CN112515696A

CN112515696A - Mobile medical CT scanning device and scanning method thereof

Info

Publication number: CN112515696A
Application number: CN202011434254.6A
Authority: CN
Inventors: 刘岿; 纪云; 徐弟; 刘丽; 刘猛; 应峥嵘
Original assignee: Suzhou Boying Medical Technology Co ltd
Current assignee: Suzhou Boying Medical Technology Co ltd
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-03-19

Abstract

The invention discloses a movable medical CT scanning device and a scanning method thereof.A scanning frame of the CT scanning device can move in a single room or different rooms through a guide rail arranged on a roof, and a scanning bed, a display or other equipment is arranged in each room. When the scanning task is not available, the scanning rack resides in the equipment channel, and when the scanning task is available, the scanning rack enters the corresponding room along the guide rail to complete the scanning work and transmit the image to a display or other equipment. And after the scanning task is finished, the scanning frame returns to the equipment channel for standby. The invention realizes the purpose that a plurality of rooms share one set of CT scanning frame.

Description

Mobile medical CT scanning device and scanning method thereof

Technical Field

The invention relates to a medical instrument, in particular to a medical CT scanning device, and particularly relates to a movable medical CT scanning device.

Background

A medical CT scanner is usually implemented by a ring-shaped main frame mounted on a base body in cooperation with a medical bed. In order to realize the movement of the CT scanning device, in the prior art, the movable CT scanning device has the capability of moving on the ground with the assistance of manpower or electric power by installing wheels or tracks on the base. For example, the anatomical imaging system with a track driver disclosed in chinese patent application CN101027947B uses a track as a fine moving mechanism of the CT machine, and uses a wheel as a coarse moving mechanism. Chinese patent CN102894990A discloses a mobile scanning device using wheels, and simultaneously, a ring-shaped main frame (scanning ring) can be translated relative to a base.

The moving modes using the wheels or the crawler belts not only waste time and labor, but also put great demands on the ground quality, and the moving capability of the moving modes is severely restricted by uneven ground or obstacles such as steps, doorsills and the like.

Meanwhile, in a typical CT scanner, the annular main frame usually has only the capability of tilting around the X-axis, and some models do not even have any tilting capability. The tilting of the mainframe is of significant value clinically for sensitive or specific part scans of some patients, and when a patient cannot be fixed on a bed in a given posture (e.g., lying on his side), the tilting function of a CT scanner with only tilting about the X-axis will lose usability, in which case a CT scanner with only tilting about the X-axis or a CT scanner without any tilting function will perform the scan in such a way that the patient may receive too much ineffective radiation.

Therefore, the movement and multi-axis rotation of the CT scanning device are realized on the premise of not depending on the ground flatness, and the CT scanning device has great significance for the application of medical CT scanning devices.

Disclosure of Invention

The invention aims to provide a movable medical CT scanning device, which realizes convenient movement of the medical CT scanning device in a room and among a plurality of rooms and realizes multi-axis rotation of an annular scanning frame. It is a further object of the invention to provide a method for CT scanning using such a scanning device.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: the utility model provides a portable medical CT scanning device, includes scanning frame and scanning bed, is equipped with the guide rail that is located indoor top, the scanning frame hang on the guide rail and can follow the guide rail removes, the scanning frame has the annular first frame with scanning bed cooperation work.

Among the above-mentioned technical scheme, adopt the top guide rail to install CT scanning device, the guide rail is installed on the roof of room and equipment passageway, through the timing in the installation, guarantees the precision of guide rail, and CT scanning device can freely remove with very low resistance on the guide rail, greatly reduced the requirement to ground, also guaranteed the precision and the smooth and easy nature of removal simultaneously.

According to a further technical scheme, the scanning frame mainly comprises a first frame, a second frame and a third frame, and connecting shafts are arranged on two sides of the annular first frame; the second rack is composed of an arc-shaped part and a vertical connecting rod, the first rack is rotatably connected with the arc-shaped part of the second rack through a connecting shaft, and the rotating shaft is an X shaft; the top of the third rack is connected with the guide rail and can slide along the guide rail, the vertical connecting rod of the second rack is connected with the third rack, the vertical direction is used as a Y axis, and the third rack is provided with a rotating mechanism to enable the second rack to have the degree of freedom of rotating around the Y axis.

