CN110881994A

CN110881994A - CT scanning device and system

Info

Publication number: CN110881994A
Application number: CN201911239845.5A
Authority: CN
Inventors: 付诗农; 于壮飞; 王君涛
Original assignee: Sanovisheng Technology (beijing) Co Ltd
Current assignee: Sanovisheng Technology (beijing) Co Ltd
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2020-03-17

Abstract

The application discloses a CT scanning device and system. The CT scanning device includes: a scanning frame and a mechanical arm; one end of the mechanical arm is mounted on a fixed object, and the other end of the mechanical arm is fixed on the scanning rack, so that the mechanical arm drives the scanning rack to move and/or rotate under the motion of multiple degrees of freedom. The technical problem that the CT scanning direction of a CT scanning device in the related technology is single can be solved.

Description

CT scanning device and system

Technical Field

The application relates to the technical field of medical instruments, in particular to a CT scanning device and system.

Background

A conventional CT (Computed Tomography) scanning system comprises a gantry (containing a rotatable X-ray source and an X-ray detector inside), a scanning bed (containing a bed board capable of moving horizontally for supporting a patient to be scanned), an operation console (providing a user operation interface, receiving and storing scanning data, reconstructing and displaying CT tomographic images), and some auxiliary systems. During the scanning process, the scanning frame rotates at a fixed position, a patient lies on the scanning bed horizontally, and a bed board of the scanning bed supports the patient to do horizontal movement.

In many clinical applications, the patient is required to be in a sitting or standing position, and the CT scan is performed in a vertical direction or in some special direction.

Aiming at the problem that the CT scanning direction of a CT scanning device in the related art is single, an effective solution is not provided at present.

Disclosure of Invention

The present disclosure is directed to a CT scanning device and a system, so as to solve the problem of a single CT scanning direction of a CT scanning device in the related art.

In order to achieve the above object, in a first aspect, the present application provides a CT scanning apparatus, which includes a scanning gantry and a robot arm;

one end of the mechanical arm is mounted on a fixed object, and the other end of the mechanical arm is fixed on the scanning rack, so that the mechanical arm drives the scanning rack to move and/or rotate under the motion of multiple degrees of freedom.

Optionally, the robotic arm is a six degree of freedom robotic arm.

Optionally, the robotic arm comprises a rotating base, a first drive arm, a second drive arm, a third drive arm, and a fourth drive arm;

the rotating base is mounted on the fixture to drive the rotating base to rotate on a horizontal plane, a first end of the first driving arm is mounted on the rotating base, the rotating base drives the first driving arm to rotate on a vertical plane, a first end of the second driving arm is mounted on a second end of the first driving arm, the first driving arm drives the second driving arm to rotate on the vertical plane, a first end of the third driving arm is mounted on a second end of the second driving arm, the second driving arm drives the third driving arm to rotate around an axis of the second driving arm, a second end of the third driving arm is mounted on a first end of the fourth driving arm, the third driving arm drives the fourth driving arm to rotate on a plane parallel to the axis of the third driving arm, and the scanning frame is fixed on the second end of the fourth driving arm, the fourth drive arm drives the scan gantry to rotate about an axis of the fourth drive arm.

Optionally, the scanning gantry comprises a first annular fixed member, a second annular fixed member, a main bearing, a drive pulley and a CT rotating assembly;

the second annular fixing piece is fixed on the outer ring of the main bearing, the first annular fixing piece is fixed on the first side of the inner ring of the main bearing, the first side of the driving pulley is fixed on the second side of the inner ring of the main bearing, the CT rotating assembly is movably connected to the second annular fixing piece and is connected with the first side of the driving pulley, so that the CT rotating assembly is driven to rotate around the driving pulley;

the mechanical arm is fixed on the first annular fixing piece.

Optionally, a reinforcing part is arranged on one side, away from the main bearing, of the first annular fixing part, and the mechanical arm is fixed to the reinforcing part.

Optionally, the reinforcing part is close to the annular center of the first annular fixing part relative to the CT rotating assembly.

Optionally, the reinforcing part is a part extending out of the first annular fixing part body.

Optionally, the scanning gantry further comprises a housing;

the first annular fixing piece, the main bearing, the driving belt wheel and the CT rotating assembly are all packaged in the shell, an opening is formed in the shell, the mechanical arm penetrates through the opening and is fixed on the first annular fixing piece, and the shell is fixed on the mechanical arm.

Optionally, the housing comprises a first enclosure and a second enclosure;

an annular groove is formed in the first cover body, the first annular fixing piece, the main bearing, the driving belt wheel and the CT rotating assembly are all located in the annular groove, and the second cover body is packaged on the annular groove.

