(R)evolutionary improvements in the design of interventional X-ray systems

Interventional X-ray systems are used to acquire 2D and 3D images of complex anatomical structures (e.g. the cardiovascular system). These images provide a clinician with feedback in a medical procedure, which enables advanced minimally invasive treatments. A typical interventional X-ray system contains an X-ray source and detector, connected by a C-shaped arm. Several stacked motion systems enable the C-arm and imaging equipment to move spherically around an isocentre. This allows for 2D X-ray images to be taken at various projection angles. Other imaging techniques such as 3D computed tomography are enabled by this core functionality. Developments in interventional X-ray systems are often a compromise between performance, clinical usability, and cost. This paper presents three novel mechatronic architectures, which are designed to break through this trade-off. The proposed designs aim to improve the interventional X-ray system on multiple, application-specific levels. The first system focusses on improved image quality and clinical usability of 3D scans (high-end applications). A dual stage design allows for significantly extended and faster scanning motions, with a 55% smaller footprint in the operating room. It is based on a quasi-kinematic roll guide design, resulting in less nonlinear behaviour, and improved alignment of the imaging equipment. The second system decreases cost and installation requirements, while maintaining and adding to the current imaging capability (low-end applications). By reconsidering the degrees of freedom needed, a lightweight design is created (>50% mass reduction), with an improved stiffness to mass ratio. Both system 1 and 2 present an evolutionary improvement on existing architectures. As a revolutionary alternative, the third system pursues high-end performance and optimised workflow, at reduced overall cost. It features a compact and lightweight (~500 kg) mechatronic design which makes optimal use of the space available in the operating room. A full scale mock-up of this system has been built. Currently, a detailed design, including hardware realisation is being made for experimental performance validation at subsystem level.