training is particularly in applications in which the at least one line guided within the energy chain, for example a current-carrying cable and / or a pneumatic or hydraulic line, is at least indirectly connected to a component which is a multidimensional movement, for example a pivoting movement by two intersecting axes of rotation. In this case, a maximum pitch angle, by means of which the at least two joint axes can be tilted to one another, is preferably defined by the structural design of the corresponding chain links or their coupling elements such that one for the guided line does not fall below the specified bending radius.

The energy supply chain is preferably arranged in the form of a loop in the region in the form of a spherical shell segment. The energy supply chain moves on a U-shaped path in the region of the spherical shell segment. The hinge axes are directed to the center, which according to the invention can be formed by a center of rotation.

The energy supply chain can be designed as an open or closed energy supply chain. In particular in the case of configurations in which rapid rotational movement is required, such as in the case of rapidly rotating imaging components of medical imaging, open energy guiding chains are preferred in order to minimize the inertia. This applies in particular to the area of medical imaging devices which are provided for capturing projection images for three-dimensional imaging, for example for tomography or tomosynthesis.

Closed energy supply chains completely enclose the cables that are routed or guided in them. Material breakthroughs are present in the case of open energy guiding chains, so that the lines routed therein are generally not completely enclosed in the circumferential direction of the energy guiding chain.

The coupling elements are designed for arranging the energy supply chain in a region in the form of a spherical shell segment in such a way that all the joint axes of the chain links are directed towards the center point assigned to the region in the form of a spherical shell segment. In this way, the resistance is minimized if the energy supply chain is moved in the region in the shape of a spherical shell segment.

In an embodiment, the coupling elements of each chain link define two joint axes lying in one plane, which run at a pitch angle different from 0 ° to one another. The pitch angle defines the chain pitch of the energy chain.

In an embodiment, the chain links are made of such a flexible material that the articulated axes of each chain link can be arranged at least in one plane in such a way that they run at a pitch angle different from 0 ° to one another. In such an embodiment, the movement of the energy guide chain in or along the spherical shell-shaped region, in particular in the tangential direction, is thus made possible by the fact that the chain links have sufficient flexibility. Correspondingly elastic plastic materials are used to form the chain links.

According to the invention, the coupling elements of the respective chain links have such play that the joint axes of each chain link can be arranged at least in one plane in such a way that they run at a pitch angle different from 0 ° to one another. By play in the sense of the present specification it is understood in particular that the coupling elements are provided with freedom of movement and are thus structurally designed such that the joint axes can be tilted relative to one another over a predetermined angular range. This predetermined angular range is limited by the pitch angle of the chain links, which thus indicates the maximum angle at which the two joint axes of a chain link can be arranged relative to one another.

The use of the energy chain described above relates to the routing of at least one line, such as a current-carrying cable and / or a pneumatic or hydraulic line, to a component of the imaging medical device, which is movably mounted with respect to at least one axis of rotation.

The energy supply chain is used to guide at least one line which is at least indirectly connected to a component of the imaging medical device which is movably mounted with respect to at least two intersecting axes of rotation. The energy chain is designed to support multidimensional movement.

The energy guide chain is used in such a way that all the articulated axes of the energy guide chain are directed at the intersection of the at least two intersecting axes of rotation.

In one embodiment, the component is designed as an imaging component of the imaging medical device, which is rotatably mounted with respect to an orbital axis of rotation and / or an angular axis of rotation.

The invention relates to the imaging medical device mentioned above, in particular a C-arm x-ray device or computer tomograph. The imaging medical device comprises at least one imaging component for generating image data of a patient stored in an examination area, which is pivoted or supported with respect to the examination area in such a way that the imaging component is related to an axis of rotation running through the examination area, in particular orbital axis of rotation, can be positioned in different angular positions, in particular orbital angular positions. According to the invention, at least one flexible, in particular current-carrying, line connected to the imaging component is movably guided in the energy chain described above

It is therefore provided that the at least one flexible line connected to the imaging component is movably guided or supported in the, in particular movably mounted, energy chain (also: energy chain, E chain, drag chain). The energy guide chain has a plurality of chain links which are connected to one another in an articulated manner and each take up longitudinal sections of the at least one flexible line, the chain links of the energy guide chain being arranged at each angular position, in particular orbital angular position, of the imaging component within a region in the form of a spherical shell segment around the examination area.

