CN217645239U

CN217645239U - Pose adjusting device and medical imaging system

Info

Publication number: CN217645239U
Application number: CN202221331005.9U
Authority: CN
Inventors: 陈光彪
Original assignee: Shanghai United Imaging Healthcare Co Ltd
Current assignee: Shanghai United Imaging Healthcare Co Ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-10-25
Anticipated expiration: 2032-05-20

Abstract

The utility model provides a pose adjusting device and a medical imaging system, wherein the device comprises at least one angle adjusting component and at least one mounting platform; the angle adjusting assembly comprises a bearing part and at least one rotating part, the rotating part is arranged at least one end of the bearing part along the self axial direction, and the bearing part is connected with at least one mounting platform through the rotating part; the rotating part comprises two rotating parts connected with each other, at least two rotating shafts are arranged between the two rotating parts, the axial directions of the at least two rotating shafts are not parallel, and the rotating parts can rotate around the rotating shafts. After the radiation source device and/or the ray detection device are/is installed on the C-shaped arm through the pose adjusting device, the radiation source device and/or the ray detection device can be driven to rotate around any rotating shaft under the action of the angle adjusting assembly, so that the pose of the radiation source device and/or the ray detection device is adjusted in at least two directions, and the relative pose of the radiation source device and/or the ray detection device is accurately adjusted.

Description

Pose adjusting device and medical imaging system

Technical Field

The utility model relates to the technical field of medical equipment, in particular to position appearance adjusting device and medical imaging system.

Background

In medical X-ray imaging devices, the accuracy of the relative position and angle of the radiation source device and the radiation detector device is an important factor in determining the quality of an image, especially in Computed Tomography (CT) and digital angiography (DSA) which require high accuracy.

In order to ensure that the relative pose of the radiation source device and the radiation detection device has higher accuracy, at present, two ways are provided, one is to ensure the accuracy of the mechanical installation structural member of the radiation source device and the radiation detection device through mechanical processing, but assembly errors are inevitably introduced in the subsequent assembly process, which can generate uncertain influence on the pose accuracy. In addition, the cost is higher in a mode of ensuring the precision through mechanical processing; another is to adjust the positional relationship (relative distance position) between the radiation source device and the radiation detecting device, but the angular deviation cannot be adjusted, and it is difficult to ignore the angular deviation when the distance between the radiation source device and the radiation detecting device is relatively long. Therefore, this adjustment has certain limitations, and still requires certain machining to ensure the corresponding angular accuracy.

Therefore, it is necessary to provide a pose adjusting apparatus suitable for a radiation source apparatus or a radiation detector apparatus to at least implement angle adjustment of the radiation source or the radiation receiver, so as to adjust the relative pose of the two to ensure the imaging quality.

SUMMERY OF THE UTILITY MODEL

The utility model provides a position appearance adjusting device and medical imaging system aims at adjusting ray source device and ray detection device's relative gesture, improves the precision of the two installation angle in order to guarantee the imaging quality.

In order to solve the above technical problem, based on one aspect of the present invention, the present invention provides a pose adjusting apparatus, which includes at least one angle adjusting assembly and at least one mounting platform; the angle adjusting assembly comprises a bearing part and at least one rotating part, the rotating part is arranged at least one end of the bearing part along the axial direction of the bearing part, and the bearing part is connected with at least one mounting platform through the rotating part;

the rotation portion includes two rotation pieces that are connected each other, two set up two at least rotation axes between the rotation piece, and two at least the axial nonparallel of rotation axis, it centers on to rotate the axle is rotatable.

Optionally, at least two of the axes of rotation are perpendicular to each other.

Optionally, the receiving portion includes an adjusting member and a moving member that are relatively movable in an axial direction, and the adjusting member or the moving member is connected to the rotating portion.

Optionally, the pose adjusting device comprises two mounting platforms and at least three angle adjusting assemblies which are located between the two mounting platforms and are arranged in a non-collinear manner; wherein at least one of the angle adjusting assemblies is a first angle adjusting assembly, and the rest of the angle adjusting assemblies are second angle adjusting assemblies;

in the first angle adjusting assembly, one axial end of the bearing part is connected with one of the mounting platforms through the rotating part, and the other axial end of the bearing part is fixedly connected with the other mounting platform;

in the second angle adjusting assembly, the two axial ends of the bearing part are connected with the mounting platform through the rotating part.

Optionally, the adjusting member is in threaded connection with the moving member, and the adjusting member is configured to convert a rotational movement of the adjusting member into an axial movement of the moving member along the receiving portion.

Optionally, the receiving portion of the first angle adjusting assembly further includes a rotation stopping member connected to the moving member, the rotation stopping member is fixedly connected to the rotating portion, and the rotation stopping member is fixed along a circumferential position of the receiving portion.

Optionally, the pose adjusting device includes an angle sensor disposed on the mounting platform and a driving motor in communication with the angle sensor, and an output shaft of the driving motor is connected to the adjusting member.

Optionally, at least one of the mounting platforms includes at least one linear adjustment assembly, where the linear adjustment assembly includes two substrates that can move relatively, and a rotation shaft disposed on a rotation member connected to the mounting platform in the rotation portion is parallel to the substrates; the moving directions of the two base plates are parallel to a rotating shaft arranged on a rotating part connected with the mounting platform, or the moving directions of the two base plates are parallel to the base plates and form an angle with the rotating shaft arranged on the rotating part connected with the mounting platform.

Optionally, at least one of the mounting platforms includes two of the linear adjustment assemblies, where a moving direction of two substrates in one of the linear adjustment assemblies is parallel to a rotating shaft disposed on a rotating member connected to the mounting platform, and a moving direction of two substrates in the other of the linear adjustment assemblies is parallel to the substrates and forms an angle with the rotating shaft disposed on the rotating member connected to the mounting platform;

the two linear adjustment assemblies have the substrate in common.

Optionally, the linear adjustment subassembly still includes the guide part, the guide part is including locating one of them guide structure on the base plate and locating another slide structure on the base plate, slide structure with guide structure adaptation is connected, guide structure's extending direction parallel with the rotation axis that sets up on the rotation piece that mounting platform connects, perhaps, guide structure's extending direction parallel the base plate and with the rotation axis that sets up on the rotation piece that mounting platform connects is the angle.

