CN211528252U - Portable X-ray CT imaging device - Google Patents
Portable X-ray CT imaging device Download PDFInfo
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- CN211528252U CN211528252U CN201921865246.XU CN201921865246U CN211528252U CN 211528252 U CN211528252 U CN 211528252U CN 201921865246 U CN201921865246 U CN 201921865246U CN 211528252 U CN211528252 U CN 211528252U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
- G01N23/046—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material using tomography, e.g. computed tomography [CT]
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Abstract
The utility model relates to a portable X-ray CT imaging device, including C type arm, X-ray machine, detector, driving motor, cantilever and supporting mechanism, supporting mechanism plays the supporting role to the device, the one end of cantilever is connected with supporting mechanism, and the other end is connected with C type arm through rotary joint, the both ends of C type arm are connected with X-ray machine and detector respectively, the ray source of X-ray machine is towards the detector, the receiving face of detector is towards the X-ray machine; the detector transmits the image to a computer device. The utility model discloses a rotation of control X-ray machine and detector has realized the three-dimensional formation of image to being examined article with portable mode, has avoided transporting article to the trouble of special CT scanning mechanism location promptly, can obtain the inside three-dimensional information of being examined article again for help the inside of scene to accurately judge suspicious article fast to constitute and the structure when the safety inspection trade.
Description
Technical Field
The utility model relates to a CT imaging device, concretely relates to portable X ray CT imaging device belongs to radiation imaging equipment technical field.
Background
With the increasing severity of the security situation, the real-time security inspection of suspicious articles is required to quickly detect out forbidden articles and guarantee the social security, while the conventional portable X-ray inspection device cannot meet the requirement of quick detection.
The traditional portable X-ray inspection device can only shoot two-dimensional images and can not carry out three-dimensional CT imaging; chinese patent No. CN201378150Y discloses a portable X-ray stereo imaging apparatus, but the stereo imaging apparatus needs to manually move the X-ray optical path, and the operation is cumbersome in the actual use process.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: a portable X-ray CT imaging apparatus is provided to solve the above-mentioned problems of the prior art.
The technical scheme is as follows: a portable X-ray CT imaging device comprises a C-shaped arm, an X-ray machine, a detector, a driving motor, a cantilever and a supporting mechanism, wherein one end of the cantilever is connected with the supporting mechanism, the other end of the cantilever is connected with the C-shaped arm through a rotary joint, two ends of the C-shaped arm are respectively connected with the X-ray machine and the detector, a ray source of the X-ray machine faces the detector, and a receiving surface of the detector faces the X-ray machine;
the detector transmits the image to a computer device through a preset transmission mode to form a three-dimensional image.
After the rotary joint rotates, the C-shaped arm rotates along with the rotary joint, the X-ray machine positioned at one end of the C-shaped arm emits rays, the detector positioned at the other end of the C-shaped arm collects images, the detector transmits the images to computer equipment through wireless transmission, and the images are reconstructed through a CT algorithm to form three-dimensional images.
In a further embodiment, the rotary joint comprises a driving motor, a motor shaft of the driving motor is perpendicular to the cantilever, and the motor shaft of the driving motor is connected with the C-shaped arm through a coupler; the distance between the driving motor and the X-ray machine is d1, the distance between the driving motor and the detector is d2, and d1 is larger than d 2. The C-shaped arm can be controlled to rotate by controlling the starting of the driving motor, the C-shaped arm can rotate circumferentially at a constant speed, the scanning device can be kept in a stable working state, and each voxel datum can be accurately obtained. Placing an object to be detected below the C-shaped arm and between the ray source and the detector, wherein in the rotating process of the C-shaped arm, the ray source of the X-ray machine penetrates through the object to be detected and forms an image on the detector; because the distance between the X-ray machine and the object to be detected is larger than the distance between the detector and the object to be detected, the X-ray machine can penetrate through a larger area of the object to be detected under the condition that the angle of a ray source of the X-ray machine is not changed.
