CN111657984A - Movable CT device and control method thereof - Google Patents
Movable CT device and control method thereof Download PDFInfo
- Publication number
- CN111657984A CN111657984A CN202010602340.7A CN202010602340A CN111657984A CN 111657984 A CN111657984 A CN 111657984A CN 202010602340 A CN202010602340 A CN 202010602340A CN 111657984 A CN111657984 A CN 111657984A
- Authority
- CN
- China
- Prior art keywords
- position sensor
- movable
- chassis
- lifting mechanism
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000002591 computed tomography Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 230000005855 radiation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 208000035473 Communicable disease Diseases 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
- A61B6/035—Mechanical aspects of CT
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Radiology & Medical Imaging (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pulmonology (AREA)
- Theoretical Computer Science (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention discloses a movable CT device and a control method thereof, wherein the device comprises: the device comprises a chassis, a plurality of movable wheels are arranged on the chassis, and the movable wheels can move towards any direction; the lifting mechanism is arranged on the chassis; the scanning ring is arranged on the lifting mechanism through a rotating mechanism and is driven to tilt back and forth through the rotating mechanism; the controller is used for respectively controlling the movement of the moving wheel, the lifting mechanism and the rotating mechanism; according to the control method, the position sensors are respectively arranged in the working area of the movable CT device, the movable CT device and the part to be detected of the patient, so that the movable CT device can automatically move to the optimal position suitable for scanning according to the position of the patient on the sickbed to scan, time consumption and inconvenience in operation of a movable CT system in the prior art during position adjustment are solved, and the injury of radiation to doctors is reduced.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a movable CT device and a control method thereof.
Background
The application of the mobile CT system is more and more extensive, and the mobile CT system is generally used for rescue control of field operations or emergent public health events and rescue work of emergent diseases. Generally, a conventional mobile CT apparatus can translate back and forth by means of a slide rail or the like to achieve a scanning function. In a mobile CT system in the prior art, the positioning between the mobile CT apparatus and the patient bed is usually adjusted manually, which is time-consuming and error-prone, and is not conducive to prevention and control of infectious diseases due to long contact time between medical care personnel and patients in response to emergencies such as infectious diseases; in another mobile CT system, a positioning bed is provided, the bed can move within a predetermined range, but during the rescue process, the patient needs to be moved many times, the moving process is inconvenient and time-consuming, and the patient may be injured secondarily or the rescue time is delayed.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a movable CT device and a control method thereof, so that the movable CT device can be automatically moved to an optimal position suitable for scanning according to the position of a patient on a sickbed to scan, and the problems of time consumption, inconvenient operation and the like in the position adjustment of a movable CT system in the prior art are solved.
In order to achieve the purpose, the invention adopts the following technical scheme: a mobile CT device comprising: the device comprises a chassis, a plurality of movable wheels are arranged on the chassis, and the movable wheels can move towards any direction; the lifting mechanism is arranged on the chassis; the scanning ring is arranged on the lifting mechanism through a rotating mechanism and is driven to tilt back and forth through the rotating mechanism; and the controller is used for respectively controlling the movement of the moving wheel, the lifting mechanism and the rotating mechanism.
Further, the moving wheels are Mecanum, steering wheels or omni wheels.
Furthermore, the rotating mechanism comprises a speed reducer, a worm, a slewing bearing outer ring, a slewing bearing inner ring and a rotating driving motor, the rotating driving motor is connected with the worm through the speed reducer, the worm is matched with a gear of the slewing bearing inner ring, the slewing bearing outer ring is fixed on the lifting mechanism, and the scanning ring is connected with the slewing bearing inner ring through a rotating shaft.
Furthermore, an avoidance radar is arranged at the edge of the chassis.
Furthermore, the lifting mechanism is mounted on the chassis through a translation mechanism, and the translation mechanism drives the lifting mechanism to move back and forth on the chassis.