Therefore, the first frame has the capability of rotating around the X axis and the Y axis simultaneously, when a patient is in a prone position or a supine position, the first frame can rotate around the X axis to complete inclined scanning, and when the patient is in a left side lying position or a right side lying position, the first frame can rotate around the Y axis to complete inclined scanning.

According to the preferable technical scheme, the third rack is composed of a straight rod part and a top rotary table, the top rotary table forms a rotating mechanism and is connected with the guide rail, the straight rod part can rotate around a Y axis, and the straight rod part is connected with the vertical connecting rod of the second rack.

According to a further technical scheme, the straight rod part of the third rack and the vertical connecting rod of the second rack are of telescopic cylinder structures, and the degree of freedom of relative movement along the Y-axis direction is formed between the straight rod part of the third rack and the vertical connecting rod of the second rack.

The relative position relationship in the Y-axis direction may also be realized by a scanning bed, for example, the scanning bed is composed of a column and a bed plate, the column can be lifted along the Y-axis to adjust the height of the bed plate, and the bed plate is made of a material that facilitates the penetration of X-rays, such as carbon fiber.

In the technical scheme, a rotor is arranged in the first rack, an X-ray tube, a high-voltage generator, a detector, an image reconstruction computer, a control computer and a collimator are mounted on the rotor, the direction perpendicular to the plane of the ring of the first rack is taken as a Z axis, and the rotor has the degree of freedom of rotating around the Z axis.

Preferably, a ring-shaped fourth frame is fixedly connected inside the first frame, a bearing is mounted on the fourth frame, and the rotor is connected with the fourth frame through the bearing. Shafts can be arranged on the left side and the right side of the fourth rack, and the connection bearing force with the second rack is mainly realized by the fourth rack.

In the above technical solution, the guide rail is preferably installed on an indoor roof, the guide rails are spliced in segments according to a pre-planned movement path, and the scanning frame moves in a single room or multiple rooms along the guide rail.

When the scanning machine frame moves in a plurality of rooms, the rooms are connected through the equipment channel, a door is arranged at the joint of the rooms and the equipment channel, guide rails communicated with each other are arranged at the tops of the rooms and the equipment channel, the scanning machine frame moves on the guide rails, and each room is provided with one scanning bed.

In order to realize another purpose of the invention, the invention provides a mobile medical CT scanning method, which is realized based on the scanning device, a controller for controlling the scanning rack to move along a guide rail is arranged, a calling device and a display are arranged in a room, when a scanning task is performed, an operator operates the calling device to send a calling instruction to the controller, the controller controls the scanning rack to reach a scanning position, and after the scanning task is completed, the scanning rack transmits image data to the display and then returns to a standby position.

When the scanning machine frame is used for a plurality of rooms with equipment channels, the scanning machine frame is in standby in the equipment channels, a calling device is arranged in each room, when a scanning task exists, an operator operates the calling device to send a calling instruction to the scanning machine frame, the scanning machine frame reaches the room initiating the calling through the connection part of the equipment channels and the rooms after receiving the calling instruction, and after the scanning task is completed, the scanning machine frame transmits image data to a display screen or other equipment in the room and then returns to the equipment channels for standby; when a door is arranged between the equipment channel and the room, the door is a normally closed electric door, the controller controls the door to be opened when the scanning rack moves to the door edge and needs to pass through, and the controller controls the door to be closed after the scanning rack passes through.

In the above technical solution, the controller can coordinate and control the scanning frame and the accessory devices inside and outside the room at the same time, such as: displays, doors and other devices, etc.