In a further embodiment, the supporting mechanism comprises a handle, the handle is arranged on the outer side of the cantilever, a handle control end is arranged in the handle, and the handle control end can receive a scanning command of the computer equipment and control the working state of the driving motor; the handle is provided with a button. When the cantilever type scanning device is used, an operator can hold the handle to support the cantilever, when the handle control end receives a scanning command, the handle control end controls the driving motor to rotate, the C-shaped arm rotates along with the driving motor, and the object to be detected is convenient to scan. When the operator presses the button, the button control end is in a connected state, and the handle control end can receive a scanning command from the computer equipment, so that the single operator can conveniently operate the device.
In a further embodiment, the supporting mechanism comprises a vertical column, the vertical column is movably arranged on the ground, and the cantilever is connected with one end of the vertical column far away from the ground. Fix the cantilever through the stand, when examining, directly place the stand subaerial, the operator of being convenient for uses.
In a further embodiment, the support mechanism comprises a robotic arm positioned on the floor, the post being removably connected to an end of the robotic arm; the mechanical arm comprises a driving base, a primary joint movably connected to the driving base, a secondary joint movably connected with one end of the primary joint, a tertiary joint movably connected with one end of the secondary joint, and a switching joint movably connected with one end of the tertiary joint; the driving base is respectively driven and controlled by a first motor between the first-stage joint and the second-stage joint, between the second-stage joint and the third-stage joint, and between the third-stage joint and the switching joint; one end of the upright post is detachably connected with one end of the switching joint. Through rotatory arm, can rotate C type arm to being located vertical plane, C type arm can carry out the rotation in a circumferential direction in vertical direction after the starter motor, is convenient for scan the formation of image to horizontal article. Through the coordinated operation among a plurality of joints, the C-shaped arm can be controlled to move to any position in a space range.
In a further embodiment, the supporting mechanism further comprises a remote control trolley which runs in a preset area on the ground, and the upright post of the supporting mechanism is detachably connected with the remote control trolley; the remote control trolley comprises a driving assembly, a lifting assembly and a rotating assembly, wherein the rotating assembly is arranged above the lifting assembly, and the stand column is fixedly arranged on the rotating assembly. The remote control trolley is remotely controlled by an operator to drive the CT imaging device to move to a preset position, the lifting assembly is used for driving the CT imaging device to lift, the rotating assembly is used for driving the CT imaging device to rotate along a rotating center, and the actions are cooperated to enable the CT imaging device to reach a measured object and move to a height corresponding to the measured object.
In a further embodiment, the control signals of the X-ray machine and the detector and the data signals of the detector are transmitted to an upper computer in a wired slip ring mode or a wireless mode; the balancing weight of predetermined quality is installed to one side of X-ray machine or detector for the total center of gravity of C type arm, X-ray machine, detector is located on the rotation axis, and whole focus can not remove when rotatory like this, is favorable to keeping stable, obtains good formation of image and rebuilds the effect.
Has the advantages that: the utility model relates to a portable X ray CT imaging device, through setting up driving motor, control C type arm is rotatory with constant speed, and X-ray machine sends the ray when C type arm is rotatory, and the ray pierces through the object that awaits measuring corresponding with driving motor's position to image on the detector, the detector is through wired or wireless transmission to computer equipment with image signal, forms three-dimensional image. The moving track of a ray source of the X-ray machine is not required to be controlled by hands in the whole detection process, and the X-ray machine circumferentially rotates at a constant speed, so that accurate voxel data can be conveniently obtained.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a schematic view of the operation process of the first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a second embodiment of the present invention.
Fig. 4 is a schematic diagram of the movement trace of the present invention.
Fig. 5 is a schematic structural diagram of a third embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a fourth embodiment of the present invention.
Fig. 7 is a top view of a fourth embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a robot arm according to a fourth embodiment of the present invention.
Fig. 9 is a perspective view of a fifth embodiment of the present invention.
Fig. 10 is a partially disassembled schematic view of a remote control cart according to a fifth embodiment of the present invention.
