6-AXIS ROBOTS FOR MEDICAL X-RAY EQUIPMENT
Hello colleagues!
I'm a volunteer on a medical team trying to design a new type of X-ray machine to detect and kill cancerous tumors.
I try to help them by creating models of the equipment so that medical specialists (not using CAD) can visualize it while they are defining their new features, but I don't have specific knowledge of radiology and its devices.
They estimate that it will require a 6-axis robot to position the X-ray generator (it weighs about 4 Kg) along a 25 x 25 cm surface (X,Y) (orientable in space) with a precision of 0.1mm . The movement of the Z axis and all the turns will be, supposedly, very small (but they have not been defined for me).
Since I have no background in robotics, I don't know if there are robots on the market that are typically applied to these cases (it seems that some X-ray equipment currently uses them, but they couldn't tell me if they are anthropomorphic, Cartesian, or even what they look like and where they fit).
But I understand that I have to provide "something" for them, even if it's not perfect, so that they can continue moving forward, defining and adjusting ideas. If I overwhelm them with questions that they can't answer, simply because I want to make my drawing task easier, then my help will be quite objectionable!
I am infinitely grateful for any information, help, model or reference that you can provide me.
Kind regards!
Marcelo
2 Answers
Hello
I am Rasouli. I have done 20 years of designing and building robots and similar equipment. I think I can help you in this field. You just need to send more information in this field, at least a photo or a video of the process.
Anyway, I am waiting for your information
Hello Rasouli!
I really appreciate your offer of help. Since I joined the working group just a few days ago, I have very limited information and knowledge. It is a group with people from different parts of the world, working on a voluntary basis (it is not a research project with a budget and, therefore, cannot monetarily remunerate the contributions received).
The general idea is that it is a new X-ray system that has two functions related to breast cancer:
1.Detection of small tumors (2 to 4mm), pre-metastasis, which involves scanning the surface of a 250x250mm compression paddle (two paddles are used to compress the sinus up to 50mm apart which is optimal for the penetration of X-rays without using very high energies, possibly damaging to healthy tissue.
2. Ablation of these tumors in the same work session, obviously changing the generation and focus parameters of the rays, and other details that I am unaware of, but which are what require the X-ray generator to be able to position itself in the XY plane of the paddle (250x250mm) with a precision of 0.1mm... and adopting small inclinations (which have not been quantitatively defined for me). For all this they estimate that a 6-axis robot will be needed.
At this point in the research they are evaluating different standard X-ray generators and methods for their focus (for example, through optical fibers). The only thing I know about them is that they weigh a maximum of 2Kg (it is the load to be handled by the robot) and one of the possible models looks as shown in the figure:
I'm sorry I don't have more details so far, but I hope that in any case some type of robot can be chosen (anthropomorphic arm, Stewart platform or another) that "in theory" can fulfill the function and allow us to advance in the explanations of how the system works. At this stage, it is necessary to "show something" that fulfills the positioning function in order to move forward with the X-ray application process. In a future stage, it will be time to focus on the mechanical-robotic solution and optimize it in all its senses, even if it means completely replacing what was suggested in the first stage.
This is what I can tell you so far. I hope it helps you to make me some recommendation (knowing that we are not in the detail stage of robotics!). In advance, I thank you very much for your collaboration.
Kind regards,
Marcelo