By adopting the technical scheme of the invention, a plurality of operating rooms can share one set of CT scanning device. In this case, the equipment passage and the room should meet the operating room sterilization requirement, the other equipment is preferably intraoperative navigation equipment, sterilization equipment can be equipped in the equipment passage, and the scanning frame of the CT scanning device is sufficiently sterilized by the sterilization equipment before entering the room.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

1. the guide rail type CT scanning device provided by the invention overcomes the defects that the typical movable CT is time-consuming and labor-consuming in moving, has high requirements on the ground quality, and the moving capability is severely restricted by the unevenness of the ground or obstacles such as steps, doorsills and the like. The guide rail is arranged on the roof of a room and an equipment channel, the precision of the guide rail is ensured through adjustment and calibration in the installation process, the CT scanning device can freely move on the guide rail with very low resistance, the requirement on the ground is greatly reduced, and meanwhile, the moving precision and smoothness are also ensured.

2. The CT scanning device provided by the invention has the characteristic that the CT scanning device is far away from an operation area or exits from an operation room after scanning is finished when being applied to an operation room scene, does not occupy operation space at all, and has obvious clinical advantages.

Drawings

FIG. 1 is a schematic diagram of a mobile CT scanner and a room according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a mobile CT scanning device in an embodiment;

FIG. 3 is a schematic view of the internal structure of the first frame of FIG. 2;

FIG. 4 is a schematic view of a change of state of the first gantry about the X-axis;

FIG. 5 is a schematic view of a change of state of the first gantry about the Y-axis;

FIG. 6 is a schematic diagram of a typical intraoperative application scenario;

FIG. 7 is a schematic view of the CT scanning device entering and exiting the operative field;

FIG. 8 is a system block diagram of an embodiment;

FIG. 9 is a flowchart of an embodiment;

FIG. 10 is a schematic diagram of a single operating room application scenario in an embodiment;

FIG. 11 is a diagram of a conventional inspection application scenario in an embodiment.

Wherein: 101-; 105. an equipment channel; 106. a scanning gantry; 107. scanning the bed; 108 other devices; 109. a display; 110. a guide rail;

20. a CT scanning device; 201 a coordinate system; 202. scanning bed column, 203, scanning bed plate; 204. a first rack, 205, a second rack; 206. a second frame arcuate portion; 207. a second rack vertical link; 208. a third frame; 209. a third frame straight rod part; 210. a third gantry turret portion;

30. a first frame interior; 301. a fourth frame; 302. a shaft; 303. a bearing; 304. a rotor; 305. a bulb tube; 306. a high voltage generator; 307. a detector; 308. an image reconstruction computer; 309. a control computer; 310. a collimator;

401. a patient; 402. an operative space;

501. sterilizing equipment; 502 a controller;

601. an examination room; 602. a control room; 603. an operation platform.

Detailed Description

The invention is further described with reference to the following figures and examples:

example (b):

a typical implementation case of the multi-operating-room shared application scenario is as follows:

referring to fig. 1, a mobile CT scanner 20 is shown and is comprised of a table 107, a gantry 106, and a guide rail 110.

Referring to fig. 2, the scan gantry 106 is comprised of a first gantry 204, a second gantry 205, and a third gantry 208;

the scanning bed 107 is composed of a column 202 and a bed board 203, the column 202 can be lifted along the Y axis, the height of the bed board 203 is adjusted by lifting along the Y axis, and the bed board 203 is made of a material which is beneficial to the penetration of X-rays, such as carbon fiber.

Referring to fig. 3, a fourth gantry 301 is disposed in the first gantry interior 30, the fourth gantry 301 is mounted with a bearing 303 and is connected to a rotor 304 through the bearing, the rotor is mounted with an X-ray tube 305, a high voltage generator 306, a detector 307, an image reconstruction computer 308, a control computer 309 and a collimator 310, the rotor 304 is rotatable around the Z-axis relative to the fourth gantry 301, and the fourth gantry 301 is mounted with a shaft 302 on each of the left and right sides.

As shown in fig. 4, the first frame 204 is rotatably connected to the second frame 205 through a shaft 302, and the first frame 204 is rotatable about the X-axis with respect to the second frame 205.