The figures are numbered: the device comprises a ray source 1, a detector 2, a C-shaped arm 3, a rotary joint 4, a cantilever 5, a handle 6, an object to be detected 7, a button 8, an upright post 9, a mechanical arm 10, a first joint 1001, a second joint 1002, a third joint 1003, a switching joint 1004, a stepping motor 1005, a driving base 1006, a remote control trolley 11, a driving wheel 1101, a motor support 1102, a driving support 1103, an adjustable speed motor 1104, a swing rod 1105 and a pressure spring 1106.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the detailed details are shown in fig. 2 to 10: the utility model discloses a portable X ray CT imaging device, the embodiment is as follows:
the first embodiment is as follows:
as shown, a portable X-ray CT imaging apparatus includes: the portable X-ray CT imaging device comprises a C-shaped arm 3, an X-ray machine, a detector 2, a driving motor, a cantilever 5 and a supporting mechanism, wherein the supporting mechanism plays a role in supporting the portable X-ray CT imaging device, one end of the cantilever 5 is connected with the supporting mechanism, the other end of the cantilever 5 is connected with the C-shaped arm 3 through a rotary joint 4, two ends of the C-shaped arm 3 are respectively connected with the X-ray machine and the detector 2, a ray source 1 of the X-ray machine faces the detector 2, and a receiving surface of the detector 2 faces the X-ray machine; the detector 2 transmits the image to a computer device through wireless transmission, and the image is reconstructed through a CT algorithm to form a three-dimensional image.
As a preferable scheme, the rotary joint 4 comprises a driving motor, a motor shaft of the driving motor is perpendicular to the cantilever 5, and the motor shaft of the driving motor is connected with the C-shaped arm 3 through a coupler; the distance between the driving motor and the X-ray machine is d1, the distance between the driving motor and the detector 2 is d2, and d1 is larger than d 2. When the transverse (perpendicular to the rotating shaft) dimension of the detector 2 is L and the transverse maximum dimension of the detected object is D, the transverse opening angle theta for effectively utilizing the beam ray of the X-ray machine satisfies the following conditions: sin (theta/2) = (D/2)/D1, tan (theta/2) = (L/2)/(D1+ D2), generally the beam angle is relatively small, and if approximate sin (theta/2) ≈ tan (theta/2), D2/D1 ≈ L/D-1. Here, D < L is necessary, otherwise, the object to be detected cannot form a complete projection image on the detector 2. It is desirable that D be as close to L as possible to make full use of the detector 2 area, so design considerations ensure that D2/D1 is as small as possible. Therefore, in the present embodiment, the scheme of d2= d1/2 is adopted. In practical engineering, the proportional relationship between d1 and d2 can be adjusted by only satisfying the above formula, and the above solution of d2= d1/2 is only an example and should not be construed as limiting the present invention itself.
The C-shaped arm 3 can be controlled to rotate by controlling the starting of the driving motor, the C-shaped arm 3 can rotate circumferentially at a constant speed, the scanning device can be kept in a stable working state, and each voxel datum can be accurately obtained. In the rotating process of the C-shaped arm 3, an object to be detected is placed at the relative position of the driving motor, and at the moment, a ray source 1 of the X-ray machine penetrates through the object to be detected and images on a detector 2; because the distance between the X-ray machine and the object to be measured is greater than the distance between the detector 2 and the object to be measured, the X-ray machine can penetrate through a larger area of the object to be measured under the condition that the angle of the ray source 1 of the X-ray machine is unchanged.
As a preferable scheme, the supporting mechanism comprises a handle 6, the handle 6 is arranged at the outer side of the cantilever 5, a control end of the handle 6 is arranged inside the handle 6, and the control end of the handle 6 can receive a scanning command of the computer equipment and control the working state of the driving motor; the handle 6 is provided with a button 8. When the device is used, an operator can hold the handle 6 to support the cantilever 5, when the control end of the handle 6 receives a scanning command, the control end of the handle 6 controls the driving motor to rotate, and the C-shaped arm 3 rotates along with the rotation of the driving motor, so that the object to be detected can be scanned conveniently. When an operator presses the button 8, the control end of the button 8 is in a connected state, and the control end of the handle 6 can receive a scanning command from computer equipment, so that the device can be operated by a single operator conveniently.