Based on another aspect of the present invention, the present invention further provides a medical imaging system, which includes a radiation source device, a radiation detecting device, a C-shaped arm, and at least one pose adjusting device; the pose adjusting device comprises at least one angle adjusting assembly and at least one mounting platform; the angle adjusting assembly comprises a bearing part and at least one rotating part, the rotating part is arranged at least one end of the bearing part along the axial direction of the bearing part, and the bearing part is connected with at least one mounting platform through the rotating part; the rotating part comprises two rotating parts connected with each other, at least two rotating shafts are arranged between the two rotating parts, the axial directions of the at least two rotating shafts are not parallel, and the rotating parts can rotate around the rotating shafts; the ray source device and the ray detection device are respectively positioned at two ends of the C-shaped arm, at least one of the ray source device and the ray detection device is connected with the mounting platform, and the ray source device and the ray detection device are mounted on the C-shaped arm through the pose adjusting device.

Optionally, the medical imaging system further includes a medical robot and a base connected to the medical robot, the medical robot is configured to drive the base to move within a spatial range, and the base is connected to the C-arm.

In summary, in the pose adjusting apparatus and the medical imaging system provided by the present invention, the pose adjusting apparatus includes at least one angle adjusting assembly and at least one mounting platform; the angle adjusting assembly comprises a bearing part and at least one rotating part, the rotating part is arranged at least one end of the bearing part along the axial direction of the bearing part, and the bearing part is connected with at least one mounting platform through the rotating part; the rotation portion includes two rotation pieces that connect each other, two set up two at least rotation axes between the rotation piece, and at least two the axial nonparallel of rotation axis, it centers on to rotate the rotation axis is rotatable, the axial of accepting portion and at least two the rotation axis is all unparallel. According to the configuration, after the radiation source device and/or the ray detection device are/is arranged on the C-shaped arm of the medical imaging system through the pose adjusting device, the radiation source device and/or the ray detection device can be driven to rotate around any rotating shaft under the action of the angle adjusting assembly, so that the pose of the radiation source device and/or the ray detection device is adjusted in at least two directions, the relative pose of the radiation source device and the ray detection device is adjusted, and the accuracy of the installation angle of the radiation source device and/or the ray detection device is improved to ensure the imaging quality.

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 medical imaging system according to an embodiment of the present invention;

fig. 2 is a schematic view of a pose adjusting apparatus according to an embodiment of the present invention;

fig. 3 is a schematic view of an angle adjustment assembly according to an embodiment of the present invention;

fig. 4 is another schematic view of an angle adjustment assembly according to an embodiment of the present invention;

fig. 5 is a schematic view of a posture adjustment apparatus according to an embodiment of the present invention including three angle adjustment units;

fig. 6 is a schematic view of a mounting platform according to an embodiment of the present invention;

fig. 7 is a vertical cross-sectional view taken along the base plate of fig. 6.

In the drawings:

10-an angle adjustment assembly; a-a first angle adjustment assembly; b-a second angle adjustment assembly; 11-a receiving portion; 111-a trim; 112-a moving member; 113-rotation stop; 114-a connecting plate; 12-a rotating part; 120-a rotating member;

20-a linear adjustment assembly; 200-a substrate; 210-a guide; 211-grooves; 212-a boss; 220-a drive member; 230-a locking portion; 231-locking screws; 232-elongated holes;

30-lower mounting platform; 40-a base; 50-a radiation source arrangement; 60-ray detection means; 70-C shaped arm; 700-a support arm; 80-robot.

Detailed Description

To make the objects, advantages and features of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in simplified form and are not to scale, but rather are provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Moreover, the components illustrated in the figures are often part of the actual components. 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", "an" and "the" are generally employed in a sense including "at least one", the terms "at least two" and "two or more" are generally employed in a sense including "two or more", and moreover, 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 imply that there is a number of technical features being 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; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. Furthermore, as used in the present application, the disposition of an element with another element generally only means that there is a connection, coupling, fit, or drive relationship between the two elements, and the connection, coupling, fit, or drive between the two elements may be direct or indirect through intermediate elements, and is not to be understood as indicating or implying any spatial relationship between the two elements, i.e., an element may be in any orientation within, outside, above, below, or to one side of another element unless the content clearly dictates otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

Fig. 1 is a schematic diagram of a medical imaging system according to an embodiment of the present invention. As shown in fig. 1, the medical imaging system generally includes at least a base 40, a radiation source device 50, a radiation detecting device 60, and a C-arm 70, wherein the C-arm 70 is mounted on the base 40, and the radiation source device 50 and the radiation detecting device 60 are respectively disposed at both ends of the C-arm 70. Preferably, the C-arm 70 includes two arms 700 that can be assembled to each other to form the C-arm 70, and the two arms 700 are movably mounted on the base 40. The radiation source device 50 is mounted on one of the arms 700, and the radiation detecting device 60 is mounted on the other arm 700, so that the radiation source device 50 and the radiation detecting device 60 can be moved toward or away from each other by the relative movement of the two arms 700, thereby adjusting the distance therebetween.

It is understood that the radiation source device 50 is a device capable of emitting X-rays, gamma-rays, electron beams, or the like, and the radiation detecting device 60 is a device capable of receiving the radiation emitted from the radiation source device 50, and medical examination, treatment, or the like can be performed by the cooperation of the radiation source device 50 and the radiation detecting device 60. In an embodiment, the radiation source device 50 emits X-rays, the radiation detection device 60 receives the X-rays, and the medical imaging system is a Digital Subtraction Angiography (DSA).

In the existing medical imaging system, after the radiation source device 50 and the radiation detection device 60 are mounted on the C-shaped arm 70, the relative distance between the radiation source device 50 and the radiation detection device 60 can only be adjusted through the C-shaped arm 70, and the relative posture between the radiation source device 50 and the radiation detection device 60 cannot be adjusted, so that the accuracy of the mounting angles between the radiation source device 50 and the radiation detection device 60 is not high, the quality of an image for medical imaging is affected, and the diagnosis by a doctor is not facilitated. Furthermore, although the relative distance between the radiation source device 50 and the radiation detector device 60 can be adjusted by means of the two relatively movable arms 700 of the C-arm 70, fine adjustment is not possible.

In view of this, an embodiment of the present invention provides a pose adjusting apparatus and a medical imaging system, which aim to adjust the relative posture of a ray source apparatus and a ray detection apparatus, and improve the accuracy of the installation angle of the ray source apparatus and the ray detection apparatus to ensure the imaging quality.