As shown in fig. 5, the second frame 205 is composed of an arc-shaped portion 206 and a vertical link 207, the second frame 205 is connected to a straight rod portion 209 of the third frame 208 via the vertical link 207, and the second frame 205 is movable in the Y-axis direction with respect to the third frame 208.

As shown in fig. 2, the third frame 208 is composed of a straight rod 209 and a top turntable 210, the straight rod 209 is rotatable around the Y-axis with respect to the turntable 210, and the top turntable 210 is connected to the guide rail 110 and is movable along the guide rail 110.

Thus, the second frame 205 connected to the straight rod portion 209 of the third frame and the first frame 204 connected to the second frame 205 are also rotatable about the Y-axis together with the straight rod portion of the third frame.

Thus, the first frame has the capability of rotating around the X axis and the Y axis simultaneously. The tilt scan can be accomplished by rotation of the first gantry about the X-axis while the patient is in the prone or supine position, as shown in fig. 4; the tilt scan can be accomplished by rotation of the first gantry about the Y-axis while the patient is in either the left or right lateral position, as shown in fig. 5. Therefore, the defect that the traditional machine cannot clinically perform inclined scanning in partial body positions (particularly in a lateral position) is overcome.

The guide rail 110 is installed on the roof of a room or facility aisle for supporting the scanning gantry 106, and the guide rail 110 is segmented according to a pre-planned movement path. Through the adjustment in the installation, guarantee the precision of guide rail, CT scanning device can freely remove with very low resistance on the guide rail, greatly reduced the requirement on ground, also guaranteed the precision and the smoothness nature of removal simultaneously.

Referring to fig. 1 and 6, the

rooms

101, 102, 103, 104 are connected by an equipment aisle 105, a door 111 is provided at the connection between the rooms and the equipment aisle, a guide rail 110 is provided at the top of each room and the equipment aisle, and the scanning gantry 106 moves on the guide rail 110.

The door 111 is preferably a power door, the door 111 is normally closed, the scanning gantry 106 moves to the side of the door 111, the door 111 is automatically opened when the passage is needed, and the door 111 is automatically closed after the passage of the scanning gantry 106.

A caller 112 is arranged in the

rooms

101, 102, 103, and 104, when there is a scanning task, an operator operates the caller 112 to send a call instruction to the scanning rack 106, the scanning rack 106 arrives at the room after receiving the call instruction, after the scanning task is completed, the scanning rack 106 transmits image data to a display screen 109 or other devices 108 in the room, and then returns to the device passage 105 for standby.

The functions of the caller 112 may also be integrated into the interactive interface of the display 109, by buttons or other means, and the display 109 may also be mobile.

The CT scanner 20 is particularly suitable for positioning and navigation in an operating room, and a typical application scenario when the scanner is applied in this scenario is shown in fig. 6. The equipment tunnel 105 and the

rooms

101, 102, 103, 104 are configured to meet operating room sterilization requirements, the other equipment 108 is preferably intraoperative navigation equipment, one or more sterilization devices 501 may be provided in the equipment tunnel 105, a controller 502 may be provided in the equipment tunnel, and the scanning gantry 106 is sterilized by the sterilization devices 501 before entering the

rooms

101, 102, 103, 104. The entry and exit into and out of the surgical field is shown in fig. 7.

When the CT scanner 20 is used in an operating room setting, a typical system block diagram is shown in fig. 8. Each operating room is provided with a power door 111 so that the scanning frame 106 can enter and exit the operating room; a display 109 is provided in each operating room as a human-machine interface for performing calling and scanning tasks and displaying necessary information; each operating room is equipped with one other device 108 for assisting the surgical procedure.

The scanning gantry 106 is connected to the controller 502 through the first interface, the plurality of displays 109 are connected to the controller 502 through the second interface, and the plurality of power gates 111 are connected to the controller 502 through the third interface; the plurality of other devices 108 are connected to the controller 502 through interface four, the sterilization device 501 is connected to the controller 502 through interface five, and the controller 502 is used for coordinating and controlling the whole system.