In a second aspect, the present application further provides a CT scanning system, which includes the above CT scanning apparatus.

In the CT scanner provided in the present application, by providing: a scanning frame and a mechanical arm; one end of the mechanical arm is mounted on a fixed object, and the other end of the mechanical arm is fixed on the scanning rack, so that the mechanical arm drives the scanning rack to move and/or rotate under the motion of multiple degrees of freedom. Thereby solving the technical problem that the CT scanning direction of the CT scanning device in the related technology is single.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

fig. 1 is a schematic structural diagram of a CT scanning apparatus according to an embodiment of the present disclosure;

fig. 2 is an exploded view of a scanning gantry according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a scanning gantry according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a first cover provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second cover provided in an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 5, an embodiment of the present application provides a CT scanning apparatus, which includes a scanning gantry 1 and a robot arm 2;

one end of the mechanical arm 2 is mounted on a fixed object, and the other end of the mechanical arm 2 is fixed on the scanning rack 1, so that the mechanical arm 2 drives the scanning rack 1 to move and/or rotate under the motion of multiple degrees of freedom.

In this embodiment, the mechanical arm 2 with multiple degrees of freedom enables the scanning frame 1 to move with multiple degrees of freedom, so as to perform multi-angle CT scanning on patients with multiple different postures. Compared with the prior art in which CT scanning can only be performed on a patient vertically or horizontally, the CT scanning device can perform CT scanning on the patient along the body posture of the patient based on the posture of the current patient, and is greatly convenient for performing CT scanning on the patient whose body posture cannot be kept horizontal or vertical due to diseases such as fracture and the like.

Optionally, the robot arm 2 is a six degree of freedom robot arm.

Specifically, when the mechanical arm 2 is a six-degree-of-freedom mechanical arm, the purpose of performing multi-angle CT scanning on patients with various postures can be basically achieved.

Specifically, the robot arm 2 includes a rotating base 21, a first driving arm 22, a second driving arm 23, a third driving arm 24, and a fourth driving arm 25;

the rotating base 21 is mounted on the fixture to drive the rotating base 21 to rotate on a horizontal plane, a first end of the first driving arm 22 is mounted on the rotating base 21, the rotating base 21 drives the first driving arm 22 to rotate on a vertical plane, a first end of the second driving arm 23 is mounted on a second end of the first driving arm 22, the first driving arm 22 drives the second driving arm 23 to rotate on a vertical plane, a first end of the third driving arm 24 is mounted on a second end of the second driving arm 23, the second driving arm 23 drives the third driving arm 24 to rotate around an axis of the second driving arm 23, a second end of the third driving arm 24 is mounted on a first end of the fourth driving arm 25, the third driving arm 24 drives the fourth driving arm 25 to rotate on a plane parallel to the axis of the third driving arm 24, the scanning gantry 1 is fixed to a second end of the fourth driving arm 25, and the fourth driving arm 25 drives the scanning gantry 1 to rotate around an axis of the fourth driving arm 25.

In this way, six degrees of freedom of the robot arm 2 can be achieved by rotating the base 21, the first drive arm 22, the second drive arm 23, the third drive arm 24, and the fourth drive arm 25.

As shown in fig. 2 and 3, the scanning gantry 1 optionally includes a first annular fixing member 11, a second annular fixing member 12, a main bearing 13, a driving pulley 14 and a CT rotating assembly 15;

the second ring fixing member 12 is fixed on the outer ring of the main bearing 13, the first ring fixing member 11 is fixed on the first side of the inner ring of the main bearing 13, the first side of the drive pulley 14 is fixed on the second side of the inner ring of the main bearing 13, the CT rotating assembly 15 is movably connected on the second ring fixing member 12, and the CT rotating assembly 15 is connected with the first side of the drive pulley 14 so as to drive the CT rotating assembly 15 to rotate around the drive pulley 14;

the robot arm 2 is fixed to the first ring mount 11.

The rotating assembly comprises a rotating body support frame, an X-ray source (bulb tube), a radiator, a high-voltage generator, a detector, a driving motor and other electronic and electric components, and the X-ray source (bulb tube), the radiator, the high-voltage generator, the detector, the driving motor and other electronic and electric components are movably connected to the second annular fixing piece 12 through the rotating body support frame.

Specifically, when the CT rotating assembly 15 of the CT scanning frame needs to rotate, the driving motor fixed on the rotating assembly drives the small belt pulley to rotate, the large belt pulley is fixed with the inner ring of the main bearing 13, and the small belt pulley and the large belt pulley are connected through the poly-v-belt, so that the rotating assembly and the outer ring of the main bearing 13 rotate together by taking the circle center of the main bearing 13 as a rotation center to meet the requirements of clinical tomography or spiral scanning.

