CN114224368A

CN114224368A - Medical imaging apparatus, imaging method thereof, mobile medical center system, and storage medium

Info

Publication number: CN114224368A
Application number: CN202111555375.0A
Authority: CN
Inventors: 于印民
Original assignee: Shanghai United Imaging Healthcare Co Ltd
Current assignee: Shanghai United Imaging Healthcare Co Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-03-25

Abstract

The invention provides a medical image device and an imaging method thereof, a mobile medical center system and a storage medium, wherein the medical image device comprises: the generator comprises a body and a flying structure connected with the body, wherein the body is used for emitting a scanning ray, and the flying structure is used for carrying the body to fly in a space range; a detector for receiving scanning radiation traversing an object under examination; the medical imaging device is configured to adjust the pose of the generator in real time according to the pose of the detector, so that the pose of the body of the generator is matched with the pose of the detector. According to the configuration, the generator can have the functions of a ray source assembly and an aircraft at the same time, and can adjust the pose of the generator in real time according to the pose of the detector, so that the pose of the generator body is matched with the pose of the detector, and the ray shooting work is performed on a patient through the matching of the generator body and the detector.

Description

Medical imaging apparatus, imaging method thereof, mobile medical center system, and storage medium

Technical Field

The invention relates to the technical field of medical equipment, in particular to medical imaging equipment, an imaging method of the medical imaging equipment, a mobile medical center system and a storage medium.

Background

In the field rescue process, the use of a portable DR device (Digital radio, Digital X-ray machine) is very common, the conventional portable DR device usually needs to shoot on a relatively flat ground in the field, specifically, please refer to fig. 1, fig. 1 is a schematic diagram of the portable DR device in the prior art in the field, the portable DR device includes a radiation source assembly 01 and a flat panel detector 02, when shooting and examining a patient 03, the patient 03 firstly lies on the relatively flat ground in the field, medical staff place the flat panel detector 02 on a part of the patient 03 to be shot, usually the flat panel detector 02 is placed under the patient 03, the radiation source assembly 01 is placed above the flat panel detector 02 under the supporting action of an unfolded tripod 04, and the radiation source assembly 01 and the flat panel detector 02 are aligned, the patient is then examined radiographically with the radiation source assembly 01 and flat panel detector 02.

Although it is possible to carry out radiographic examinations of patients in the field according to the current technology, at least the following problems still remain:

(1) the existing portable DR equipment needs medical staff to carry a ray source component 01, a flat panel detector 02 and a tripod 04 to a shooting site at the same time, is inconvenient to carry due to the influence of weight and volume, brings invariance to the field rescue process, and seriously influences the rescue efficiency;

(2) at present, fix ray source subassembly 01 with tripod 04, tripod 04 is better at the position of the relatively steady topography of some to ray source subassembly 01 and fixed action, also is favorable to shooing going on of work, but in some environment topography abominable places, tripod 04 is relatively poor to the position of the ray source subassembly and fixed effect, is unfavorable for shooing the inspection to the patient.

Disclosure of Invention

The invention aims to provide medical imaging equipment, an imaging method thereof, a mobile medical center system and a storage medium, and aims to solve the problem that the existing portable DR equipment is difficult to shoot in the field with severe environment and terrain.

To solve the above technical problem, according to a first aspect of the present invention, there is provided a medical imaging apparatus, comprising:

the generator comprises a body and a flying structure connected with the body, wherein the body is used for emitting a scanning ray;

a detector for receiving the scanning radiation passing through an object under examination;

the medical imaging device is configured to adjust the pose of the generator in real time according to the pose of the detector, so that the pose of the body of the generator is matched with the pose of the detector.

Optionally, the generator is in communication connection with the detector, and the generator is configured to adaptively adjust the pose of the generator according to a calibration instruction issued by the detector.

Optionally, the flying structure comprises one or more rotors.

Optionally, the medical imaging apparatus includes an integrated device including at least one of a display end module and a control end module; the display end module is in communication connection with the detector, and the control end module is in communication connection with the detector and the generator respectively.

