Vehicle-mounted angiography machine with double-robotic-arm type structure

US12376809B2 · kind B2 · utility

Assignees

• GENERAL HOSPITAL OF PLA NORTHERN THEATER COMMAND · CN
• SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES · CN

Inventors

• Yaling Han · Shenyang, CN
• Jingyang Sun · Shenyang, CN
• Ming-Ching Liang · Tainan, TW
• Xiaozeng Wang · Shenyang, CN
• Yang Li · Lo Wu, CN
• Dan Liu · Beijing, CN
• Hao Liu · Baltimore, US
• Peng Lin · Shandong, CN

Key dates

• Filing date: Mar 31, 2021
• Grant date: Aug 5, 2025
• Expiry date: Dec 8, 2041

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B6/4458
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A vehicle-mounted angiography machine with a double-robotic-arm type structure is used for interventional surgery diagnosis and treatment on patients on the site of cardiovascular diseases and on the way and occupies a small space. The vehicle-mounted angiography machine includes a six-degree-of-freedom robotic lower arm at the lower portion of an ambulance body space, a three-degree-of-freedom mobile table located in the middle of the space for moving a patient, and a seven-degree-of-freedom robotic upper arm at the upper portion of the space. An end portion of the upper arm is connected to a flat panel detector of the angiography machine, and an end portion of the lower arm is connected to an anode ball tube of the angiography machine, Large-scale isocentric detection is realized by cooperation of the central motion of the upper arm and the lower arm and the up-down, left-right and front-back motion of the table.