A control method of the movable CT apparatus, the control method comprising:
1) setting a first position sensor in a working area where the movable CT device is located, and establishing a three-dimensional space coordinate system by taking the first position sensor as an origin;
2) placing a patient on a CT scanning bed, arranging a third position sensor at a part to be detected of the patient, and wirelessly connecting the third position sensor with the first position sensor to obtain a spatial position coordinate of the third position sensor;
3) arranging a second position sensor on the movable CT device, wirelessly connecting the second position sensor with the first position sensor, acquiring the spatial position coordinates of the second position sensor, and calculating the relative coordinates of the second position sensor and the third position sensor according to the spatial position coordinates of the third position sensor and the second position sensor;
4) wirelessly connecting the first position sensor with the controller, and calculating the relative coordinate of the center of the scanning ring relative to the third position sensor according to the relative coordinates of the second position sensor and the third position sensor and the relative coordinate of the center of the scanning ring relative to the second position sensor;
5) the controller controls the moving wheel, the lifting mechanism and the rotating mechanism to act respectively according to the relative coordinate of the center of the scanning ring relative to the third position sensor, firstly, the chassis of the movable CT device is moved to a first expected position through the moving wheel, then, the scanning ring of the movable CT device is lifted or lowered to a second expected position through the lifting mechanism, and finally, the scanning ring of the movable CT device is inclined to an expected inclination degree through the rotating mechanism.
Further, when the chassis of the movable CT device in the step 5) moves to a first expected position, collision with the obstacle is prevented by arranging an avoidance radar at the edge of the chassis, when the avoidance radar detects that the obstacle exists in front of the chassis of the CT device, an avoidance instruction is sent to the controller, and the moving direction of the chassis of the movable CT device is changed through the controller.
Has the advantages that: according to the movable CT device and the control method thereof, the movable CT device can be automatically moved to the optimal position suitable for scanning according to the position of the part to be detected of the patient on the sickbed, so that the problems of time consumption, inconvenience in operation and the like in a movable CT system in the prior art are solved; the positioning between the movable CT device and the sickbed is completed through automatic adjustment of equipment, manual intervention is not needed, and the injury of radiation to doctors is reduced. After the automatic adjustment is completed, the exposure can be automatically carried out, and the image is automatically transmitted to the server.
Drawings
FIG. 1 is a schematic diagram of a movable CT apparatus according to the present invention;
FIG. 2 is a schematic view of the lifting mechanism;
FIG. 3 is a schematic view of the lowering operation of the elevator mechanism;
FIG. 4 is a schematic diagram of the forward tilting action of the scan ring;
FIG. 5 is a schematic diagram illustrating the backward tilting of the scan ring;
FIG. 6 is a schematic diagram of a control method of the movable CT apparatus according to the present invention;
FIG. 7 is a schematic structural view of the rotating mechanism;
FIG. 8 is a schematic structural view of a translation mechanism;
in the figure: 1-a chassis; 2-a moving wheel; 3-a lifting mechanism; 4-scanning ring; 5-a rotating mechanism; 5-1-speed reducer; 5-2-worm; 5-3-slewing bearing outer ring; 5-4-inner ring of rotary bearing; 5-5-a rotary drive motor; 6-a translation mechanism; 6-1-translation drive motor; 6-2-supporting seat; 6-3-dustproof cover plate; 6-4-ball screw; 6-5-sliding block; 6-6-encoder; 7-a first sensor; 8-a second sensor; 9-a third sensor; 10-a working area; 11-CT scanning bed; 12-the patient; and 13-avoiding the radar.
The specific implementation mode is as follows:
the invention is further explained below with reference to the drawings.
As shown in fig. 1 to 6, a movable CT apparatus of the present invention includes a chassis 1, a lifting mechanism 3, a scan ring 4, and a controller. Install a plurality of removal wheels 2 on the chassis 1, remove wheel 2 and can remove to arbitrary direction for realize the translation of scanning ring 4, elevating system 3 install in on the chassis 1 for realize the elevating movement of scanning ring 4, scanning ring 4 pass through rotary mechanism install in elevating system is last, through rotary mechanism drive scanning ring tilt around. The controller is arranged on the inner side of the chassis 1 and is used for respectively controlling the movement of the moving wheel, the lifting mechanism and the rotating mechanism.
The movable wheels are arranged below four corners of the chassis 1, the movable wheels can adopt Mecanum wheels, steering wheels or omni wheels, and at least one movable wheel shaft is connected with a movable wheel driving motor to serve as a driving wheel. To prevent the movable CT device from colliding with obstacles during movement. And an avoidance radar 13 is also arranged at the edge of the chassis 1. The lifting mechanism 3 can be driven by an electric lifting mechanism, such as a slide rail and screw rod combined lifter, an electric lifting column and an electric push rod, through a lifting driving motor, and can also be driven by a hydraulic lifting mechanism, such as a scissor type lifter, through a hydraulic cylinder.