Optionally, the body is a digital X-ray machine.

Based on the second aspect of the present invention, the present invention further provides an imaging method applied to the medical imaging apparatus as described above, the imaging method including:

carrying a detector of the medical imaging equipment to a preset area, and placing the detector on a part to be shot of an inspection object;

controlling a generator of the medical imaging equipment to fly to the preset area from an original position, and adjusting the pose of the generator in real time according to the pose of the detector;

after the pose of the generator body is matched with the pose of the detector, controlling the generator body to emit a scanning ray;

and receiving the scanning ray by using the detector and generating image data reflecting the part to be shot of the inspection object.

Optionally, the imaging method further comprises: controlling the generator to fly back from the predetermined area to the home position.

Optionally, the imaging method further comprises: and receiving and displaying the image data generated by the detector in real time by using a display terminal.

Based on the third aspect of the invention, the invention also provides a mobile medical center system, which comprises a plurality of medical examination devices, wherein a part of the medical examination devices are configured as the medical imaging devices.

Optionally, the mobile medical center system includes a mobile vehicle body, and the mobile vehicle body is provided with at least one shutdown bank for placing the generator of the medical imaging device.

Based on the fourth aspect of the invention, the invention also provides a storage medium, which stores a readable and writable program, and the program can realize the imaging method.

In summary, in the medical imaging apparatus and the imaging method thereof, the mobile medical center system, and the storage medium provided in the present invention, the medical imaging apparatus includes: the generator comprises a body and a flying structure connected with the body, wherein the body is used for emitting a scanning ray, and the flying structure is used for carrying the body to fly in a space range; a detector for receiving the scanning radiation passing through an object under examination; the medical imaging device is configured to adjust the pose of the generator in real time according to the pose of the detector, so that the pose of the body of the generator is matched with the pose of the detector. According to the configuration, the generator can have the functions of a ray source assembly and an aircraft at the same time, and can adjust the pose of the generator in real time according to the pose of the detector, so that the pose of the generator body is matched with the pose of the detector, and the ray shooting work is performed on a patient through the matching of the generator body and the detector. Compared with the related technology, medical staff only need to carry the detector of the medical imaging equipment to the field, and the generator can fly to a shooting area, so that the number of the equipment carried outside can be reduced, the load is reduced, and the rescue efficiency is improved; for some places with severe environmental topography, the generator can also be matched with the detector to complete shooting work after flying to a related area.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of a prior art portable DR device taken in the field;

FIG. 2 is a schematic diagram of a generator according to an embodiment of the present invention;

FIG. 3 is a schematic view of a probe according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an integrated device according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a mobile medical center system in accordance with an embodiment of the present invention;

FIG. 6 is a flow chart of an imaging method according to an embodiment of the invention.

In the drawings:

01-a radiation source assembly; 02-flat panel detector; 03-patient; 04-a tripod;

10-a generator; 11-a body; 12-a flying structure;

20-a detector;

30-an integrated device;

40-moving the vehicle body; 41-shutdown library.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The invention provides medical imaging equipment, an imaging method thereof, a mobile medical center system and a storage medium, and aims to solve the problem that the existing portable DR equipment is difficult to shoot in the field with severe environment and terrain.

The medical imaging apparatus, the imaging method thereof, and the mobile medical center system according to the present invention will be described with reference to the accompanying drawings.

