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公开(公告)号：US07591589B2
公开(公告)日：2009-09-22
申请号：US12151609
申请日：2008-05-08
IPC分类号： H05G1/02
CPC分类号： A61B6/4441 , A61B6/588
摘要： The present intervention relates to a medical diagnosis or intervention system with a radiation source, a radiation detector, and a C-arm as a component carrier, to which the radiation source and the radiation detector are fastened. The distance between the radiation source and the radiation detector can be changed by means of a linear guide. The C-arm is fastened to an articulated arm of a robot and the linear guide is arranged in the vicinity of the fastening point of the C-arm on the articulated arm.
摘要翻译： 本发明涉及具有辐射源，放射线检测器和作为分量载体的C臂的医疗诊断或干预系统，辐射源和辐射探测器被紧固在该部件载体上。 辐射源和辐射探测器之间的距离可以通过线性引导来改变。 C型臂被固定在机器人的铰接臂上，直线导轨布置在铰接臂上的C形臂的紧固点附近。
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公开(公告)号：US07594751B2
公开(公告)日：2009-09-29
申请号：US12218359
申请日：2008-07-15
IPC分类号： H05G1/02
CPC分类号： A61B6/4464 , A61B6/4014 , A61B6/4441 , A61B6/4458
摘要： In a biplane X-ray system, a robot is used for moving at least a pair comprising an X-ray radiation source and an X-ray detector. The robot can be a buckling arm robot bearing an X-ray C-arm. It is also possible for the X-ray radiation source and X-ray detector each to be suspended from the ceiling of the room by means of robot arms.
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公开(公告)号：US07500784B2
公开(公告)日：2009-03-10
申请号：US11373698
申请日：2006-03-10
CPC分类号： A61B6/4458 , A61B6/027 , A61B6/4441 , A61B6/4464 , A61B34/30 , A61B2090/376 , A61B2090/3764 , B25J9/047
摘要： The invention relates to an X-ray device, in which an X-ray source and an X-ray detector are attached, in an opposed arrangement oriented toward a rotational axis, to a common holder capable of rotating about the rotational axis. To simplify the design of the X-ray device, it is proposed that the holder is attached to the hand of a robot displaying six axes of rotation.
摘要翻译： 本发明涉及一种X射线装置，其中将X射线源和X射线检测器以相对于旋转轴线的方向连接到能够围绕旋转轴线旋转的公共保持器。 为了简化X射线装置的设计，建议将保持器附接到显示六个旋转轴的机器人的手上。
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公开(公告)号：US08489175B2
公开(公告)日：2013-07-16
申请号：US11581716
申请日：2006-10-16
IPC分类号： A61B5/05
CPC分类号： A61B6/4441 , A61B6/503 , A61B6/541
摘要： The invention relates to a method and device for imaging a cyclically moving organ of a human or animal body, with a device supported such that it can be rotated at an angular velocity around the body recording images of the organ from different angle positions, with the angular velocity being modulated with a reference signal representing the movement phase of the organ. During the rest phase of the organ images of the organ are recorded at nominal angular speed. In the movement phase of the organ the device is slowed down, turned back and accelerated again such that on entry into the next rest phase the device records images for the next angle range at nominal angular velocity without major angle gaps in respect of the previous angle range, to generate the most complete data record possible.
摘要翻译： 本发明涉及一种用于对人体或动物身体的循环运动的器官进行成像的方法和装置，其具有被支撑的装置，使得其可以以围绕身体的角速度旋转，从不同的角度位置记录器官的图像， 用表示器官运动相位的参考信号调制角速度。 在器官的器官图像的休息阶段以标称角速度记录。 在器官的运动阶段，装置减速，再回转并再次加速，使得在进入下一个休息阶段时，装置以标称角速度记录下一个角度范围的图像，而在前一角度没有大的角度间隙 范围，以产生最完整的数据记录。
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公开(公告)号：US07530739B2
公开(公告)日：2009-05-12
申请号：US11820243
申请日：2007-06-19
申请人： Winfried Lurz , Manfred Schönborn
发明人： Winfried Lurz , Manfred Schönborn
IPC分类号： H05G1/02
CPC分类号： G03B42/04 , A61B6/4441 , A61B6/4458 , A61B34/30 , A61B2090/376
摘要： The invention relates to a robot-controlled recording device comprising a robot with a number of axes of movement which are able to be controlled via a robot controller for moving a robotic hand and a recording system fitted to the robotic hand which is able to be moved by the robot for recording data of an object supported on a support unit. The robot controller is connected to an additional drive and controls this for moving the robotic hand synchronized to the axes of movement such that the additional drive would create a relative rotation and/or translation movement between the recording system and the support unit created by the movement of the robotic hand solely by a movement of the support unit with a stationary robotic hand. The drive is however connected not to the support unit but to an encoder for creating a synchronization signal for the recording.