When the CT scanner 20 is used in an operating room setting, a typical system workflow is shown in fig. 9. After the system is powered on, the controller 502 controls the scan chassis 106 to enter a standby position, which is typically within the equipment aisle 105, and then enters a standby state.

The controller then queries the display 109 whether to call the scanning chassis 106, and if not, the scanning chassis 106 remains in a standby state; if there is a call, the controller first queries the status of the scanning chassis 106 and then decides on the next operation. The status query follows the following rules: if the scanning rack is in BUSY state, the call enters queuing state, and informs the display initiating the call of corresponding queuing information, and then the controller continues to inquire the state of the scanning rack 106. During the inquiry state, each display 109 call should be recorded, typically chronologically, and when the state is available, the controller assigns addresses to the scanning gantry 106 in queue order. The address corresponds to the room in which the display 109 is located.

The sterilization equipment 501 would then typically be equipped in an equipment aisle to sterilize the scanning gantry 106, and then the scanning gantry 106 would reach the door of the operating room corresponding to the assigned address, open the powered door of the corresponding operating room, and the scanning gantry 106 would enter the corresponding operating room, and close the powered door of the corresponding operating room. These operations are all accomplished under the control of the controller.

After the scanning frame 106 enters the operating room, an operator sets scanning parameters on a human-computer interaction interface of the display 109 and transmits the parameters to the controller, the controller sets the parameters of the scanning frame 106, then the scanning task is completed, and data are sent to the display 109 or other equipment 108 in the corresponding operating room through the controller.

After the scanning task is finished, the controller opens the power door corresponding to the operating room, the scanning rack 106 exits the operating room, closes the power door corresponding to the operating room, and then the scanning rack 106 enters the standby position of the equipment room 105 to wait for the next task.

In the application scene, the CT scanning device has the characteristic of being away from an operation area or exiting an operation room after scanning is finished, does not occupy operation space completely, and has remarkable clinical advantages.

A typical implementation of a single operating room application scenario:

referring to fig. 10, an exemplary embodiment of the CT scanner 20 is shown in fig. 10 when applied to a single operating room. In this application scenario, the CT scanning apparatus 20 is similar to the CT scanning apparatus 20 defined in the exemplary embodiment of the multiple operating rooms sharing the application scenario, and the differences are: the CT scanner 20 is disposed in a single operating room 101; the guide rail 110 of the CT scanner 20 is installed on the roof of the single operating room 101; the sterilization apparatus 501 is installed in a single operating room.

When the CT scanning apparatus 20 is applied to a single operating room scene, the typical workflow is as follows: the CT scanning device 20 resides outside the operating area 402 when there is no scanning task, and after the operator calls the scanning gantry 106 through the display 109 to perform the scanning task, the scanning gantry 106 enters the operating area and completes the scanning task, and then sends the image to the display 109 or other devices 108, and then exits the operating area 402 for standby.

The sterilization apparatus 501 sterilizes the operating room 101 and the indoor equipment before an operation. The sterilization apparatus 501 is optional, and pre-operative sterilization may also be performed manually or by other means.

A typical implementation of the routine inspection application scenario is as follows:

referring to fig. 11, when the CT scanner 20 is used for routine examination, an exemplary embodiment is shown in fig. 11. In this application scenario, the CT scanning apparatus 20 is similar to the CT scanning apparatus 20 defined in the exemplary embodiment of the multiple operating rooms sharing the application scenario, and the differences are: the CT scanner 20 is disposed in a single examination room 601, the guide rail 110 of the CT scanner 20 is installed on the roof of the single examination room 601, and a console 602 and a console 603 are disposed beside the examination room 601 so that an operator can computer-operate the CT scanner 20 through the console 603.

When the CT scanning apparatus 20 is applied to a regular inspection scene, the typical workflow is as follows: the operator issues a scanning task to the scanning gantry 106 through the console 603 in the console 602, and the scanning gantry 106 exits the table area of the scanning bed 107 after completing the scanning task according to the instruction and sends image data to the console 106.

