Chinese Academy of Sciences

General Hospital of Pla Northern Theater Command

Peng Lin

Hao Liu

Dan Liu

Yaling Han

Jingyang Sun

Yang Li

Ming Liang

Xiaozeng Wang

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.

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

Growing community of inventors

Shenyang, China

Peng Lin