The posture adjustment apparatus and the medical imaging system of the present embodiment are described in detail below with reference to the drawings.

Fig. 2 is a schematic view of a pose adjusting apparatus according to an embodiment of the present invention. As shown in fig. 2, an embodiment of the present invention provides a pose adjusting apparatus suitable for a medical imaging system, and further, with reference to fig. 3 and 4, fig. 3 is a schematic view of an angle adjusting assembly according to an embodiment of the present invention, and fig. 4 is another schematic view of an angle adjusting assembly according to an embodiment of the present invention, where the pose adjusting apparatus includes at least one angle adjusting assembly 10 and at least one mounting platform; the angle adjustment assembly 10 includes a receiving portion 11 and at least one rotating portion 12, the receiving portion 11 is provided with the rotating portion 12 at least one end along an axial direction thereof, and the rotating portion 12 may be provided at both ends along the axial direction (as exemplified in fig. 4). The rotating portion 12 includes two rotating members 120 rotatably connected to each other, and at least two rotating shafts are disposed between the two rotating members 120, and the axial directions of the at least two rotating shafts are not parallel, and any one of the rotating members 120 can rotate around any one of the rotating shafts. The axial direction of the bearing portion 11 is not parallel to the axial direction of any one of the rotating shafts.

For example, the rotating part 12 of the present embodiment may be provided with two rotating shafts, which are respectively referred to as an X rotating shaft and a Y rotating shaft, the X rotating shaft and the Y rotating shaft are perpendicular to each other (including coplanar perpendicular and non-coplanar perpendicular), and the axial direction of the receiving part 11 is not parallel to the X rotating shaft and the Y rotating shaft. The X rotation axis is disposed on one of the rotation members 120, the Y rotation axis is disposed on the other rotation member 120, and both the rotation members 120 can respectively rotate around the X rotation axis or the Y rotation axis, so that the rotation portion 12 realizes a universal joint function by a fitting manner of the two rotation members 120. As shown in fig. 2, the rotation axis of the rotor 120 connected to the mounting platform in the rotating unit 12 may be set to be a Y rotation axis, and the rotation axis of the rotor 120 not connected to the mounting platform may be set to be an X rotation axis. In this embodiment, one end of the bearing part 11 along its axial direction may be connected to one of the rotating members 120 of the rotating part 12, and fixedly connected to the mounting plate through the other rotating member 120. It should be noted that the present embodiment is not limited to a specific rotation connection form between the two rotation members 120, such as a connection by way of shaft hole fitting in the present embodiment. Usually, at least one axial end of the receiving portion 11 is connected to the mounting platform through the rotating portion 12, and considering that the weight and volume of the radiation source device 50 or the radiation detecting device 60 are larger than those of the receiving portion 11, the radiation source device 50 and the radiation detecting device 60 are usually mounted on the mounting platform for the mounting requirement and stability, and are mounted on one of the arms 700 of the C-arm 70 through the posture adjusting device.

Referring to fig. 2, it can be understood that, as the two rotating members 120 rotate relative to each other, the X and Y axes may also change positions relative to the axial direction of the receiving portion 11. Specifically, taking the rotating part 12 below the angle adjusting assembly 10 at the middle position in fig. 2 as an example, the X-axis is provided on the rotating member 120 above the rotating part 12, the Y-axis is provided on the rotating member below the rotating part 12, and the X-axis and the Y-axis are coupled to each other at the middle position therebetween by shaft holes. The axial direction of the bearing part 11 is initially set to be vertical to the X rotating shaft and the Y rotating shaft, and when the two rotating parts 120 rotate around the Y rotating shaft, the axial direction of the bearing part 11 is still vertical to the X rotating shaft and the Y rotating shaft; when the two rotation members 120 rotate around the X rotation axis, the axial direction of the receiving portion 11 maintains a perpendicular relationship with the X rotation axis, and the angle of the axial direction of the receiving portion 11 with the Y rotation axis varies between 0 ° and 90 °.

For further explanation, the Z axis is referred to, and the reference to the axis 1,Z specifically refers to the line connecting the two ends of the C-arm 70, and the direction of the Z axis is the moving direction of the two arms 700. After the radiation source device 50 or the radiation detecting device 60 is mounted to one end of the C-arm 70 by the posture adjusting device, the Z axis is parallel to a point intersecting the X rotation axis and the Y rotation axis for easy understanding. Taking the rotating part 12 below the angle adjusting assembly 10 at the middle position in fig. 2 as an example, when the pose adjusting device is set to be in the initial state, the X rotating shaft, the Y rotating shaft and the Z axis are mutually perpendicular in pairs in a spatial range, and the axial direction of the bearing part 11 is parallel to the Z axis at this time; when the two rotating members 120 rotate around the Y-axis, the axial direction of the carrying part 11 is perpendicular to the X-axis and the Y-axis, the angle between the axial direction of the carrying part 11 and the Z-axis (the position of the Z-axis can be considered to be fixed because the position of the C-arm 70 is not changed and the joint of the C-arm and the pose adjustment device is in a relatively stationary state) is greater than 0 °, and the angle between the X-axis and the Z-axis is also smaller than 90 ° with the rotation of the upper rotating member 120; when the two rotating members 120 rotate around the X-axis, the axial direction of the receiving portion 11 is perpendicular to the X-axis, the angle between the axial direction of the receiving portion 11 and the Y-axis is less than 90 °, the angle between the axial direction of the receiving portion 11 and the Z-axis is greater than 0 °, during the rotation, the X-axis maintains a perpendicular relationship with the Z-axis, and the included angle between the Y-axis and the Z-axis is less than 90 ° with the rotational movement of the rotating portion 12.

