# US 10,307,121 B2 · X-ray device having an adjusting apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,307,121 B2 - Document ID: US10307121B2 - Status: Granted - Kind: B2 - Application number: 15/105,837 - Filed: 2014-12-03 - Published: 2017-07-06 - Granted: 2019-06-04 - Earliest claimed: 2013-12-17 - Assignees: KUKA Deutschland GmbH - Applicants: KUKA Deutschland GmbH - Inventors: Sven Brudniok - Web page: https://patentgrep.com/patent/US10307121B2 ## CPC - A61B 6/4441: {the rigid structure being a C-arm or U-arm} - A61B 6/4452: {the source unit and the detector unit being able to move relative to each other} - A61B 6/4458: {the source unit or the detector unit being attached to robotic arms} - A61B 6/56: {Details of data transmission or power supply, e.g. use of slip rings} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An X-ray arrangement for a medical work station includes a frame having a first frame section supporting an X-ray transmitter and a second frame section opposite the first frame section and supporting an X-ray receiver. The medical work station further includes an adjustment device configured to change a relative pose of at least one of the X-ray transmitter or the X-ray receiver relative to the frame by adjusting at least one of the pose of the X-ray transmitter at the first frame section or the pose of the X-ray receiver (at the second frame section independently of one other. In one aspect, the frame may be shaped as a C-arm. ## Claims ### Claim 1 An X-ray arrangement for a medical work station, comprising: a frame having a first frame section supporting an X-ray transmitter, and having a second frame section opposite the first frame section and supporting an X-ray receiver; and an adjustment device configured to change the relative pose of the X-ray transmitter and/or the X-ray receiver relative to the frame by adjusting the pose of the X-ray transmitter at the first frame section and/or by adjusting the pose of the X-ray receiver at the second frame section, independently of one another; wherein the adjustment device is configured as a horizontal articulated arm robot with serial kinematics; and wherein the articulated arm robot comprises: a first joint comprising an annular first member and an annular disk-shaped second member coaxially and rotationally supported relative to the first member; and a second joint directly following the first joint in the serial kinematic chain, the second joint comprising an annular disk-shaped third member eccentrically arranged and rotationally supported in the annular disk-shaped second member of the first joint. ### Claim 2 (depends on 1) The X-ray arrangement of claim 1, wherein the frame is arc-shaped. ### Claim 3 (depends on 2) The X-ray arrangement of claim 2, further comprising manual operating means for the manual or partially automated movement of at least one of the X-ray transmitter or the X-ray receiver relative to the arc-shaped frame. ### Claim 4 (depends on 3) The X-ray arrangement of claim 3, wherein at least one of the X-ray transmitter or the X-ray receiver of the X-ray arrangement comprises the manual operating means. ### Claim 5 (depends on 1) The X-ray arrangement of claim 1, wherein the adjustment device includes at least one of: at least one adjustable first joint having at least one degree of freedom, the first joint arranged between the first frame section and the X-ray transmitter and adjustably connecting the X-ray transmitter to the frame; or at least one adjustable second joint having at least one degree of freedom, the second joint arranged between the second frame section and the X-ray receiver and adjustably connecting the X-ray receiver to the frame. ### Claim 6 (depends on 5) The X-ray arrangement of claim 5, wherein at least one of the first joint or the second joint comprises a linear guide that facilitates translational movement of at least one of the X-ray transmitter or the X-ray receiver. ### Claim 7 (depends on 6) The X-ray arrangement of claim 6, wherein the linear guide is a linear actuator. ### Claim 8 (depends on 7) The X-ray arrangement of claim 7, wherein the linear actuator is automatically adjustable via a motor. ### Claim 9 (depends on 6) The X-ray arrangement according to claim 6, wherein the frame is arc-shaped, and wherein at least one of: the linear guide is configured to move at least one of the X-ray transmitter or the X-ray receiver in a direction extending perpendicular to the plane of the arc-shaped frame; the linear guide is configured to move at least one of the X-ray transmitter or the X-ray receiver along a path collinear with a line extending between the X-ray transmitter and the X-ray receiver; or the linear guide is configured to move the at least one of the X-ray transmitter or the X-ray receiver in the plane of the arc-shaped frame, along directions perpendicular to the line extending between the X-ray transmitter and the X-ray receiver. ### Claim 10 (depends on 5) The X-ray arrangement according to claim 5, wherein at least one of the first joint or the second joint comprises a rotary bearing operable to rotationally move at least one of the X-ray transmitter or the X-ray receiver. ### Claim 11 (depends on 10) The X-ray arrangement of claim 10, wherein the rotary bearing comprises a rotary actuator. ### Claim 12 (depends on 11) The X-ray arrangement of claim 11, wherein the rotary actuator is automatically adjusted by a motor. ### Claim 13 (depends on 10) The X-ray arrangement of claim 10, wherein the frame is arc-shaped, and wherein at least one of: the rotary bearing rotates at least one of the X-ray transmitter or the X-ray receiver about an axis extending perpendicular to the plane of the arc-shaped frame; the rotary bearing rotates at least one of the X-ray transmitter or the X-ray receiver about an axis that is parallel to a line extending between the X-ray transmitter and the X-ray receiver; or the rotary bearing rotates at least one of the X-ray transmitter or the X-ray receiver about an axis extending in the plane of the arc-shaped frame and perpendicular to the line extending between the X-ray transmitter and the X-ray receiver. ### Claim 14 (depends on 1) The X-ray arrangement according to claim 1, wherein the adjustment device is a Selective Compliance Articulated Robot Arm (SCARA) robot with at least four degrees of freedom. ### Claim 15 (depends on 14) The X-ray arrangement according to claim 14, wherein the SCARA robot has three rotary degrees of freedom. ### Claim 16 (depends on 15) The X-ray arrangement according to claim 15, wherein the SCARA robot has one translational degree of freedom. ### Claim 17 (depends on 1) The X-ray arrangement of claim 1, wherein at least one joint of the horizontal articulated arm robot is coupled with the corresponding X-ray transmitter or the X-ray receiver in a gravity compensating manner.