As shown in fig. 2 and 3, optionally, a reinforcing part 16 is provided on the side of the first ring fixture 11 away from the main bearing 13, and the robot arm 2 is fixed on the reinforcing part 16.

Specifically, when the fixing position of the mechanical arm 2 is located at the outermost side of the ring of the scanning frame 1, the supporting force arm of the mechanical arm 2 is the distance from the supporting point to the center of the circle (center of gravity), when the outer diameter of the ring of the scanning frame 1 is large, the bearing requirement on the mechanical arm 2 can be greatly increased, and further the overall dimension of the CT scanning frame 1 can be large, and when the mechanical arm 2 is fixed on the reinforcing part 16 of the first ring-shaped fixing part 11, because the first ring-shaped fixing part 11 is located inside the scanning frame 1, the distance from the supporting point where the mechanical arm 2 supports the force arm to the center of the circle (center of gravity) of the scanning frame 1 is reduced, further, the overall dimension of the CT scanning frame 1 is reduced, and the technical effect that the bearing requirement on the mechanical arm 2 is reduced is.

Specifically, the reinforcing part 16 is close to the annular center of the first annular fixing part 11 relative to the CT rotating assembly 15.

As shown in fig. 2 and 3, the reinforcing portion 16 is a portion extending out of the body of the first annular fixing member 11.

As shown in fig. 1, 4 and 5, optionally, the scanning gantry 1 further comprises a housing 10;

the first annular fixing member 11, the main bearing 13, the driving pulley 14 and the CT rotating assembly 15 are all enclosed in the housing 10, an opening is formed in the housing 10, the robot arm 2 passes through the opening and is fixed on the first annular fixing member 11, and the housing 10 is fixed on the robot arm 2. In this way it is achieved that the main components of the scanning gantry 1 are all enclosed within the housing 10.

As shown in fig. 1, 4 and 5, the housing 10 optionally includes a first enclosure 101 and a second enclosure 102;

an annular groove 103 is formed in the first housing 101, the first annular fixing member 11, the main bearing 13, the drive pulley 14 and the CT rotating assembly 15 are all located in the annular groove 103, and the second housing 102 is enclosed on the annular groove 103.

Specifically, the casing 10 of the CT scanning gantry 1 in the prior art is formed by splicing a plurality of partial casings, so that the overall strength of the casing 10 is not high, and the casing 10 of the CT scanning gantry 1 provided by the present application is mainly formed by the first cover 101 and the second cover 102, so that the structure is simple, and the overall strength of the casing 10 can be improved after the first cover 101 and the second cover 102 are connected.

Based on the same technical concept, the embodiment of the present application further provides a CT scanning system, which includes the above CT scanning apparatus.

In the CT scanning system provided by the embodiment of the application, the CT scanning device can realize the purpose of multi-angle CT scanning on patients with various postures. Therefore, the CT scanning system can move freely in a certain space, a scanned object (patient) keeps still in the scanning process, the X-ray source, the X-ray detector and the data acquisition system in the scanning frame keep rotating, and meanwhile, the scanning frame 1 can move in any direction, so that the CT scanning in any direction is realized.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A CT scanning device is characterized by comprising a scanning frame and a mechanical arm;

2. The CT scanner of claim 1, wherein the robotic arm is a six degree-of-freedom robotic arm.

3. The CT scanner of claim 2, wherein the robotic arm comprises a rotating base, a first drive arm, a second drive arm, a third drive arm, and a fourth drive arm;

4. The CT scanner of claim 1, wherein the scan gantry comprises a first annular fixture, a second annular fixture, a main bearing, a drive pulley, and a CT rotation assembly;

the mechanical arm is fixed on the first annular fixing piece.

5. The CT scanning device of claim 4, wherein the first ring fixture is provided with a reinforcement part at a side away from the main bearing, and the mechanical arm is fixed on the reinforcement part.

6. The CT scanning device of claim 5, wherein the reinforcement portion is proximate to an annular center of the first annular stationary member relative to the CT rotating assembly.

7. The CT scanner of claim 6, wherein the reinforcement portion is a portion extending out of the first annular fixture body.

8. The CT scanning device of claim 4, wherein the scanning gantry further comprises a housing;

9. The CT scanner of claim 8, wherein the housing comprises a first enclosure and a second enclosure;

10. A CT scanning system comprising a CT scanning device according to any of claims 1 to 9.