In a specific implementation scenario, one axial end of the receiving portion 11 is connected to a mounting platform through a rotating portion 12, and the mounting platform is generally plate-shaped and is used for receiving the radiation source device 50 or the radiation detecting device 60; the other axial end of the bearing part 11 can be directly fixedly mounted on the C-shaped arm, or the other axial end of the bearing part 11 can also be fixedly mounted on the C-shaped arm 70 through another mounting platform; it is of course also possible that the other end of the bay 11 is also connected to the C-arm 70 via the turning part 12, or that the other end of the bay 11 is fixed to another mounting platform via the turning part 12, which is then mounted to the C-arm 70. After the radiation source device 50 or the radiation detecting device 60 is mounted on the C-arm in the above manner, the angle of the receiving portion 11 with respect to the Z axis can be adjusted by the matching manner of the two rotating members 120 of the rotating portion 12, so as to adjust the relative position and the mounting angle between the radiation source device 50 and the radiation detecting device, and after the mounting angles of the two rotating members are accurately adjusted, the rotational freedom between the two rotating members 120 of the rotating portion 12 can be locked by an angle limiting structure, so that the two rotating members 120 are in a relative stationary state, thereby locking the position and the angle of the receiving portion 11 with respect to the Z axis, and finally locking the relative position between the radiation source device 50 and the radiation detecting device.

Further, the medical imaging system includes at least one of the above-described posture adjusting devices, and at least one of the radiation source device 50 and the radiation detecting device 60 is mounted to the respective corresponding arm 700 by the posture adjusting device. Preferably, two attitude adjusting devices are included, and the radiation source device 50 and the radiation detecting device 60 are each mounted to a respective one of the arms 700 via one attitude adjusting device. With such a configuration, after the radiation source device 50 and/or the radiation detecting device 60 are mounted on the C-arm 70 of the medical imaging system through the pose adjusting device, the radiation source device 50 and/or the radiation detecting device 60 can be driven to rotate around the X-axis and the Y-axis under the action of the angle adjusting assembly 10, and the whole radiation source device 50 and/or the radiation detecting device 60 can adjust the relative pose along with the composite motion of the two rotational motions, so as to align the two as much as possible, thereby improving the precision of the mounting angles of the two and ensuring the imaging quality.

Preferably, the receiving portion 11 includes an adjusting part 111 and a moving part 112 connected to each other, the adjusting part 111 or the moving part 112 is connected to one of the rotating parts 120 of the rotating portion 12, and the adjusting part 111 and the moving part 112 are movable relative to the receiving portion 11, so that the axial dimension thereof can be adjusted, and thus the projection length of the receiving portion 11 on the Z axis can be adjusted, and further the distance between the radiation detection device 60 or the radiation source device 50 along the Z axis can be adjusted. After the radiation source device 50 and the radiation detection device 60 are mounted on the corresponding support arms 700, the relative distance between the radiation source device 50 and the radiation detection device 60 can be adjusted in a large range through the relative movement of the two support arms 700, and then the relative distance between the radiation source device 50 and the radiation detection device 60 can be finely adjusted after the relative postures of the radiation source device 50 and the radiation detection device 60 meet the requirements through the matching of the bearing part 11 and the rotating part 12 of the angle adjustment assembly 10, so that the SID meets the requirements of examination and diagnosis. It should be understood that SID is also the source image distance, which refers to the distance between the bulb of the radiation source device 50 and the imaging plane of the radiation detector device 60.

Referring to fig. 2 to 4, regarding the specific manner of adjusting the axial dimension of the receiving portion 11, for example, the adjusting member 111 is connected to the moving member 112 by a threaded connection, the adjusting member 111 can be threaded through the moving member 112, and the rotating portion 12 is connected to the adjusting member 111 or the moving member 112, so that the rotation of the adjusting member 111 can be converted into the axial movement of the moving member 112 along the receiving portion 11. It should be noted that, when the adjusting member 111 is connected to one of the rotating members 112 of the rotating portion 12, the connecting manner between the two members is flexible, so as to ensure that the adjusting member 111 can rotate around its own axis. The moving member 112 can be driven to move by rotating the adjusting member 111, so that the axial dimension of the receiving portion 11 can be changed. Understandably, the rotation direction of the adjusting member 111 may correspond to the moving direction of the moving member 112, for example, when the adjusting member 111 rotates clockwise, the moving member 112 is far away from the adjusting member 111, the axial dimension of the receiving part 11 is increased, so as to increase the projection length of the receiving part 11 on the axis; when the adjusting member 111 rotates in the reverse direction, the moving member 112 approaches the adjusting member 111, and the axial dimension of the receiving portion 11 is reduced, thereby reducing the projection length of the receiving portion 11 on the Z axis.

In other embodiments, the adjustment member 111 and the moving member 112 can be engaged by a linear sliding table, a rack and pinion, a linear hydraulic cylinder, a linear pneumatic cylinder, or the like. The skilled person can select alternatives depending on the actual situation.

Preferably, referring to fig. 2 to 5, fig. 5 is a schematic diagram of the pose adjusting apparatus according to an embodiment of the present invention when the pose adjusting apparatus includes three angle adjusting assemblies, the pose adjusting apparatus includes two mounting platforms (the mounting platforms are plate-shaped) and at least three angle adjusting assemblies 10 that are located between the two mounting platforms and are not arranged collinearly, one of the mounting platforms is used for mounting to the C-shaped arm, and the other mounting platform is used for holding the radiation source apparatus 50 or the radiation detecting apparatus 60. The mounting platform includes at least one substrate 200. Wherein at least one of the angle adjusting assemblies 10 is a first angle adjusting assembly a, and the rest of the angle adjusting assemblies 10 are second angle adjusting assemblies B; in the first angle adjusting assembly a, one axial end of the bearing part 11 is connected to one of the mounting platforms through the rotating part 12, and the other axial end of the bearing part 11 is fixedly connected to the other mounting platform; in the second angle adjusting assembly B, both axial ends of the bearing part 11 are connected with the mounting platform through the rotating part 12. It should be noted that, for the two end rotating portions 12 of the first angle adjusting assembly B, the upper and lower X rotating axes are coplanar, and the upper and lower Y rotating axes are coplanar; the rotating shafts of the rotating parts 12 on the same mounting platform, and the rotating shafts of the rotating parts 12 on the rotating part 120 connected with the mounting platform are parallel to each other, for example, the lower mounting platform in fig. 2 is defined as the lower mounting platform 30, and the respective Y rotating shafts on the lower mounting platform 30 are parallel to each other. On the first hand, the installation platform can play a role in uniformly installing the at least three angle adjusting assemblies 10, and the at least three angle adjusting assemblies 10 which are arranged in a non-collinear manner can improve the structural stability of the device based on the triangular principle; in the second aspect, the first angle adjustment assembly a and the second angle adjustment assembly B are engaged, because the end of the receiving portion 11 of the first angle assembly a is not provided with the rotating portion 12, but is directly rigidly connected to the mounting platform (the upper end of the first angle adjustment assembly in fig. 4 is directly fixedly connected to the substrate 200 above), so that the rotational freedom between the two rotating members 120 can be locked without an external angle limiting structure, but the pose is adjusted by the way that the end of the first angle adjustment assembly a is fixedly connected to the mounting platform, the way that the axial dimension of the receiving portion 11 is adjustable, and the engagement of the rotating portion 12, and when the axial dimension is locked, the pose is also locked. In addition, when the device comprises at least two first angle adjusting assemblies A, the ends of all the first angle adjusting assemblies A, which are not provided with the rotating parts 12, can be fixedly arranged on the same mounting platform.