Rapid orbital movements of the imaging component about the orbital axis of rotation are common, for example, when generating three-dimensional image data of the examination object. These generally go hand in hand with a strong mechanical stress on the lines or cable strands, which are at least indirectly connected to the moving, in particular rotating, imaging component. With the energy guiding chain, which is arranged in a spherical shell segment-shaped area around the examination area, which is optimized for the rotary movement, the mechanical stress on the flexible lines, in particular cable strands, guided therein is minimized. The cables arranged within the energy chain are therefore well protected against wear.

The imaging medical device is preferably designed as an X-ray device, for example as an X-ray device for angiography or as a computer tomograph. Accordingly, it is provided in an embodiment that the movably mounted imaging component comprises an x-ray detector, x-ray emitter and / or an aperture unit. In one possible embodiment, the X-ray detector and the X-ray emitter are carried by a C-shaped support arm and are each arranged opposite the examination area. The support arm can be adjusted along a guide which has at least one circular section, so that the imaging component can be pivoted about the orbital axis of rotation.

One embodiment provides for the energy supply chain to be arranged in a U-shaped manner within the spherical shell-shaped or spherical shell segment-shaped region in such a way that the relative extent of two chain sections running parallel to one another and interconnected via an intermediate deflecting region depends on the orbital angular position in which the at least one imaging component is positioned . In other words, the energy supply chain thus connects a movably guided connection point to a stationary connection point in such a way that the length of the chain sections depends on the position of the movable component, that is to say is different for different orbital angular positions of the imaging component. The energy guiding chain is thus guided in a movable manner and, when the movable imaging component is adjusted about the orbital axis of rotation, executes a travel movement in which the relative extent of the two chain sections running parallel to one another changes.

In an embodiment, it is provided that at least a first end of the energy guide chain is at least indirectly connected to the movably guided imaging component via a support arm and a second end of the energy guide chain is firmly connected to a stationary component of the imaging medical device. The support arm is, for example, essentially C-shaped and carries at its ends an X-ray detector and an X-ray emitter in such a way that they are each arranged opposite the examination area. In other words, the support arm forms a first connection point for the first end of the energy chain with the movable component, the opposite second end of the energy chain being connected to the stationary component.

In an embodiment, it is provided that an end-side chain link located at the first end is firmly connected to the support arm and an end-side chain link located at the second end of the energy guiding chain to the stationary component.

In a further development it is provided that the energy guide chain is arranged in a U-shape within the spherical shell-shaped area and the extent of a chain section along a section of the support arm depends on the orbital angular position in which the at least one imaging component is positioned. The energy chain therefore executes a travel movement when the movable imaging component is adjusted about the orbital axis of rotation, in which the extension of an i. A. changes chain section comprising several chain links along the support arm.

Successive chain links of the energy supply chain are connected to one another via articulated axes.

The at least one imaging component is pivotably mounted with respect to an angular axis of rotation running perpendicular to the orbital axis of rotation. The articulation axes of the chain links are directed in the radial direction at a center of rotation which is formed by the intersection between the orbital axis of rotation and the angular axis of rotation. Versions with imaging components that are adjustable with respect to an orbital and an angular axis of rotation are known, for example, very generally in the area of the C-arm x-ray devices or in the area of the x-ray device for angiography. These medical imaging devices generally have the C-shaped support arm already mentioned which carries the imaging components. This support arm can have, for example, a guide, in particular a telescopic guide, which has at least one arcuate section which extends in the circumferential direction about the orbital axis of rotation. The angular axis of rotation runs perpendicular to the orbital axis of rotation and through the examination area in such a way that the center of rotation, that is to say the intersection of the angular and orbital axis of rotation, lies essentially centrally in the examination area. The arrangement of the energy guide chain in the region of the spherical segment shell in such a way that the joint axes of the chain links are directed radially towards the center of rotation is advantageous, since in this case the angular or orbital movements about the angular axis of rotation or orbital axis of rotation are at most insignificantly impaired. This ensures a defined cable movement with minimal wear.