The medical imaging apparatus of the present embodiment includes a generator and a detector, and specifically, referring to fig. 2, fig. 2 is a schematic diagram of the generator according to an embodiment of the present invention, the generator 10 includes a body 11 and a flying structure 12 connected to the body 11, the body 11 is used for emitting a scanning ray, and the flying structure 12 is used for carrying the body 11 to fly in a spatial range, that is, the flying structure 12 carries the body 11 to move in a certain spatial range. Referring to fig. 3, fig. 3 is a schematic diagram of a detector 20 according to an embodiment of the present invention, the detector 20 is used for abutting on a portion of an inspection object to be photographed and receiving a scanning ray emitted from the body 11, and the scanning ray passes through the inspection object. Further, the medical imaging apparatus is configured to adjust the pose of the generator 10 in real time according to the pose of the detector 20 so that the pose of the body 11 of the generator 10 matches the pose of the detector 20. During specific operation, an inspection object lies in the field, medical staff places the detector 20 at a position of the inspection object to be shot, usually places the detector 20 under the inspection object, controls the generator 10 to fly to the area where the detector 20 is located, and adjusts the pose of the generator 10 according to the pose of the detector 20 until the pose of the body 11 is matched with the pose of the detector 20, usually means that the body 11 is aligned with the detector 20, medical imaging inspection is performed on the inspection object through matching of the body 11 and the detector 20, and in addition, after shooting inspection is finished, the generator 10 flies back to the original takeoff position.

In an actual field rescue scene, different SIDs (Source Image Distance) need to be adjusted according to actual conditions of different inspection objects, a bulb focus is disposed inside the body 11, a scanning ray is emitted through the bulb focus, an imaging plane of the detector 20 receives the scanning ray to generate corresponding Image data, and the SID further refers to a vertical Distance between the bulb focus in the body 11 and the imaging plane of the detector 20. It should be understood that the object has six degrees of freedom in space, namely, the degree of freedom of movement in the directions of three orthogonal coordinate axes x, y and z and the degree of freedom of rotation around the three coordinate axes, and the degree of freedom of movement and the degree of freedom of rotation of the object in space are generally expressed by the pose, and in this embodiment, it is equivalent to adjust the pose of the generator 10 with the detector 20 as the origin until the pose of the body 11 and the pose of the detector 20 are matched, specifically, adjust the pose of the generator 10 so that the body 11 and the detector 20 are arranged along the direction of the gravity line, and make the SID meet the examination condition of the current patient.

It should be understood that the body 11 of the generator 10 is used for emitting scanning radiation, at least a portion of the body 11 may be understood as a radiation source assembly, i.e. a device capable of emitting X-rays, gamma-rays, electron rays, or the like, and the detector 20 of the present embodiment may be understood as a device capable of receiving radiation emitted by the radiation source assembly, and medical examination, treatment, or the like may be implemented through cooperation of the radiation source assembly and the detector 20. In this embodiment, the radiation emitted by the body 11 may be, for example, an X-ray, the body 11 may be, for example, a DR device (Digital radio, Digital X-ray machine), and the cooperation between the body 11 and the detector 20 may be further understood as being designed based on the working principle of the Digital X-ray machine.

The medical imaging device can enable the generator 10 to have the functions of a ray source assembly and an aircraft at the same time, and the generator 10 can adjust the pose of the generator 10 in real time according to the pose of the detector 20, so that the pose of the body 11 of the generator 10 is matched with the pose of the detector 20, and the radiographic work is performed on a patient through the matching of the body 11 and the detector 20. Compared with the related art, medical staff only need to carry the detector 20 of the medical imaging device to the field, the generator 10 can fly to a shooting area, the number of devices carried outside can be reduced, load is reduced, the medical staff is prevented from carrying large-size and heavy devices, and rescue efficiency can be improved; for some places with severe environmental terrain, the tripod in the prior art is inconvenient to unfold for use, or the unfolding effect is not good, and the generator 10 of the embodiment can also be matched with the detector 20 to complete shooting after flying to the relevant area.

Preferably, the generator 10 is in communication connection with the detector 20, specifically in wireless communication connection, and the generator 10 is configured to adaptively adjust the pose of the generator according to a calibration instruction issued by the detector 20. Therefore, after the medical staff carries the detector 20 to a relevant field area and places the detector 20 at a position of a patient to be photographed, the detector 20 is turned on (namely, started), or the medical staff presses a corresponding function key on the detector 20, the detector 20 immediately sends out a calibration instruction, and the generator 10 automatically flies to the area where the detector 20 is located after receiving the calibration instruction and automatically adjusts the position and posture of the generator to the position and posture matched with the detector 20. The generator 10 can receive the calibration instruction at the first time and immediately execute the operation of flying and adjusting the pose, thereby reducing the time of transmitting the calibration instruction level, reducing the delay of the instruction and being beneficial to improving the efficiency. Of course, in other embodiments, the action of the generator 10 may also be controlled by a third-party control device, and specifically, the control device receives the calibration command sent by the detector 20 and determines whether to send the calibration command to the generator 10.