Referring to fig. 5, the attitude adjusting apparatus illustratively has three angle adjusting members 10, one of the angle adjusting members 10 being a first angle adjusting member a, and the other two angle adjusting members 10 being a second angle adjusting member B. The three angle adjusting assemblies 10 are arranged in an isosceles triangle, and the Y rotating axes corresponding to the two second angle adjusting assemblies B positioned at the bottom of the isosceles triangle are collinear. Initially, the axes of the bearing parts 11 of the three angle adjusting assemblies 10 are all parallel to the Z axis, and at this time, the position adjustment of the radiation source device 50 or the radiation detecting device 60 along the Z axis and the angle adjustment around the X rotation axis and around the Y rotation axis are completely decoupled, so that the subsequent adjustment is more convenient. The axial dimensions of the bearing parts 11 of the two second angle adjustment assemblies B in fig. 5 are adjusted in the same direction and in the same amount, so that the radiation source device 50 or the radiation detection device 60 can be driven to rotate around the Y-axis of rotation; the axial dimensions of the bearing parts 11 of the two second angle adjusting assemblies B in fig. 5 are adjusted reversely and equivalently, so that the radiation source device 50 or the radiation detecting device 60 can be driven to rotate around the X-axis of rotation; the axial dimensions of the receiving portions 11 of the three angle adjustment assemblies 10 in fig. 5 are adjusted in the same direction and in the same amount, so that the position of the radiation source device 50 or the radiation detecting device 60 along the Z-axis can be adjusted.

In particular, when the receiving part 11 is configured as described above, that is, the adjusting part 111 is screwed with the moving part 112, and the adjusting part 111 is used for converting the rotation motion of itself into the axial motion of the moving part 112 along the receiving part 11, and when the posture adjusting apparatus includes only one first angle adjusting assembly a, the receiving part 11 of the first angle adjusting assembly a further includes a rotation stopping part 113 connected with the moving part 112, the rotation stopping part 113 is fixedly connected with the rotating part 12, and the rotation stopping part 113 is fixed in position along the circumferential direction of the receiving part 11. In the first angle adjustment assembly a, as illustrated in fig. 5, one end of the adjustment element 111 is movably connected to the rotating element 12, so that the adjustment element 111 can rotate around its central axis, and one end of the moving element 122 away from the rotating part 12 is fixedly connected to the upper mounting platform, when the axial dimension of each angle adjustment assembly 10 is changed to change the distance between the upper and lower mounting platforms and the axial dimension of the receiving part 11 is changed to drive the two rotating elements 120 of the rotating part 12 to rotate with each other, after the respective corresponding movements of each angle adjustment assembly 10 are combined, actually, the upper and lower mounting platforms will relatively deflect around the Z axis, and if there is no other means to restrict the deflecting force driven by the lower mounting platform 30, the lower mounting platform 30 will drive the rotating part 12 of the first angle adjustment assembly a (due to the fixed connection of the rotating part 12 and the lower mounting platform 30) to rotate around the axis of the receiving part 11, thereby affecting the structural stability of the pose adjustment device and affecting the relative pose adjustment of the radiation source device 50 and the radiation detection device 60. Based on this, the rotation stopping member 113 of the present embodiment is fixedly connected to the rotating portion 12, and the rotation stopping member 113 is fixedly connected to the moving member 112 and fixed along the circumferential position of the receiving portion 11 (the position around the axis of the receiving portion 11), so as to restrict the deflecting force caused by the lower mounting platform 30 and thereby restrict the rotation of the rotating portion 12 around the axis of the receiving portion 11. In one embodiment, the extending direction of the rotation stopping member 113 is parallel to the axial direction of the receiving portion 11, the rotation stopping member 113 may be a rotation stopping pin, the rotation stopping member 113 is connected to the moving member 112 of the receiving portion 11 through a connecting plate 114 (the connecting plate 114 is fixedly connected to the moving member 112), the rotating member 120 is provided with a guide hole (not shown), and the rotation stopping member 113 can move in the guide hole under the driving of the moving member 112.

It should be noted that, for the first angle adjusting assembly a, when the matching mode of the adjusting element 111 and the moving element 112 is the matching mode of a hydraulic cylinder or a pneumatic cylinder, the adjusting element 111 and the rotating element 120 of the rotating part 12 are fixedly connected (rigidly connected), another rotating element 120 is fixedly connected with the mounting platform below, the moving element 112 is fixedly connected with the mounting platform above, the movement between the adjusting element 111 and the moving element 112 is an axial telescopic movement, there is no relative rotation between the two, so the adjusting element 111 and the moving element 112 can constrain the deflection force brought by the mounting platform in the matching mode, avoid the relative deflection of the two mounting platforms, and then the rotation stopping element 113 is not needed to be mounted.