As shown in fig. 1 and 7, the rotating mechanism comprises a speed reducer 5-1, a worm 5-2, a slewing bearing outer ring 5-3, a slewing bearing inner ring 5-4 and a rotating drive motor 5-5, the rotating drive motor 5-5 is connected with the worm 5-2 through the speed reducer 5-1, the worm 5-2 is in gear fit with the slewing bearing inner ring 5-4, the slewing bearing outer ring 5-3 is fixed on the lifting mechanism 3, and the scanning ring 4 is connected with the slewing bearing inner ring 5-4 through a rotating shaft. The worm 5-2 is driven to rotate by the rotary driving motor 5-5, the worm 5-2 drives the inner ring 5-4 of the slewing bearing to rotate relative to the outer ring 5-3 of the slewing bearing, and the outer ring 5-3 of the slewing bearing drives the scanning ring 4 to synchronously rotate.
In order to facilitate fine adjustment of the front and rear positions of the scanning ring 4, the lifting mechanism 3 is mounted on the chassis 1 through the translation mechanism 6, and the lifting mechanism 3 is driven by the translation mechanism 6 to move back and forth on the chassis 1.
As shown in FIG. 8, the translation mechanism 6 comprises a translation driving motor 6-1, a support seat 6-2, a dustproof cover plate 6-3, a ball screw 6-4, a sliding block 6-5 and an encoder 6-6. The supporting seat 6-2 is installed on the chassis 1, the ball screw 6-4 is installed on the supporting seat 6-2, the dustproof cover plate 6-3 is installed around the ball screw 6-4, one end of the ball screw 6-4 is connected with the translation driving motor 6-1, the other end of the ball screw 6-4 is connected with the encoder 6-6, the sliding block 6-5 is in threaded fit with the ball screw 6-4, and the lifting mechanism 3 is installed on the sliding block 6-5. The translation driving motor 6-1 drives the ball screw 6-4 to rotate, the ball screw 6-4 drives the sliding block 6-5 to slide back and forth, and the scanning ring 4 above the lifting mechanism 3 is actuated back and forth along with the sliding block.
Besides the screw rod sliding block structure form of the embodiment, the translation mechanism 6 can also adopt other conventional translation mechanisms. Such as: a belt transmission structure and a linear electric push rod structure.
As shown in fig. 6, a control method of a mobile CT apparatus according to the present invention includes:
1) arranging a first position sensor 7 in a working area 10 where the movable CT device is located, and establishing a three-dimensional space coordinate system by taking the first position sensor 7 as an origin, wherein the working area 10 can be an examination room, an operating room, a shelter hospital or a virtual space;
2) placing a patient 12 on a CT scanning bed 11, arranging a third position sensor 9 at a part to be detected of the patient 12, and wirelessly connecting the third position sensor 9 with the first position sensor 7 to obtain a spatial position coordinate of the third position sensor 9;
3) arranging a second position sensor 8 on the movable CT device, wirelessly connecting the second position sensor 8 with a first position sensor 7, acquiring a spatial position coordinate of the second position sensor 8, and calculating relative coordinates of the second position sensor 8 and a third position sensor 9 according to the spatial position coordinates of the third position sensor 9 and the second position sensor 8;
4) the first position sensor 7 is wirelessly connected with the controller, and the relative coordinate of the center of the scanning ring 4 relative to the third position sensor 9, namely the relative coordinate of the center of the scanning ring 4 relative to the part to be detected of the patient 12 is calculated according to the relative coordinates of the second position sensor 8 and the third position sensor 9 and the relative coordinate of the center of the scanning ring 4 relative to the second position sensor 8;
5) the controller controls the movement of the moving wheel 2, the lifting mechanism 3 and the tilting mechanism 4 according to the relative coordinates of the center of the scanning ring 4 relative to the third position sensor 9, and firstly, the chassis 1 of the movable CT device is moved to a first expected position by the moving wheel 2, then, the scanning ring 4 of the movable CT device is lifted or lowered to a second expected position by the lifting mechanism 2, and finally, the scanning ring 4 of the movable CT device is tilted to an expected tilting degree by the rotating mechanism 5.
When the chassis of the movable CT device moves to the first expected position, collision with an obstacle is prevented by arranging an avoidance radar at the edge of the chassis, when the avoidance radar detects that the obstacle exists in front of the chassis of the CT device, an avoidance instruction is sent to the controller, and the moving direction of the chassis of the movable CT device is changed through the controller.