The flying structure 12 of the present embodiment is not particularly limited, for example, the flying structure 12 includes one or more rotors, the body 11 is driven to fly by the aerodynamic characteristics of the rotors in the airspace range, and the flying structure 12 may be designed and implemented according to the principle of an unmanned aerial vehicle, for example.

Fig. 4 is a schematic diagram of an integrated device according to an embodiment of the invention, as shown in fig. 4. The medical imaging device comprises an integrated device 30, wherein the integrated device 30 is provided with a display module which is in communication connection with the detector 20, and the display module can receive image data generated by the detector 20 in real time and display the image data in the form of digital images for medical staff to diagnose. The display module is not limited in particular, and may be a flat panel or a display screen disposed in the integrated device 30, so that medical staff can carry the integrated device 30 to a field rescue area, and can obtain a captured image about a patient at the first time, thereby diagnosing the patient in the field in time in combination with the image and the on-site examination of the patient. Preferably, a display terminal (which may be a tablet, a computer, or a display screen) communicatively connected to the detector 20 may be provided in a hospital, and a display terminal communicatively connected to the detector 20 may be provided in an operating room of a mobile medical center, in addition to an integrated device carried to the field, so that a three-way consultation may be performed on a serious patient.

With continued reference to fig. 4, the integrated device 30 includes a control module communicatively connected to the detector 20, and the control module can control whether the detector 20 issues a calibration command for adjusting the pose to the generator 10. The control end module can also be in communication connection with the display end module so as to control whether the display end module receives the image data generated by the detector. In addition, the control end module can also be in communication connection with the generator 10, so as to control whether the generator 10 receives a calibration instruction sent by the detector 20, control whether the body 11 of the generator 10 emits a scanning ray, and also control whether the generator 10 returns to an original takeoff position after the shooting work is finished.

Based on the medical Imaging device, the present embodiment also provides a mobile medical center system, which includes a plurality of medical examination devices, wherein one part of the medical examination devices is configured as the medical Imaging device as described above, and the other part of the medical examination devices is configured as a CT device (Computed Tomography), an MRI device (Magnetic Resonance Imaging), a stationary DR device, or a mobile DR device.

Referring to fig. 5, fig. 5 is a schematic diagram of a mobile medical center system according to an embodiment of the present invention, the mobile medical center system includes a mobile body 40, the mobile attribute of the mobile medical center system is realized by the mobile body 40, and the mobile body 40 contains the above-mentioned various medical examination devices, specifically, the mobile body is divided into a plurality of rooms according to the classification of the medical examination, for example, one room is a CT scanning room, and a CT device is arranged inside the room, so that a patient can be CT scanned; one compartment is a mammary gland scanning chamber, and a mammary gland machine is arranged in the compartment and can carry out DR scanning on mammary glands of a patient; one room is an equipment room for storing spare medical examination equipment or parts of the equipment; one room is an operation room, and a control device and a display device for information interaction with various medical examination apparatuses are arranged in the room.

Preferably, at least one shutdown bank 41 is arranged on the mobile vehicle body 40 of the mobile medical center system, the shutdown bank 41 is used for accommodating the generator 10 of the medical imaging device, and the generator 10 takes off from the shutdown bank 41 when performing outgoing shooting work and returns to the shutdown bank 41 after the shooting work is finished. The generator 10 is arranged in the shutdown bank 41 to adjust its state, for example, the state of charge in the shutdown bank 41 can be replenished. In addition, a plurality of shutdown libraries 41 are provided, which can satisfy the requirement that a plurality of generators 10 of the medical imaging equipment go out to execute tasks simultaneously.