With continued reference to fig. 2, as mentioned above, when the posture adjusting apparatus includes at least three angle adjusting assemblies 10 arranged non-collinearly, and there are a first angle adjusting assembly a and a second angle adjusting assembly B, the posture adjusting apparatus further includes an angle sensor and a driving motor communicatively connected to the angle sensor; the angle sensor is arranged on the mounting platform and can be used for detecting an included angle between the upper mounting platform and the lower mounting platform and forming an angle feedback signal to the driving motor according to the included angle; the driving motor receives the angle feedback signal, and an output shaft of the driving motor is connected with the adjusting member 111. Specifically, the device includes at least three driving motors corresponding to the angle adjustment assemblies 10 one-to-one, and the driving motors receive the angle feedback signals to analyze the included angle between the two current mounting platforms, so as to adjust the number of forward and reverse turns of the adjusting member 111 according to the output angle of the driving motors, thereby adjusting the axial size of the receiving portion 11, and further adjusting the included angle between the two mounting platforms under the cooperation of each receiving portion 11 and the corresponding driving motor, so that the pose of the radiation source device 50 and the radiation detection device 60 meets the requirements. Like this, realize the accurate control to adjustment part 111 drive moving part 112 moving stroke under angle sensor and driving motor's cooperation, but not only the SID of fine setting ray source device 50 and ray detection device 60, can also adjust the axial dimensions of each respective accepting part 11 through the respective output angle of fine setting each driving motor under the cooperation mode of at least three electric component and at least three angle adjustment subassembly 10, realize the angle fine setting to ray source device 50 or ray detection device 60, thereby realize the fine setting to the relative gesture of ray source device 50 and ray detection device 60, promote the imaging quality. Understandably, the output angle of the driving motor corresponds to the rotation direction and the rotation number of the adjusting piece 111, for example, when the output angle of the driving motor is +720 °, the driving motor drives the adjusting piece to rotate forwards for two circles, and the axial size of the bearing part 11 is increased; when the output angle of the driving motor is-720 degrees, the driving motor drives the adjusting piece to rotate reversely for two circles, and the axial size of the bearing part 11 is reduced.

Fig. 6 is a schematic view of a mounting platform according to an embodiment of the present invention. Referring to fig. 6 in combination with fig. 2, the posture adjustment apparatus includes at least one mounting platform including at least one linear adjustment assembly 20, the linear adjustment assembly 20 includes two base plates 200 that move relatively (the two base plates 200 are preferably arranged parallel to each other), the rotation axis of the rotation member 120 connected to the mounting platform in the rotation portion 12 is parallel to the base plates 200 (for example, the Y rotation axis of the rotation member 120 connected to the mounting platform in fig. 2 is parallel to the base plates 200), and the direction of the relative movement of the two base plates 200 is parallel to the rotation axis of the rotation member 120 connected to the mounting platform in the rotation portion 12. Alternatively, the direction of the relative movement of the two substrates 200 is parallel to the substrates 200 and forms an angle with the rotation axis disposed on the rotation member 120 connected to the mounting platform, taking the example that the rotation portion 12 is disposed with two rotation axes, when the axial directions of the two rotation axes have included angles (for example, 15 ° and 30 °), the direction of the relative movement of the two substrates 200 can be correspondingly configured to form an angle with the rotation axis disposed on the rotation member 120 connected to the mounting platform, which is 15 ° and 30 °, and when the two rotation axes are perpendicular to each other (for example, the X rotation axis and the Y rotation axis are perpendicular to each other), the direction of the relative movement of the two substrates 200 can be correspondingly configured to form an angle with the rotation axis disposed on the rotation member 120 connected to the mounting platform, which is 90 °, that is, the direction of the relative movement of the two substrates 200 is parallel to the substrates and perpendicular to the rotation axis disposed on the rotation member 120 connected to the mounting platform. In this way, the mounting platform having the linear adjustment assembly 20 is connected to the rotating portion 12 of the angle adjustment assembly 10 (specifically, the rotating member 120 is connected to the substrate 200 of the mounting platform), wherein one substrate 200 of the linear adjustment assembly 20 is fixedly disposed, the other substrate 200 is movable on the fixed substrate 200, and the movable substrate 200 is connected to the radiation source device 50 or the radiation detection device, and the linear adjustment assembly 20 is configured such that the position of the radiation source device 50 or the radiation detection device 60 along the rotating axis direction of the corresponding rotating portion 12 can be finely adjusted after the radiation source device 50 or the radiation detection device 60 is mounted on the C-shaped arm 70.

For example, referring to fig. 2, for the angle adjusting element 10 at the middle position in fig. 2, in the rotating part 12 at the upper end of the angle adjusting element 10, the rotating element 120 at the upper side is connected to the linear adjusting element of the mounting platform, and the rotating axis provided on the rotating element 120 connected to the mounting platform can be set as the Y rotating axis, and the rotating axis provided on the rotating element 120 not connected to the mounting platform in the rotating part 12 is the X rotating axis, because the upper rotating element 120 is fixedly connected to the mounting platform, the angle of the Y rotating axis on the rotating element 120 relative to the mounting platform is not changed, the Y rotating axis on the rotating element 120 is always parallel to the corresponding upper substrate 200, and the X rotating axis on the other rotating element 120 is parallel to the substrate 200 or has an inclined angle (for example, 5 °, 8 ° or the like) due to the rotation matching manner between the two rotating elements 120. The moving direction of the two substrates 200 is parallel to or perpendicular to the rotation axis of the rotator 120 connected to the mounting platform, in this case, the moving direction of the two substrates 200 is parallel to the Y rotation axis or perpendicular to the Y rotation axis, and when the moving direction is parallel to the Y rotation axis, the position of the radiation source device 20 or the radiation detecting device 60 along the Y rotation axis can be finely adjusted by the relative movement of the two substrates 200. When the moving direction is perpendicular to the Y-axis, the relative movement of the two substrates 200 can be respectively a moving component along the Z-axis and a moving component along the vertical Z-axis according to the orthogonal decomposition principle, the moving component along the vertical Z-axis is used for fine adjustment of the position of the radiation source device 50 or the radiation detecting device 60 along the vertical Z-axis, in particular, when the X-axis is perpendicular to the Z-axis, the moving component along the vertical Z-axis is used for fine adjustment of the position of the radiation source device 50 or the radiation detecting device 60 along the X-axis, further, when the X-axis, the Y-axis and the Z-axis are mutually perpendicular in pairs, the moving component of the two substrates 200 along the Z-axis is zero, and the relative movement amount of the two substrates 200 is used for fine adjustment of the position of the radiation source device 50 or the radiation detecting device 60 along the X-axis.

