CN219501028U

CN219501028U - X-ray imaging system, X-ray receiving device, and X-ray emitting device

Info

Publication number: CN219501028U
Application number: CN202222261848.2U
Authority: CN
Inventors: 张赞超; 杨能飞; 常先华; 文琪
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Wuhan Mindray Medical Technology Research Institute Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Wuhan Mindray Medical Technology Research Institute Co Ltd
Priority date: 2022-08-26
Filing date: 2022-08-26
Publication date: 2023-08-11
Anticipated expiration: 2032-08-26

Abstract

An X-ray photographing system, an X-ray receiving device and an X-ray transmitting device, wherein the X-ray receiving device comprises an X-ray receiving device, an X-ray transmitting device, a position detecting device and a laser ranging sensor. Because install laser rangefinder sensor on X ray receiver, laser rangefinder sensor is used for detecting the absolute altitude position of X ray receiver, compares the equal position sensor of traditional encoder, and laser rangefinder sensor measuring result at every turn is relatively independent, and laser rangefinder sensor can not accumulated the mistake and touch for X ray receiver and X ray receiver can be accurate realization mutually go up and down to follow or the lift removal such as location guide, improve the efficiency of making a video recording.

Description

X-ray imaging system, X-ray receiving device, and X-ray emitting device

Technical Field

The application relates to the technical field of medical equipment, in particular to an X-ray shooting system, an X-ray receiving device and an X-ray transmitting device.

Background

The X-ray image pick-up system is also called digital X-ray machine or DR, and is a kind of equipment combining computer digital image processing technology with X-ray radiation technology. The main components of the device comprise an X-ray generator, an X-ray bulb tube, a rack system, a camera bed, an image workstation and a detector assembly. Wherein the X-ray bulb tube and the detector are arranged on the frame system, and can freely move in space within the allowable range of the mechanical structure, thereby meeting the requirements of different clinical shooting. The X-ray tube is an X-ray generating device, the X-ray receiver is an X-ray receiving device, and when shooting, the X-ray is required to be shot to the center of the X-ray receiver, so that a high-quality image can be obtained.

In order to improve the positioning efficiency of the staff, an X-ray generating device and an X-ray receiving device on the X-ray camera system are arranged to follow each other, and when one of the X-ray generating device and the X-ray receiving device moves, the other X-ray generating device and the X-ray receiving device can move to the corresponding position in a following way.

In the existing product, the position detection of one party moving firstly in the X-ray generating device and the X-ray receiving device is not accurate enough, so that the following position of the following party is not accurate, and a worker also needs to perform manual operation adjustment, namely, the following sensitivity in the existing product is lower, and the worker positioning efficiency is not high.

Disclosure of Invention

In one embodiment, an X-ray imaging system is provided, comprising:

the X-ray emission device comprises an X-ray emitter, a first supporting piece and a first driving component, wherein the X-ray emitter is arranged on the first supporting piece in a lifting manner, the X-ray emitter is used for emitting X-rays to irradiate a shooting object, the first driving component is arranged on the first supporting piece, the first driving component is connected with the X-ray emitter, and the first driving component is used for driving the X-ray emitter to move in a lifting manner;

the X-ray receiving device comprises an X-ray receiver, a second support piece and a second driving assembly, wherein the X-ray receiver is arranged on the second support piece in a lifting manner and is used for receiving X-rays passing through the shooting object; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move up and down; the second drive assembly includes a second linkage member that is linked to the X-ray receiver; and

The laser ranging sensor is arranged on the second supporting piece, a reflecting surface is arranged on the second linkage part, or the laser ranging sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the laser ranging sensor is used for emitting laser and irradiating the emitted laser onto the reflecting surface through the ranging channel, the reflecting surface is used for reflecting the laser, the laser ranging sensor is further used for receiving the laser reflected by the reflecting surface, and the laser ranging sensor detects the ascending and descending absolute height position of the X-ray receiver according to the emitted laser and the laser reflected by the reflecting surface.

In one embodiment, the laser ranging sensor is fixed on top of the second support, and the reflecting surface is disposed at an end of the second linkage member.

In one embodiment, the second linkage member has a reflective portion of an integral structure, the reflective portion forming the reflective surface; alternatively, the second linkage member is provided with a reflecting plate, and at least one surface of the reflecting plate forms the reflecting surface.

In one embodiment, the reflecting portion or the reflecting plate is provided with a reflective coating, and the reflective coating forms the reflecting surface.

In one embodiment, the second linkage member includes a belt and a weight, and the reflective surface is located on the belt and/or the weight.

In an embodiment, the second driving assembly further comprises a second driving motor and a fixed pulley, the second driving motor and the fixed pulley are arranged on the second supporting piece, the second driving motor is connected with the fixed pulley, the driving belt is wound on the fixed pulley, two ends of the driving belt are located on two sides of the fixed pulley, one end of the driving belt is connected with the X-ray receiver, the other end of the driving belt is connected with the balancing weight, and the second driving motor drives the X-ray receiver to ascend and descend through the fixed pulley and the driving belt.

In one embodiment, the second driving assembly further comprises a trolley, the trolley is arranged on the second supporting piece in a lifting mode, the driving belt is connected with the trolley, and the X-ray receiver is arranged on the trolley.

In an embodiment, the second support is a stand, a chute in the vertical direction is arranged on the side face of the stand, the second driving assembly and the laser ranging sensor are located in the stand, the X-ray receiver is located on the outer side of the stand, and the X-ray receiver is connected with the second driving assembly through the chute.