Based on the medical imaging apparatus, the present invention further provides an imaging method applied to the medical imaging apparatus, as described above, referring to fig. 6, fig. 6 is a schematic diagram of an imaging method according to an embodiment of the present invention, the imaging method includes:

carrying the detector 20 of the medical imaging device to a predetermined area, placing the detector 20 at a part to be shot of an inspection object, namely, medical staff goes out and carries the detector 20 to a rescue scene in the field, and then placing the detector 20 at the part to be shot of a patient;

controlling the generator 10 of the medical imaging equipment to fly from an original position (such as take-off from a parking garage 41) to the predetermined area, and adjusting the pose of the generator 10 in real time according to the pose of the detector 20, namely after the position of the detector 20 is set, controlling the generator 10 to fly to the area where the detector 20 is located, and then adjusting the pose of the generator 10 according to the pose of the detector 20;

after the pose of the body 11 of the generator 10 is matched with the pose of the detector 20, that is, the body 11 is aligned with the detector 20, and the SID between the body 11 and the detector 20 is adjusted, the body 11 is controlled to emit a scanning ray, that is, the body 11 of the generator 10 and the detector 20 are adjusted to be arranged along the direction of the gravity line, and the SID between the body 11 and the detector 20 is also adjusted to meet the current condition of the patient, the (bulb focus of the) body 11 of the generator 10 emits a scanning ray passing through the patient;

the scanning radiation is received with the (imaging plane of the) detector 20 and image data reflecting the region of the examination object (patient) to be imaged are generated, from which image data medical personnel diagnose the patient.

Further, the imaging method further includes: the generator 10 is controlled to fly from the predetermined area (field rescue scene) back to the original location, such as to a parking garage 41.

Further, the imaging method further includes: the image data generated by the detector 20 is received and displayed in real time by using a display terminal, which may be a handheld tablet, a computer, etc. Preferably, the image data generated by the detector 20 may be displayed using a display side module of the integrated device 30.

Based on the imaging method applied to the medical imaging device, the invention further provides a storage medium, wherein the storage medium stores a readable and writable program, and the program can realize the imaging method when executed. Specifically, the imaging method provided by the present invention may be written as a program or software, and stored on the storage medium, and in actual use, the program stored in the storage medium is used to execute each step of the imaging method. The storage medium may be integrated into the medical imaging apparatus or may be separately provided in other hardware.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art according to the above disclosure are within the scope of the present invention.

Claims

1. A medical imaging apparatus, comprising:

2. The medical imaging device of claim 1, wherein the generator is communicatively coupled to the detector, and wherein the generator is configured to adaptively adjust the pose of the generator according to calibration instructions issued by the detector.

3. The medical imaging device of claim 1, wherein the flying structure comprises one or more rotors.

4. The medical imaging device of claim 1, wherein the medical imaging device comprises an integrated device including at least one of a display side module and a control side module; the display end module is in communication connection with the detector, and the control end module is in communication connection with the detector and the generator respectively.

5. The medical imaging device of claim 1, wherein the body is a digital X-ray machine.

6. An imaging method applied to the medical imaging device as claimed in any one of claims 1 to 5, wherein the imaging method comprises:

the scanning rays are received with the detector and image data is generated.

7. The imaging method of claim 6, further comprising: controlling the generator to fly back from the predetermined area to the home position.

8. The imaging method of claim 6, further comprising: and receiving and displaying the image data generated by the detector in real time by using a display terminal.

9. A mobile medical center system, characterized in that the mobile medical center system comprises a plurality of medical examination apparatuses, wherein a part of the medical examination apparatuses are configured as medical imaging apparatuses according to any one of claims 1-5.

10. The mobile medical center system of claim 9, comprising a mobile vehicle body, wherein the mobile vehicle body is provided with at least one parking garage for housing the generator of the medical imaging device.

11. A storage medium on which a program that can be read and written is stored, characterized in that the program, when executed, realizes the imaging method according to claims 6 to 8.