As a further preferred embodiment, referring to fig. 2 in combination with fig. 5, in order to make the radiation source device 50 or the radiation detecting device 60 have more freedom in position adjustment, in this embodiment, at least one of the mounting platforms includes two of the linear adjustment assemblies 20, and the relative moving directions of the two substrates 200 in the two linear adjustment assemblies 20 are different (i.e., the relative moving direction corresponding to one of the linear adjustment assemblies 20 is not parallel to the relative moving direction corresponding to the other linear adjustment assembly 20), for example, the upper mounting platform in fig. 2 includes two linear adjustment assemblies 20, and the lower mounting platform may only include one substrate to form the lower mounting platform 30. Specifically, the moving direction of the two substrates 200 in one of the linear adjustment assemblies 20 is parallel to the rotating shaft (for example, parallel to the Y-rotating shaft) disposed on the rotating member 120 connected to the mounting platform, and the moving direction of the two substrates 200 in the other linear adjustment assembly 20 is parallel to the substrates 200 and forms an angle (for example, perpendicular to the Y-rotating shaft in fig. 2) with the rotating shaft disposed on the rotating member 120 connected to the mounting platform. Further, the length in the Z axis can be adjusted in conjunction with the axial dimension of the receiving portion 11, and the rotating portion 12 has two mutually perpendicular rotation axes, so that the above-described attitude adjusting device can perform three-directional position adjustment and two-directional attitude adjustment of the radiation source device 50 or the radiation detecting device 60. Preferably, with continued reference to fig. 2, two of the linear adjustment assemblies 20 have a common substrate as the common substrate 200, such as the substrate 200 in the middle of the upper mounting platform illustrated in fig. 2 as the common substrate 200 of the two linear adjustment assemblies 20, thereby saving material and simplifying the structure. Of course, in other embodiments, the two linear adjustment assemblies 20 of the pose adjustment apparatus may not have a common base plate 200, and each may include two base plates 200 that are movable relative to each other.

Further, the linear adjustment assembly 20 further includes a guiding portion 210, the guiding portion 210 includes a guiding structure disposed on one of the substrates 200 and a sliding structure disposed on the other substrate 200, an extending direction of the guiding structure is parallel to the rotating shaft disposed on the rotating member 120 connected to the mounting platform, or the extending direction of the guiding structure is parallel to the substrate and is at an angle (for example, 90 ° in the above description, perpendicular to the Y rotating shaft) with respect to the rotating shaft disposed on the rotating member 120 connected to the mounting platform, the sliding structure is connected to the guiding structure in an adaptive manner so that the sliding structure can slide on the guiding structure, thereby limiting a relative moving direction of the two substrates 200 to a direction of the rotating shaft on the corresponding rotating member 120, or limiting the relative moving direction of the two substrates 200 to a direction of the rotating shaft on the corresponding rotating member.

Fig. 7 is a vertical sectional view taken along the base plate in fig. 6. Referring to fig. 7 in conjunction with fig. 2, regarding the specific structure of the guide portion 210, for example, the guide structure of the guide portion 210 is a groove 211, the sliding structure is a protrusion 212 matched with the groove 211, the groove 211 is formed on one of the substrates 200 in the mounting platform 20 and is recessed inwards, the groove 211 extends along a rotation axis (for example, a Y rotation axis) of the corresponding rotation member 120, the protrusion 212 is formed on the other substrate 200 and is raised outwards, the protrusion 212 extends along a rotation axis (for example, a Y rotation axis) of the corresponding rotation member 120, the protrusion 212 is engaged with the groove 211, and the protrusion 212 can move in the groove 211, so as to limit the moving direction of the two substrates 200. In one embodiment, the cross-sectional shapes of the recess 211 and the protrusion 212 are, for example, both "V" shaped.

In some alternative embodiments, the guiding structure and the sliding structure in the guiding portion 210 may also be a form of matching the guide rail with the sliding seat, a matching manner of the roller and the groove, and the like.

Further, referring to fig. 2 and 6, the linear adjustment assembly 20 includes a driving portion including at least one driving member 200, and the driving member 220 extends in a direction parallel to a rotation axis (e.g., a Y rotation axis) provided on the rotation member 120 connected to the mounting platform, or the driving member 220 extends in a direction parallel to the base plate 200 and at an angle (e.g., 90 ° perpendicular to the Y rotation axis) provided on the rotation member 120 connected to the mounting platform. The thread section is arranged on the periphery of the driving part 220; the driving member 220 is screwed to one of the base plates 200, and drives the other base plate 200 to move by its own rotational movement. Referring to fig. 6, the driving members 220 are preferably mounted on two opposite sides of one of the substrates 200, so as to drive the substrates 200 to reciprocate along a direction parallel to or perpendicular to the Y-axis.

Further, the linear adjustment assembly 20 includes at least one locking portion 230, and the locking portion 230 is used for limiting the relative position of the two base plates 200 by means of shaft hole fit, that is, the two base plates 200 are locked by the locking portion 230 to prevent relative movement therebetween. Referring to fig. 6 in combination with fig. 2, in an exemplary embodiment, the rotation axis of the rotation member 120 connected to the base plates 200 is a Y rotation axis, for example, the locking portion 230 includes a locking screw 231 and a long hole 232, the long hole 232 penetrates one of the base plates 200 along a vertical direction of the base plate 200, the locking screw 231 penetrates the long hole 232 and is connected to the other base plate 200, a long axis direction of the long hole 232 is parallel to the Y rotation axis, and a short axis direction is perpendicular to the Y rotation axis. The elongated hole 232 may be, for example, a kidney-shaped hole, a rectangular hole, an oval, or the like. When the two substrates 200 need to be moved relatively, the locking screw 231 rotates and releases to release the position limitation on the two substrates 200, at this time, the two substrates 200 can be moved relatively along the direction of the Y rotation axis, and the locking screw 231 moves in the elongated hole 232 along with the movement of the substrates 200, and after the two substrates are moved to a proper position, the locking screw 231 rotates to press and lock the two substrates 200, so that the two substrates are prevented from being moved relatively. In this embodiment, the linear adjustment assembly 20 includes four locking portions 230, which are respectively located at four corners of the substrate 200.

Based on the above pose adjusting apparatus, the present embodiment further provides a medical imaging system, referring to fig. 1, the medical imaging system includes a base 40, a radiation source apparatus 50, a radiation detecting apparatus 60, a C-arm 70, and at least one pose adjusting apparatus as described above; the C-arm 70 comprises two arms 700 mounted on the base 40 and capable of moving relative to each other; the ray source device 50 and the ray detection device 60 are respectively located on the two support arms 700, and at least one of the ray source device 50 and the ray detection device 60 is connected with an installation platform and is installed on the corresponding support arm 700 through the pose adjusting device. In an embodiment, the medical imaging system is a digital subtraction angiography system (DSA).

