Design and Mechanics Analysis of a New-type G-arm X-ray Apparatus

doi:10.3901/JME.2017.15.148

Abstract

Abstract: Combining with the clinical demands of surgery, a new X-ray apparatus whose G arm is composed of two parallel C arms is designed. The X-ray apparatus can solve the existing problems that the workspace of X-ray machines is insufficient and the shock of the vehicles to ground is relatively serious, meanwhile eliminate the adjustment time of X-ray machines. After building a 3D model of the X-ray apparatus, the stiffness of horizontal C arm is analyzed and its structure is optimized. Based on the method of D-H, the research establishes the transformation relation of position and orientation between the horizontal C arm and the vehicle, and figures out the workspace of the G arm. Aiming at the omnidirectional mobile and uniform obstacle negotiation of the vehicles on the ground, the vehicle's static model is established and analyzed. The results show that the vehicle can realize omnidirectional mobile and be driven by the terrain. Building two obstacle negotiation models under different driving conditions by ADAMS, contrasting and analyzing the impact of the cross arm in two models. The final results show that the vehicle driven by intermediate wheel is able to ease the impact from the terrain mutations, which validates the rationality of design.

Key words: driving based on terrain, G arm, omnidirectional mobile vehicle, X-ray apparatus

CLC Number:

TH772
TH774

ZENG Daxing, GAO Peng, FAN Mingzhou, ZHANG Xing, HOU Yulei, ZHANG Jun. Design and Mechanics Analysis of a New-type G-arm X-ray Apparatus[J]. Journal of Mechanical Engineering, 2017, 53(15): 148-155.

References

[1] ARAND M,HARTWIG E,KINZL L,et al. Spinal navigation in cervical fractures——a preliminary clinical study on Judet-osteosynthesis of the axis[J]. Computer Aided Surgery,2001,6(3):170-175.
[2] CAVERSACCIO M,NOLTE L P,HÄUSLER R. Present state and future perspectives of computer aided surgery in the field of ENT and skull base[J]. Acta Oto-Rhino-Laryngologica Belgica,2002,56(1):51-59.
[3] 钱理为,王成焘,闫士举,等. 基于校准靶的C形臂相机模型自动校准方法[J]. 计算机工程,2009,35(15):7-9. QIAN Liwei,WANG Chengtao,YAN Shiju,et al. Automatic calibration method for C-arm camera model based on calibration target[J]. Computer Engineering,2009,35(15):7-9.
[4] 刘洋,富历新,杜志江. 用于骨科手术的六自由度全自动医用C形臂[J]. 高技术通讯,2005,15(1):45-48. LIU Yang,FU Lixin,DU Zhijiang. An automatic medical C-arm with 6 DOF for orthopedic operation[J]. Chinese High Technology Letters,2005,15(1):45-48.
[5] BUIJNS A J C,RONGEN P M J,AUVRAY V M A,et al. Dynamical visualization of coronary vessels and myocardial perfusion information:US,8428220[P]. 2013-04-23.
[6] PILLAI V J,PHILIP B,GUPTA A,et al. C-arm x-ray apparatus for increased overscan:US,6866418[P]. 2005-03-15.
[7] WARNBERG B. Device for displaying X-ray images of an object:US,7016454[P]. 2006-03-21.
[8] 厉夫兵,魏世宇,朱洵. G型臂X光机的三维图像生成方法及装置与G型臂X光机:中国,201210227049.1[P]. 2012-10-10. LI Fubing,WEI Shiyu,ZHUXun. A method to generate 3D image with G-arm X-ray device and the G-arm X-ray device:China,201210227049.1[P]. 2012-10-10.
[9] 张军,周峰,魏世宇. G型臂X光机(Ⅱ型):中国,201230150041.0[P]. 2012-10-24. ZHANG Jun,ZHOU Feng,WEI Shiyu. G-arm X-ray device (type Ⅱ):China,201230150041.0[P]. 2012-10-24.
[10] 陈博翁,范传康,贺骥. 基于麦克纳姆轮的全方位移动平台关键技术研究[J]. 东方电气评论,2013,27(4):7-11. CHEN Boweng,FAN Chuankang,HE Ji. Key technology research about omni-directional mobile platform based on mecanum wheel[J]. Dongfang Electric Review,2013,27(4):7-11.
[11] 王一治,常德功. Mecanum四轮全方位系统的运动性能分析及结构形式优选[J]. 机械工程学报,2009,45(5):307-310. WANG Yizhi,CHANG Degong. Motion performance analysis and layout selection for motion system with four mecanum wheels[J]. Journal of Mechanical Engineering,2009,45(5):307-310.
[12] MOHD SALIH J E,RIZON M,YAACOB S,et al. Designing omni-directional mobile robot with mecanum wheel[J]. American Journal of Applied Sciences,2006,3(5):1831-1835.
[13] AYOUB M M,MCDANIEl J W. Effects of operator stance on pushing and pulling tasks[J]. Ⅱe Transactions,1974,6(3):185-195.
[14] SCHIBYE B,SØGAARD K,MARTINSEN D,et al. Mechanical load on the low back and shoulders during pushing and pulling of two-wheeled waste containers compared with lifting and carrying of bags and bins[J]. Clinical Biomechanics,2001,16(7):549-559.
[15] 高海波,邓宗全,胡明,等. 行星轮式月球车移动系统的关键技术[J]. 机械工程学报,2005,41(12):156-161. GAO Haibo,DENG Zongquan,HU Ming,et al. Key technology of moving system of lunar rover with planetary wheel[J]. Chinese Journal of Mechanical Engineering,2005,41(12):156-161.
[16] 陈欣,陈建新,李联邦,等. 6x6特种无人地面车辆越障性能研究[J]. 汽车工程学报,2013,3(4):251-261. CHEN Xin,CHEN Jianxin,LI Lianbang,et al. Study on the obstacle-climbing performance of 6×6 special unmanned ground vehicles[J]. Chinese Journal Automotive Engineering,2013,3(4):251-261.
[17] 邓宗全,高海波,王少纯,等. 行星轮式月球车的越障能力分析[J]. 北京航空航天大学学报,2004,30(3):197-201. DENG Zongquan,GAO Haibo,WANG Shaochun,et al. Analysis of climbing obstacle capability of lunar rover with planetary wheel[J]. Journal of Beijing University of Aeronautics and Astronautics,2004,30(3):197-201.
[18] 姬广勋. 履带式载人月球车移动系统的设计与运动性能分析[D]. 哈尔滨:哈尔滨工业大学,2013. JI Guangxun. Crawler manned lunar rover mobile system design and performance analysis of movement[D]. Harbin:Harbin Institute of Technology,2013.
[19] 李仕华,冯伟波,秦利,等. 不同重力环境下含间隙铰位置和碰撞力[J]. 机械工程学报,2015,51(17):52-58. LI Shihua,FENG Weibo,QIN Li,et al. Effect of different gravity environment on the position and collision force of joint with clearance[J]. Journal of Mechanical Engineering,2015,51(17):52-58.