The first expected position is a safe area around the position of the patient, the first expected position can be set according to actual conditions, if the initial position of the movable CT device is far away from the patient, the movable CT device can be automatically moved into the safe area around the position of the patient, and of course, if the initial position of the movable CT device is located around the patient, the chassis of the movable CT device does not need to be moved, and the lifting mechanism can be directly adjusted. The second expected position is to satisfy that the central position of the scanning ring is consistent with the height of the part to be detected of the patient, and the sizes of the parts of each person are different. The expected inclination degree is set according to different body positions of patients and parts to be detected, and the rotation mechanism, the lifting mechanism and the translation mechanism are required to be simultaneously and finely adjusted when the inclination angle of the scanning ring is adjusted.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A mobile CT device, comprising:
the device comprises a chassis, a plurality of movable wheels are arranged on the chassis, and the movable wheels can move towards any direction;
the lifting mechanism is arranged on the chassis;
the scanning ring is arranged on the lifting mechanism through a rotating mechanism and is driven to tilt back and forth through the rotating mechanism;
and the controller is used for respectively controlling the movement of the moving wheel, the lifting mechanism and the rotating mechanism.
2. A mobile CT device according to claim 1, wherein: the movable wheels are Mecanum wheels, steering wheels or omnidirectional wheels.
3. A mobile CT device according to claim 1, wherein: the rotary mechanism comprises a speed reducer, a worm, a rotary bearing outer ring, a rotary bearing inner ring and a rotary driving motor, the rotary driving motor is connected with the worm through the speed reducer, the worm is matched with a gear of the rotary bearing inner ring, the rotary bearing outer ring is fixed on the lifting mechanism, and the scanning ring is connected with the rotary bearing inner ring through a rotating shaft.
4. A mobile CT device according to claim 1, wherein: and an avoidance radar is arranged at the edge of the chassis.
5. A mobile CT device according to claim 1, wherein: the lifting mechanism is arranged on the chassis through a translation mechanism, and the translation mechanism drives the lifting mechanism to move back and forth on the chassis.
6. A control method of a movable CT apparatus according to claim 1, wherein the control method comprises:
1) setting a first position sensor in a working area where the movable CT device is located, and establishing a three-dimensional space coordinate system by taking the first position sensor as an origin;
2) placing a patient on a CT scanning bed, arranging a third position sensor at a part to be detected of the patient, and wirelessly connecting the third position sensor with the first position sensor to obtain a spatial position coordinate of the third position sensor;
3) arranging a second position sensor on the movable CT device, wirelessly connecting the second position sensor with the first position sensor, acquiring the spatial position coordinates of the second position sensor, and calculating the relative coordinates of the second position sensor and the third position sensor according to the spatial position coordinates of the third position sensor and the second position sensor;
4) wirelessly connecting the first position sensor with the controller, and calculating the relative coordinate of the center of the scanning ring relative to the third position sensor according to the relative coordinates of the second position sensor and the third position sensor and the relative coordinate of the center of the scanning ring relative to the second position sensor;
5) the controller controls the moving wheel, the lifting mechanism and the rotating mechanism to act respectively according to the relative coordinate of the center of the scanning ring relative to the third position sensor, firstly, the chassis of the movable CT device is moved to a first expected position through the moving wheel, then, the scanning ring of the movable CT device is lifted or lowered to a second expected position through the lifting mechanism, and finally, the scanning ring of the movable CT device is inclined to an expected inclination degree through the rotating mechanism.