Preferably, the supporting mechanism comprises a vertical column 9, the vertical column 9 is movably arranged on the ground, and the cantilever 5 is connected with one end of the vertical column 9 far away from the ground. Fix cantilever 5 through stand 9, when examining, directly place stand 9 subaerial, the operator of being convenient for uses.
Preferably, the supporting mechanism comprises a mechanical arm 10 arranged on the ground, and the upright 9 is detachably connected with one end of the mechanical arm 10; the mechanical arm 10 comprises a driving base 1006, a primary joint movably connected to the driving base 1006, a secondary joint movably connected to one end of the primary joint, a tertiary joint movably connected to one end of the secondary joint, and a switching joint 1004 movably connected to one end of the tertiary joint; the driving base 1006 and the primary joint, the primary joint and the secondary joint, the secondary joint and the tertiary joint, and the tertiary joint and the transfer joint 1004 are respectively driven and controlled by a first motor; one end of the upright post 9 is detachably connected with one end of the adapter joint 1004. Through rotatory arm 10, can rotate C type arm 3 to being located vertical plane, C type arm 3 can carry out the rotation in a circumferential direction on vertical direction after the starter motor, is convenient for scan the formation of image to horizontal article. Through the coordinated operation among a plurality of joints, the C-shaped arm 3 can be controlled to move to any position in a space range.
Preferably, the supporting mechanism further comprises a remote control trolley 11 which runs in a predetermined area on the ground, and the upright post 9 of the supporting mechanism is detachably connected with the remote control trolley 11; the remote control trolley 11 comprises a driving assembly, a lifting assembly and a rotating assembly, wherein the rotating assembly is arranged above the lifting assembly, and the upright post 9 is fixedly arranged on the rotating assembly. The remote control trolley 11 is remotely controlled by an operator to drive the CT imaging device to move to a preset position, the lifting assembly is used for driving the CT imaging device to lift, the rotating assembly is used for driving the CT imaging device to rotate along a rotating center, and the actions are cooperated to enable the CT imaging device to reach a measured object and move to a height corresponding to the measured object.
As a preferred scheme, the control signals of the X-ray machine and the detector 2 and the data signals of the detector 2 are transmitted to an upper computer in a wired slip ring mode or a wireless mode; the balancing weight of predetermined quality is installed to one side of X-ray machine or detector 2 for the total center of gravity of C type arm 3, X-ray machine, detector 2 is located on the rotation axis, and whole focus can not remove when rotatory like this, is favorable to keeping stable, obtains good formation of image and rebuilds the effect.
The specific working process is as follows: after the device is assembled, an article to be measured is placed below the C-shaped arm 3, the handle 6 is used as a fulcrum at the moment, the other hand is placed at the tail end of the cantilever 5, the scanning device is kept balanced, and the device is adjusted to the height corresponding to the article to be measured. The computer equipment sends a scanning command to the control end of the handle 6 through software, the control end of the handle 6 receives a signal and then controls the motor to rotate, the X-ray machine sends rays, the rays penetrate through an object to be detected, the detector 2 collects images, and the detector 2 transmits the images to the computer equipment through wireless transmission. When the scanning device performs rotary scanning, the schematic diagram of the motion track is shown in fig. 4, the detected object 7 is placed below the C-shaped arm 3, the shadow part in the diagram is the object to be detected, the motor shaft of the driving motor is used as the rotation center, and the small circle and the large circle are the rotation tracks of the detector 2 and the X-ray machine respectively. The rotary joint 4 rotates at a constant speed and acquires an image, and the image is reconstructed by a CT algorithm to form a three-dimensional image.