When the CT scanner 20 is used in this scenario, the lifting function of the first frame 204 along the Y-axis and the rotation function of the straight rod portion 209 of the third frame 208 relative to the turntable 210 around the Y-axis are not necessary.

Claims

1. The utility model provides a portable medical CT scanning device, includes scanning frame and scanning bed, its characterized in that: the scanning bed is characterized in that a guide rail positioned at the indoor top is arranged, the scanning machine frame is hung on the guide rail and can move along the guide rail, and the scanning machine frame is provided with an annular first frame matched with the scanning bed to work.

2. The mobile medical CT scanner of claim 1, wherein: the scanning frame mainly comprises a first frame, a second frame and a third frame, and connecting shafts are arranged on two sides of the annular first frame; the second rack is composed of an arc-shaped part and a vertical connecting rod, the first rack is rotatably connected with the arc-shaped part of the second rack through a connecting shaft, and the rotating shaft is an X shaft; the top of the third rack is connected with the guide rail and can slide along the guide rail, the vertical connecting rod of the second rack is connected with the third rack, the vertical direction is used as a Y axis, and the third rack is provided with a rotating mechanism to enable the second rack to have the degree of freedom of rotating around the Y axis.

3. The mobile medical CT scanner of claim 2, wherein: the third rack is composed of a straight rod part and a top rotary table, the top rotary table forms a rotating mechanism and is connected with the guide rail, the straight rod part can rotate around the Y axis, and the straight rod part is connected with the vertical connecting rod of the second rack.

4. The mobile medical CT scanner of claim 3, wherein: the straight rod part of the third rack and the vertical connecting rod of the second rack are of telescopic cylinder structures, and the freedom degree of relative movement along the Y-axis direction is formed between the straight rod part of the third rack and the vertical connecting rod of the second rack.

5. The mobile medical CT scanner of claim 1, wherein: the X-ray tube, the high-voltage generator, the detector, the image reconstruction computer, the control computer and the collimator are arranged in the first rack, the direction perpendicular to the plane where the ring of the first rack is located is taken as the Z axis, and the rotor has the degree of freedom rotating around the Z axis.

6. The mobile medical CT scanner of claim 5, wherein: a ring-shaped fourth rack is fixedly connected inside the first rack, a bearing is mounted on the fourth rack, and the rotor is connected with the fourth rack through the bearing.

7. The mobile medical CT scanner of claim 1, wherein: the guide rails are installed on indoor roofs and spliced in sections according to a pre-planned moving path, and the scanning rack moves in a single room or multiple rooms along the guide rails.

8. The mobile medical CT scanner of claim 7, wherein: the scanning machine frame moves in a plurality of rooms, the rooms are connected through equipment channels, doors are arranged at the joints of the rooms and the equipment channels, guide rails communicated with each other are arranged at the tops of the rooms and the equipment channels, the scanning machine frame moves on the guide rails, and each room is provided with a scanning bed.

9. A mobile medical CT scanning method implemented by the scanning apparatus of any one of claims 1 to 8, characterized in that: the controller is used for controlling the scanning rack to move along the guide rail, the calling device and the display are arranged in a room, when a scanning task exists, an operator operates the calling device to send a calling instruction to the controller, the controller controls the scanning rack to reach a scanning position, and after the scanning task is completed, the scanning rack transmits image data to the display and then returns to a standby position.

10. The mobile medical CT scanning method of claim 9 wherein: the scanning machine frame is used for a plurality of rooms with equipment channels, the scanning machine frame is in standby in the equipment channels, a calling device is arranged in each room, when a scanning task is performed, an operator operates the calling device to send a calling instruction to the scanning machine frame, the scanning machine frame reaches the room initiating the calling through the connection part of the equipment channels and the rooms after receiving the calling instruction, and after the scanning task is completed, the scanning machine frame transmits image data to a display screen or other equipment in the room and then returns to the equipment channels for standby; when a door is arranged between the equipment channel and the room, the door is a normally closed electric door, the controller controls the door to be opened when the scanning rack moves to the door edge and needs to pass through, and the controller controls the door to be closed after the scanning rack passes through.