7. The method for controlling a movable CT apparatus according to claim 6, wherein: in the process that the chassis of the movable CT device in the step 5) moves to the first expected position, collision with the obstacle is prevented by arranging an avoidance radar at the edge of the chassis, when the avoidance radar detects that the obstacle exists in front of the chassis of the CT device, an avoidance instruction is sent to the controller, and the moving direction of the chassis of the movable CT device is changed through the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010602340.7A CN111657984A (en) | 2020-06-28 | 2020-06-28 | Movable CT device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010602340.7A CN111657984A (en) | 2020-06-28 | 2020-06-28 | Movable CT device and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111657984A true CN111657984A (en) | 2020-09-15 |
Family
ID=72390109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010602340.7A Pending CN111657984A (en) | 2020-06-28 | 2020-06-28 | Movable CT device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111657984A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114098790A (en) * | 2021-12-24 | 2022-03-01 | 南京安科医疗科技有限公司 | CT scanning mobile device and scanning method thereof |
| CN114631836A (en) * | 2022-03-28 | 2022-06-17 | 柯尼卡美能达再启医疗设备（上海）有限公司 | Movable slide rail CT |
| CN116098643A (en) * | 2023-04-11 | 2023-05-12 | 湖南涛尚医疗器械有限公司 | Portable CT scanning equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102125438A (en) * | 2010-01-12 | 2011-07-20 | 株式会社东芝 | X-ray image diagnostic apparatus and control method of X-ray image diagnostic apparatus |
| CN102940501A (en) * | 2011-07-13 | 2013-02-27 | 通用电气公司 | System and method of locating an X-ray imaging apparatus and corresponding X-ray imaging apparatus |
| CN105877771A (en) * | 2016-03-30 | 2016-08-24 | 中国科学院苏州生物医学工程技术研究所 | Movable computer tomography device |
| US20170347979A1 (en) * | 2016-06-01 | 2017-12-07 | Siemens Healthcare Gmbh | Method and device for motion control of a mobile medical device |
| US20180031377A1 (en) * | 2015-02-12 | 2018-02-01 | Siemens Healthcare Gmbh | Mobile x-ray examination apparatus |
| CN108601569A (en) * | 2016-02-03 | 2018-09-28 | 格罗伯斯医疗有限公司 | Portable medical imaging system |
| CN111150416A (en) * | 2020-03-02 | 2020-05-15 | 上海钛米机器人科技有限公司 | Mobile digital X-ray imaging device |
-
2020
- 2020-06-28 CN CN202010602340.7A patent/CN111657984A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102125438A (en) * | 2010-01-12 | 2011-07-20 | 株式会社东芝 | X-ray image diagnostic apparatus and control method of X-ray image diagnostic apparatus |
| CN102940501A (en) * | 2011-07-13 | 2013-02-27 | 通用电气公司 | System and method of locating an X-ray imaging apparatus and corresponding X-ray imaging apparatus |
| US20180031377A1 (en) * | 2015-02-12 | 2018-02-01 | Siemens Healthcare Gmbh | Mobile x-ray examination apparatus |
| CN108601569A (en) * | 2016-02-03 | 2018-09-28 | 格罗伯斯医疗有限公司 | Portable medical imaging system |
| CN105877771A (en) * | 2016-03-30 | 2016-08-24 | 中国科学院苏州生物医学工程技术研究所 | Movable computer tomography device |
| US20170347979A1 (en) * | 2016-06-01 | 2017-12-07 | Siemens Healthcare Gmbh | Method and device for motion control of a mobile medical device |
| CN111150416A (en) * | 2020-03-02 | 2020-05-15 | 上海钛米机器人科技有限公司 | Mobile digital X-ray imaging device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114098790A (en) * | 2021-12-24 | 2022-03-01 | 南京安科医疗科技有限公司 | CT scanning mobile device and scanning method thereof |
| CN114631836A (en) * | 2022-03-28 | 2022-06-17 | 柯尼卡美能达再启医疗设备（上海）有限公司 | Movable slide rail CT |
| CN116098643A (en) * | 2023-04-11 | 2023-05-12 | 湖南涛尚医疗器械有限公司 | Portable CT scanning equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111657984A (en) | Movable CT device and control method thereof | |
| US11382580B2 (en) | CT imaging systems | |
| JP5623415B2 (en) | Device for positioning a patient relative to radiation | |
| US6912746B2 (en) | Bed | |
| EP0765634B1 (en) | Electrophysiology table | |
| US7125167B2 (en) | Method and apparatus for tilting in a patient positioning system | |
| JP3260449B2 (en) | X-ray diagnostic equipment | |
| JP2004174247A (en) | Method and device for avoiding collision in patient positioning platform | |
| CN107669449B (en) | Helping robot | |
| JPH0481453B2 (en) | ||
| CN107095761B (en) | Dual-purpose operation vehicle | |
| GB2306941A (en) | Invalid Lifting Device | |
| CN111407300A (en) | Movable radiology department CT device | |
| KR20160020375A (en) | Anatomical imaging system with scanning table movable along the x-axis and/or scanning table movable along the y-axis and the z-axis | |
| EP0705091B1 (en) | Intensive therapy bed | |
| CN212631103U (en) | Bedstead and nursing bed | |
| CN111702778B (en) | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user | |
| CN112043303A (en) | CT machine for medical image | |
| CN216169431U (en) | Movable body surface marking equipment for radiotherapy positioning | |
| JPH04189357A (en) | Dental unit | |
| CN221534612U (en) | Automatic walking operation table | |
| CN113116369B (en) | Bedside X-ray machine | |
| CN220719220U (en) | Adjustable operation table | |
| CN216855534U (en) | A treatment bed for radiotherapy | |
| CN217208691U (en) | Image display equipment with adjustable movement for ultrasonic intervention |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200915 |
|
| RJ01 | Rejection of invention patent application after publication |