In a further development, a plurality of energy guide chains running parallel to one another, each with chain links connected in an articulated manner, are arranged in the region in the form of a spherical shell segment, longitudinal sections of further flexible lines being accommodated in the chain links of the further energy guide chains. In this way, further lines, in particular for the power supply of further movably mounted components, such as drives for the angular and / or orbital movements or the like, can be guided in a defined manner and can be protected against mechanical overload.

• 1: ein Kettenglied für eine Energieführungskette in einer perspektivischen Darstellung;
• 2: das Kettenglied der 1 in einer perspektivischen Seitenansicht;
• 3: eine bildgebende medizinische Einrichtung mit einem C-förmigen Tragarm und einer Energieführungskette zum Führen von Stromzuleitungen in einer perspektivischen Darstellung;
• 4: eine perspektivische Darstellung eines Teilbereichs der medizinischen Einrichtung von 3;
• 5: eine weitere perspektivische Darstellung eines Teilbereichs der medizinischen Einrichtung von 3.

For a further description of the invention, reference is made to the exemplary embodiments shown in the drawing figures. In a schematic representation:

• 1 : A chain link for an energy chain in a perspective view;
• 2nd : the chain link of the 1 in a perspective side view;
• 3rd : an imaging medical device with a C-shaped support arm and an energy chain for guiding power supply lines in a perspective view;
• 4th : a perspective view of a partial area of the medical device of FIG 3rd ;
• 5 : Another perspective view of a portion of the medical facility of 3rd .

Corresponding parts are provided with the same reference symbols in all figures.

1 and 2nd show a chain link 12th an energy chain 11 for routing a flexible line, in particular a current-carrying cable and / or a pneumatic or hydraulic line. The chain link 11 has a substantially rectangular receptacle for those in the energy chain 11 to lead to and complementary coupling elements 19th , the articulated axes G of the chain link 12th define.

The chain links 12th formed energy chain 11 is preferably arranged within a spherical segment-shaped area which extends, for example, in a predetermined radius from a center point assigned to the spherical segment-shaped area. One application is movably guided components of a device, such as that in FIG 3rd to 5 imaging components shown B , 5 , 6 , 7 an imaging medical facility 1 , where the energy chain 11 in particular indirectly with one of the movably guided imaging components B , 5 , 6 , 7 and are connected to a stationary connection point. In this case, the center point assigned to the spherical segment-shaped area is from a center of rotation Z. given by which the imaging components B , 5 , 6 , 7 are guided pivotably.

The coupling elements 19th the chain links 12th are defining hinge axes G which, especially in the drawing plane of the 2nd , to each other at a pitch angle α different from 0 °. In this way, a largely resistance-free tangential movement of the energy chain within the spherical segment-shaped area is made possible. Alternatively or additionally, the chain links 12th formed from a flexible material, in particular plastic material.

In an alternative embodiment, they point from the coupling elements 19th defined joint axes G a predetermined range of motion so that they can be arranged tilted to each other. The maximum game of In this case, joint axes G are predetermined by the pitch angle α.

3rd shows an imaging medical facility 1 , which in the exemplary embodiment shown is designed as an X-ray device of angiography. The imaging medical facility 1 includes a C-shaped arm 2nd , which has an in 3rd only schematically illustrated ceiling stand 3rd is firmly connected to the ceiling.

In another embodiment, the support arm 2nd firmly connected to the room floor using a floor stand. As an alternative, the support arm is provided 2nd For example, to be arranged on a mobile or movable base station that can be freely positioned in space.

At one end of the C-shaped arm 2nd is an X-ray detector 5 arranged. At the other end of the C-shaped arm 2nd is an x-ray emitter 6 with aperture unit 7 arranged such that the x-ray emitter 6 and the x-ray detector 5 each on opposite sides of an examination area U are located. In the examination area U is typically an in 3rd Patient table, not explicitly shown, for positioning a patient to be examined. Cable routing or flexible lines, in particular for power supply for imaging components B such as the X-ray emitter already mentioned 6 , the aperture unit 7 and / or the X-ray detector 5 are outside an enclosure 8th in corrugated pipes 9 , 10th guided.

The support arm 2nd is about an orbital axis of rotation O and about an angular axis of rotation running perpendicular to this A rotatably mounted. A tour 4th with an arcuate section guides the support arm 2nd such that movement around the orbital axis of rotation O are possible.