Example two:
a portable X-ray CT imaging apparatus, which is different from the first embodiment in that: the handle 6 is provided with a button 8, and the button 8 can control the working state of the control end of the handle 6.
The specific working process is as follows: when a single person operates the equipment, an operator can enable the control end of the handle 6 to be connected by pressing the button 8, the control end of the handle 6 can receive a scanning command of a computer at the moment, software on the computer equipment is enabled to be in a waiting state before the equipment is held by hands to scan an article, and the button 8 is pressed, so that the equipment informs the computer equipment to start data acquisition while controlling scanning.
Example three:
a portable X-ray CT imaging apparatus, which is different from the first and second embodiments described above in that: the supporting mechanism comprises a vertical column 9, the vertical column 9 is erected on the ground, and the cantilever 5 is connected with one end, far away from the ground, of the vertical column 9. The end of the upright column 9, which is in contact with the ground, is connected with a balancing weight, the balancing weight reduces the possibility of shaking of the upright column 9 when supporting the cantilever 5, the height of the upright column 9 can be adjusted, and the method for adjusting the height belongs to a working method well known by the technical personnel in the art, and is not described herein again. The cantilever 5 is supported by the upright post 9, so that the cantilever is convenient to move and implement.
Example four:
a portable X-ray CT imaging device is different from the first embodiment, the second embodiment and the third embodiment in that: the support mechanism comprises a mechanical arm 10 arranged on the ground, and the upright 9 is detachably connected with one end of the mechanical arm 10.
The specific working process is as follows: by rotating the robot arm 10, the C-arm 3 can be rotated to lie in a vertical plane; four joints, namely a first joint 1001, a second joint 1002, a third joint 1003 and a transfer joint 1004, on the mechanical arm 10 can move respectively, and power is output through a stepping motor 1005; meanwhile, the drive base 1006 and the first joint 1001 have a horizontal rotation motion; through the swinging of the four joints and the rotation of the driving base 1006, the C-shaped arm 3 can be controlled to move to any position within a space range. After the driving motor is started, the C-shaped arm 3 can rotate circumferentially in the vertical direction, and scanning imaging of transverse articles is facilitated.
Example five:
a portable X-ray CT imaging device is different from the first embodiment, the second embodiment and the third embodiment in that: the supporting mechanism comprises a remote control trolley 11 which travels in a preset area on the ground, and the upright post 9 of the supporting mechanism is detachably connected with the remote control trolley 11; the remote control trolley 11 comprises a base assembly, a driving assembly, a lifting assembly and a rotating assembly, wherein the rotating assembly is arranged above the lifting assembly, and the upright post 9 is fixedly arranged on the rotating assembly. The basic assembly comprises a frame and a vehicle chassis, the driving assembly is arranged in the middle of the vehicle chassis and comprises a driving support 1103, a motor support 1102, a second motor, a swing rod 1105, a driving wheel, a guide rod and a pressure spring 1106, the driving support 1103 is hinged to the motor supports 1102 at two ends of the driving support through the swing rod 1105, an adjustable speed motor 1104 is fixedly arranged on the inner side of the motor support 1102, a driving wheel 1101 is arranged on the outer side of the motor support 1102, and the driving wheel 1101 is connected with an output shaft of the adjustable speed motor 1104. Two opposite swing rods 1105 are hinged with each other through a connecting rod, one end of each guide rod is hinged to the driving support 1103, the other end of each guide rod is clamped on the corresponding connecting rod, the pressure spring 1106 is sleeved on the corresponding guide rod, the rotating assembly comprises a servo rotary table, the lifting assembly comprises a lead screw lifter, and the lead screw lifter is installed on the servo rotary table.
As mentioned above, although the present invention has been shown and described with reference to certain preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A portable X-ray CT imaging apparatus, comprising: the X-ray machine and the detector are connected with each other through a rotary joint, a ray source of the X-ray machine faces the detector, and a receiving surface of the detector faces the X-ray machine;
the detector transmits the image to a computer device through a preset transmission mode to form a three-dimensional image.