Preferably, the medical imaging system further comprises a medical robot 80, wherein the medical robot 80 is connected to the base 40 and is configured to drive the base 40 to move within a spatial range, so as to drive the C-shaped arm 70 to move within the spatial range, including a rotational movement and a linear movement, so that the C-shaped arm 70 has a high flexibility and meets different clinical examination requirements. For example, robot 80 may be a six-axis robot with its ends connected to base 40.

It can be understood that, since the medical imaging system includes the posture adjustment device, the medical imaging system also has the advantages brought by the posture adjustment device, and the embodiment does not explain the working principle of the medical imaging system and other related structures, and can be learned by those skilled in the art according to the prior art.

In summary, in the pose adjusting apparatus and the medical imaging system provided by the present invention, the pose adjusting apparatus includes at least one angle adjusting assembly and at least one mounting platform; the angle adjusting assembly comprises a bearing part and at least one rotating part, the rotating part is arranged at least one end of the bearing part along the axial direction of the bearing part, and the bearing part is connected with at least one mounting platform through the rotating part; the rotation portion includes two rotation pieces that are connected each other, two set up two at least rotation axes between the rotation piece, and two at least the axial nonparallel of rotation axis, it centers on to rotate the axle is rotatable. According to the configuration, after the radiation source device and/or the ray detection device are/is arranged on the C-shaped arm of the medical imaging system through the pose adjusting device, the radiation source device and/or the ray detection device can be driven to rotate around any rotating shaft under the action of the angle adjusting assembly, so that the pose of the radiation source device and/or the ray detection device is adjusted in at least two directions, the relative pose of the radiation source device and the ray detection device is adjusted, and the accuracy of the installation angle of the radiation source device and/or the ray detection device is improved to ensure the imaging quality.

The above description is only for the description of the preferred embodiment of the present invention, and not for any limitation of the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure all belong to the protection scope of the technical solution of the present invention.

Claims

1. A posture adjusting device is characterized by comprising at least one angle adjusting assembly (10) and at least one mounting platform; the angle adjusting assembly (10) comprises a bearing part (11) and at least one rotating part (12), the rotating part (12) is arranged at least one end of the bearing part (11) along the axial direction of the bearing part, and the bearing part (11) is connected with at least one mounting platform through the rotating part (12);

the rotating part (12) comprises two rotating parts (120) connected with each other, at least two rotating shafts are arranged between the rotating parts (120), the axial directions of the rotating shafts are not parallel, and the rotating parts (120) can rotate around the rotating shafts.

2. The attitude adjustment apparatus according to claim 1, wherein at least two of the rotation axes are orthogonal to each other.

3. The attitude adjustment apparatus according to claim 1 or 2, wherein the bolster portion (11) includes an adjusting member (111) and a moving member (112) that are relatively movable in the axial direction, the adjusting member (111) or the moving member (112) being connected to the rotating portion (12).

4. A pose adjustment apparatus according to claim 3, characterized in that the pose adjustment apparatus comprises two mounting platforms and at least three of the angle adjustment assemblies (10) located between the two mounting platforms and arranged non-collinearly; wherein at least one of the angle adjusting assemblies (10) is a first angle adjusting assembly (A), and the rest of the angle adjusting assemblies (10) are second angle adjusting assemblies (B);

in the first angle adjusting assembly (A), one axial end of the bearing part (11) is connected with one of the mounting platforms through the rotating part (12), and the other axial end of the bearing part (11) is fixedly connected with the other mounting platform;

in the second angle adjusting assembly (B), two axial ends of the bearing part (11) are connected with the mounting platform through the rotating part (12).

5. The posture adjusting apparatus according to claim 4, characterized in that the adjusting member (111) is screw-coupled with the moving member (112), and the adjusting member (111) is configured to convert a rotational movement thereof into an axial movement of the moving member (112) along the bolster (11).

6. The attitude adjusting apparatus according to claim 5, characterized in that the receiving portion (11) of the first angle adjusting assembly (A) further includes a rotation stopping member (113) connected to the moving member (112), the rotation stopping member (113) is fixedly connected to the rotating portion (12), and the rotation stopping member (113) is fixed in position in the circumferential direction of the receiving portion (11).

7. The attitude adjustment apparatus according to claim 5, characterized in that the attitude adjustment apparatus includes an angle sensor provided on the mount platform, and a drive motor communicatively connected to the angle sensor, an output shaft of the drive motor being connected to the adjustment member (111).

8. The attitude adjustment apparatus according to claim 1 or 2, wherein at least one of the mount platforms includes at least one linear adjustment assembly (20), the linear adjustment assembly (20) including two base plates (200) that are relatively movable, and a rotation shaft provided on a rotation member (120) connected to the mount platform in the rotation section (12) is parallel to the base plates (200); the moving directions of the two base plates (200) are parallel to a rotating shaft arranged on a rotating part (120) connected with the mounting platform, or the moving directions of the two base plates (200) are parallel to the base plates (200) and form an angle with the rotating shaft arranged on the rotating part (120) connected with the mounting platform.

9. A posture adjusting apparatus according to claim 8, characterized in that at least one of the mount platforms includes two of the linear adjusting units (20), wherein the direction of movement of two base plates (200) in one of the linear adjusting units (20) is parallel to a rotary shaft provided on a rotary member (120) connected to the mount platform, and the direction of movement of two base plates (200) in the other of the linear adjusting units (20) is parallel to the base plates (200) and is angled to the rotary shaft provided on the rotary member (120) connected to the mount platform;

both linear adjustment assemblies (20) have a common base plate (200).

10. A medical imaging system is characterized by comprising a ray source device (50), a ray detection device (60), a C-shaped arm (70) and at least one pose adjusting device; the pose adjusting device comprises at least one angle adjusting assembly (10) and at least one mounting platform, wherein the angle adjusting assembly (10) comprises a bearing part (11) and at least one rotating part (12), the rotating part (12) is arranged at least one end of the bearing part (11) along the axial direction of the bearing part, the bearing part (11) is connected with the at least one mounting platform through the rotating part (12), the rotating part (12) comprises two rotating parts (120) connected with each other, at least two rotating shafts are arranged between the two rotating parts (120), the axial directions of the at least two rotating shafts are not parallel, and the rotating parts (120) can rotate around the rotating shafts; the ray source device (50) and the ray detection device (60) are respectively positioned at two ends of the C-shaped arm (70), and at least one of the ray source device (50) and the ray detection device (60) is connected with the mounting platform and is mounted on the C-shaped arm (70) through the pose adjusting device.