Alternatively or additionally, the support arm is provided 2nd for example around a vertical axis H to be pivoted to different parts of the body in the examination area U to reach stored patients and with the help of imaging components B to be able to map. The support arm 2nd can also be slidably mounted with respect to the ceiling or floor, so that at least longitudinal movements in the room are possible. The routing of lines or cable strands takes place at least for the orbital rotary movement about the orbital axis of rotation O , preferably for all degrees of freedom of rotation or translation, in energy chains.

An energy chain 11 , their formation and arrangement for carrying out the angular and orbital rotary movements around the angular axis of rotation A and the orbital axis of rotation O is within the enclosure 8th and is in detail in 4th and 5 shown. For a better representation of the energy supply chain 11 is the enclosure 8th in 4th and 5 only partially shown. The energy chain 11 is independent of the angular position of the support arm 2nd with respect to the orbital axis of rotation O or the angular axis of rotation A in a spherical shell segment-shaped area around the examination area U.

Within the energy chain 11 flexible lines, in particular for power supply, are routed in a manner not shown. The energy chain 11 comprises a plurality of chain links which are connected to one another in an articulated manner 12th , which each receive longitudinal sections of flexible lines guided therein. The chain links 12th are about hinge axes G connected to each other, which extend parallel to a radial direction and are directed to the center of rotation Z.

In further training, several energy supply chains are provided 11 to accommodate additional cables or wiring harnesses in the housing 8th to arrange the predetermined spherical segment-shaped area.

The energy chain 11 is inside the enclosure 8th flexibly guided. At least one at a first end 13 End chain link located 14 is fixed to the C-shaped support arm 2nd connected and thus forms a first connection point of the energy chain 11 with a moving component. At least one at the opposite second end 15 located further chain link at the end 16 is fixed with a stationary component, for example with the housing 8th connected and thus forms another connection point of the energy supply chain 11 with an immovable part.

The energy chain 11 runs in a loop or U-shape within the housing 8th and thus has two substantially parallel chain sections 17th , 18th on that over a redirection area 19th are interconnected.

The relative extent of the chain sections 17th , 18th to each other and along the C-shaped support arm 2nd depend on the angular position of the imaging component B about the orbital axis of rotation O from, ie with an orbital movement of the imaging component B, the energy chain leads 11 a travel movement along a U-shaped path and thus ensures a defined, low-wear cable movement for the lines guided therein.

Although the invention has been illustrated and described in detail with reference to the preferred exemplary embodiments, the invention is not restricted thereby. Other variations and combinations can be derived therefrom by those skilled in the art without departing from the essential spirit of the invention.

Claims (3)

Imaging medical device (1), in particular an x-ray device, with at least one imaging component (B, 5, 6, 7) for generating image data of an examination object stored in an examination area (U), in particular patients, which are guided so as to be pivotable with respect to the examination area (U) is that the imaging component (B, 5, 6, 7) can be positioned in different orbital angular positions with respect to an orbital axis of rotation (O) running through the examination area (U), at least one with the imaging component (B, 5, 6, 7) Connected, flexible, in particular current-carrying, line is movably guided in an energy guide chain (11), the energy guide chain (11) comprising a plurality of chain links (12) which are connected to one another and are each designed to accommodate longitudinal sections of the flexible line, the chain links ( 12) have coupling elements (19) which joint axes (G) of the energy guide chain (11), the coupling elements (19) being designed for arranging the energy guide chain (11) in a region in the form of a spherical shell segment such that all the joint axes (G) of the chain links (12) are directed towards a center point assigned to the region in the shape of a spherical shell segment, thereby characterized in that the coupling elements (19) of the respective chain links (12) have such clearance that the joint axes (α) of each chain link (12) are arranged at least in one plane in such a way that they are at an angle of division (α ), the center point being predetermined by a center of rotation (Z) which is formed by the intersection between the orbital axis of rotation (O) and an angular axis of rotation (A) of the imaging medical device (1). Imaging medical facility (1) Claim 1 , characterized in that the coupling elements (19) of the respective chain link (12) define two joint axes (G) lying in one plane, which run at a pitch angle (α) different from 0 ° to each other. Imaging medical device (1) according to one of the preceding claims, characterized in that the chain links (12) consist of such a flexible material that the articulated axes (G) of each chain link (12) can be arranged at least in one plane such that they to each other at a pitch angle (α) different from 0 °.

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