摘要翻译： 本发明涉及一种机器人控制记录装置，其包括具有多个运动轴的机器人，该机器人能够通过机器人控制器进行控制，用于移动机器人手和装配到能够移动的机器人手的记录系统 用于记录支撑在支撑单元上的对象的数据的机器人。 机器人控制器连接到附加的驱动器并且控制这一点，用于将机器人手同步到运动轴线，使得附加驱动器将在记录系统和由运动产生的支撑单元之间产生相对的旋转和/或平移运动 的机器人手只通过支撑单元的运动与固定机器人手。 然而，驱动器不是连接到支持单元，而是连接到用于创建用于记录的同步信号的编码器。
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公开(公告)号：US08660694B2
公开(公告)日：2014-02-25
申请号：US12431258
申请日：2009-04-28
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , A61B6/4441 , A61B6/4458 , G05B2219/40495 , G05B2219/45117
摘要： A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.
摘要翻译： 提供了一种用于机器人的计算机辅助运动规划的方法，其中在固定坐标系中计划分配给机器人的空间点的运动轨迹。 基于逆运动学，空间位置从空间点的多个空间位置转换到机器人的配置室中的相应配置位置。 通过机器人的一个或几个旋转或平移运动轴的轴向位置描述各个构造位置，并且对于碰撞进行测试，并且沿着空间点的空间位置形成轨迹，其空间点的各自的构造位置是无碰撞的。 规划运动在固定的坐标系统提高了计划方法的效率，计划的运动更符合机器人周围人员或操作人员的期望。
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公开(公告)号：US08002464B2
公开(公告)日：2011-08-23
申请号：US11593402
申请日：2006-11-06
申请人： Frank Grasser , Franz Schmeisser , Rudolf Heimberger , Herbert Kemeth , Winfried Lurz , Manfred Schönborn
发明人： Frank Grasser , Franz Schmeisser , Rudolf Heimberger , Herbert Kemeth , Winfried Lurz , Manfred Schönborn
IPC分类号： H05G1/06
CPC分类号： H02G11/00 , A61B6/4441 , A61B6/4458 , A61B6/4464 , A61B6/56 , A61B34/30 , A61B34/71 , A61B90/50 , B25J19/0025 , H02G11/02
摘要： The invention relates to a device for guiding at least one cable between a first system component connected to the cable and a second system component which is relatively rotatable and/or displaceable with respect to the first and is connected to the cable, whereby the cable exhibits a cable modality which can be changed by displacement and/or rotation of the second system component, whereby at least one device for adapting the cable modality is present. By making available a guide medium which allows the device for adapting the cable modality to be guided according to the displacement and/or rotation of the second system component, it is possible to provide a device which supports a mobile device without the function of the device being restricted by the cable guide.
摘要翻译： 本发明涉及一种用于在连接到电缆的第一系统部件和第二系统部件之间引导至少一根电缆的装置，该第二系统部件可相对于第一系统部件相对于第一系统部件相对可旋转和/或移位，并且连接到电缆，由此电缆展现 可以通过第二系统部件的位移和/或旋转来改变的电缆模态，由此存在用于适配电缆模态的至少一个装置。 通过提供导向介质，其允许设备根据第二系统组件的位移和/或旋转来引导电缆模态，可以提供支持移动设备而不具有设备功能的设备 受电缆导轨限制。
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8.发明授权公开(公告)号：US07450682B2
公开(公告)日：2008-11-11
申请号：US11593403
申请日：2006-11-06
IPC分类号： A61B6/00
CPC分类号： A61B6/4441 , A61B6/5258
摘要： The invention relates to a method and a device for executing the method for spatial presentation of a predeterminable area under examination. By overlaying a movement of the axis of projection along an axis of examination onto a rotation of an axis of projection around the object under examination, and by interpolating from the recorded projection data sets image data sets for axes of projection not recorded, and by creating a spatial presentation of the area under examination from the projection and image data sets, a method and a device can be provided which increases the speed of an examination for an extended area under examination of an object under examination.
摘要翻译： 本发明涉及一种用于执行可检测区域的空间呈现方法的方法和装置。 通过将沿着检查轴的投影轴线的移动覆盖到被检查物体周围的投影轴的旋转，并且通过从记录的投影数据组内插来设置未记录的投影轴的图像数据集，并通过创建 从投影和图像数据集中检查的区域的空间呈现，可以提供一种方法和装置，其增加了在被检查对象的检查下的扩展区域的检查速度。
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9.发明授权Method for operating a medical examination apparatus and an examination apparatus associated therewith 有权用于操作医疗检查装置和与其相关联的检查装置的方法公开(公告)号：US07646844B2
公开(公告)日：2010-01-12
申请号：US11639150
申请日：2006-12-14
申请人： Herbert Kemeth , Manfred Schönborn
发明人： Herbert Kemeth , Manfred Schönborn
IPC分类号： A61B6/00
CPC分类号： A61B6/541
摘要： Method for operating a medical examination apparatus, having an image recording device, which is moved in a rotary motion through a predetermined angular range around the patient in order to produce image recordings of a periodically moving object, with several runs being carried out by the image recording device in order to produce the image recordings and the start of the individual runs being initiated as a function of a reference signal, which represents a current movement status of the organ to be mapped, such that image recordings are produced at different radiation angles with each run.
摘要翻译： 一种用于操作具有图像记录装置的医疗检查装置的方法，所述图像记录装置以围绕患者的预定角度范围的旋转运动移动，以便产生周期性移动的物体的图像记录，其中多个运行由图像执行 记录装置，以便根据参考信号产生图像记录和单独运行的开始，该参考信号表示要映射的器官的当前运动状态，使得以不同的辐射角度产生图像记录， 每次跑
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