2. A portable X-ray CT imaging apparatus according to claim 1, characterized in that: the rotary joint comprises a driving motor, a motor shaft of the driving motor is perpendicular to the cantilever, and the motor shaft of the driving motor is connected with the C-shaped arm through a coupler; the distance between the driving motor and the X-ray machine is d1, the distance between the driving motor and the detector is d2, and d1 is larger than d 2.
3. A portable X-ray CT imaging apparatus according to claim 2, characterized in that: the supporting mechanism comprises a handle, the handle is arranged on the outer side of the cantilever, a handle control end is arranged in the handle, and the handle control end can receive a scanning command of computer equipment and control the working state of the driving motor; the handle is provided with a button.
4. A portable X-ray CT imaging apparatus according to claim 1, characterized in that: the supporting mechanism comprises an upright post, the upright post is movably arranged on the ground, and the cantilever is connected with one end, far away from the ground, of the upright post.
5. A portable X-ray CT imaging apparatus as recited in claim 4, wherein: the supporting mechanism comprises a mechanical arm arranged on the ground, and the upright post is detachably connected with one end of the mechanical arm; the mechanical arm comprises a driving base, a primary joint movably connected to the driving base, a secondary joint movably connected with one end of the primary joint, a tertiary joint movably connected with one end of the secondary joint, and a switching joint movably connected with one end of the tertiary joint; the driving base is respectively driven and controlled by a first motor between the first-stage joint and the second-stage joint, between the second-stage joint and the third-stage joint, and between the third-stage joint and the switching joint; one end of the upright post is detachably connected with one end of the switching joint.
6. A portable X-ray CT imaging apparatus as recited in claim 4, wherein: the supporting mechanism further comprises a remote control trolley which runs in a preset area on the ground, and an upright post of the supporting mechanism is detachably connected with the remote control trolley; the remote control trolley comprises a driving assembly, a lifting assembly and a rotating assembly, wherein the rotating assembly is arranged above the lifting assembly, and the stand column is fixedly arranged on the rotating assembly.
7. A portable X-ray CT imaging apparatus as recited in claim 6, wherein: the control signals of the X-ray machine and the detector and the data signals of the detector are transmitted to an upper computer in a wired slip ring mode or a wireless mode; and a balancing weight with preset mass is arranged on one side of the X-ray machine or the detector, so that the total gravity center of the C-shaped arm, the X-ray machine and the detector is positioned on the rotating shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921865246.XU CN211528252U (en) | 2019-11-01 | 2019-11-01 | Portable X-ray CT imaging device |
| PCT/CN2020/089060 WO2021082387A1 (en) | 2019-11-01 | 2020-05-07 | Portable x-ray ct imaging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921865246.XU CN211528252U (en) | 2019-11-01 | 2019-11-01 | Portable X-ray CT imaging device |
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| CN211528252U true CN211528252U (en) | 2020-09-18 |
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| CN201921865246.XU Active CN211528252U (en) | 2019-11-01 | 2019-11-01 | Portable X-ray CT imaging device |
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| WO (1) | WO2021082387A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10096148B1 (en) * | 2017-04-26 | 2018-10-09 | The Aerospace Corporation | Portable x-ray computed tomography |
| CN107498589A (en) * | 2017-07-31 | 2017-12-22 | 北京紫方启研科技有限公司 | Robot with radioscopy imaging function |
| CN208784756U (en) * | 2018-01-31 | 2019-04-26 | 邦盛医疗装备（天津）股份有限公司 | DR robot with sixdegree-of-freedom simulation |
| CN110006931A (en) * | 2019-04-23 | 2019-07-12 | 西安增材制造国家研究院有限公司 | A kind of industry CT and its application online |
| CN110763707A (en) * | 2019-11-01 | 2020-02-07 | 南京全设智能科技有限公司 | Portable X-ray CT imaging device and working method thereof |
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2019
- 2019-11-01 CN CN201921865246.XU patent/CN211528252U/en active Active
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