In one embodiment, a mounting box is provided in the upright, the mounting box has an opening or aperture, the laser ranging sensor is located in the mounting box, and the laser ranging sensor emits and receives laser through the opening or aperture.

In one embodiment, an X-ray imaging system is provided, comprising:

the X-ray emission device comprises an X-ray emitter, a first supporting piece and a first driving component, wherein the X-ray emitter is movably arranged on the first supporting piece and used for emitting X-rays to irradiate a shooting object, the first driving component is arranged on the first supporting piece and connected with the X-ray emitter, and the first driving component is used for driving the X-ray emitter to move;

an X-ray receiving device including an X-ray receiver movably disposed on a second support, and a second driving assembly, the X-ray receiver for receiving X-rays passing through the photographic subject; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move; the second drive assembly includes a second linkage member that is linked to the X-ray receiver; and

The distance measuring sensor is arranged on the second supporting piece, a reflecting surface is arranged on the second linkage part, or the distance measuring sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the distance measuring sensor is used for transmitting wireless signals and irradiating the transmitted wireless signals onto the reflecting surface through the distance measuring channel, the reflecting surface is used for reflecting the wireless signals, the distance measuring sensor is further used for receiving the wireless signals reflected by the reflecting surface, and the distance measuring sensor detects the moving absolute height position of the X-ray receiver according to the transmitted wireless signals and the wireless signals reflected by the reflecting surface.

In one embodiment, the ranging sensor includes at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

In one embodiment, an X-ray imaging system is provided, comprising:

the X-ray emission device comprises an X-ray emitter, a first supporting piece and a first driving component, wherein the X-ray emitter is arranged on the first supporting piece in a lifting manner, the X-ray emitter is used for emitting X-rays to a shooting object, the first driving component is arranged on the first supporting piece, the first driving component is connected with the X-ray emitter, and the first driving component is used for driving the X-ray emitter to move in a lifting manner; the first drive assembly includes a first linkage member that is linked with the X-ray emitter;

The X-ray receiving device comprises an X-ray receiver, a second support piece and a second driving assembly, wherein the X-ray receiver is arranged on the second support piece in a lifting manner and is used for receiving X-rays passing through the shooting object; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move up and down; and

the distance measuring sensor is arranged on the first supporting piece, a reflecting surface is arranged on the first linkage part, or the distance measuring sensor is arranged on the first linkage part, and a reflecting surface is arranged on the first supporting piece; the distance measuring sensor is used for transmitting wireless signals and irradiating the transmitted wireless signals onto the reflecting surface through the distance measuring channel, the reflecting surface is used for reflecting the wireless signals, the distance measuring sensor is further used for receiving the wireless signals reflected by the reflecting surface, and the distance measuring sensor detects the moving absolute height position of the X-ray emitter according to the transmitted wireless signals and the wireless signals reflected by the reflecting surface.

In one embodiment, an X-ray imaging system is provided, comprising:

the X-ray emission device comprises an X-ray emitter, a first supporting piece and a first driving component, wherein the X-ray emitter is movably arranged on the first supporting piece and is used for emitting X-rays to a shooting object, the first driving component is arranged on the first supporting piece and is connected with the X-ray emitter, and the first driving component is used for driving the X-ray emitter to move;

an X-ray receiving device including an X-ray receiver movably disposed on a second support, and a second driving assembly, the X-ray receiver for receiving X-rays passing through the photographic subject; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move; and

The X-ray transmitting device and the X-ray receiving device are respectively provided with the ranging sensor; the distance measuring sensor on the X-ray emitting device is used for detecting the absolute height position of the X-ray emitter; the distance measuring sensor on the X-ray receiving device is used for detecting the absolute height position of the X-ray receiver.

In one embodiment, an X-ray receiving device is provided, including an X-ray receiver, a second support, a second driving assembly, and a laser ranging sensor, where the X-ray receiver is configured to be disposed on the second support in a liftable manner, and the X-ray receiver is configured to receive X-rays passing through a subject; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move up and down; the second drive assembly includes a second linkage member that is linked to the X-ray receiver;

The laser ranging sensor is arranged on the second supporting piece, a reflecting surface is arranged on the second linkage part, or the laser ranging sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the laser ranging sensor is used for emitting laser and irradiating the emitted laser onto the reflecting surface through the ranging channel, the reflecting surface is used for reflecting the laser, the laser ranging sensor is further used for receiving the laser reflected by the reflecting surface, and the laser ranging sensor detects the absolute height position of the X-ray receiver according to the emitted laser and the laser reflected by the reflecting surface.

In one embodiment, an X-ray receiving device is provided, including an X-ray receiver movably disposed on a second support, a second driving assembly, and a ranging sensor, the X-ray receiver for receiving X-rays passing through a subject; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move; the second drive assembly includes a second linkage member that is linked to the X-ray receiver;

The distance measuring sensor is arranged on the second supporting piece, a reflecting surface is arranged on the second linkage part, or the distance measuring sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the distance measuring sensor is used for transmitting wireless signals and irradiating the transmitted wireless signals onto the reflecting surface through the distance measuring channel, the reflecting surface is used for reflecting the wireless signals, the distance measuring sensor is further used for receiving the wireless signals reflected by the reflecting surface, and the distance measuring sensor detects the moving absolute position of the X-ray receiver according to the transmitted wireless signals and the wireless signals reflected by the reflecting surface.

In one embodiment, the distance measuring sensor is fixed on top of the second support, and the reflecting surface is provided at an end of the second linkage member.

In one embodiment, an X-ray emitting device is provided, including an X-ray emitter, a first support, a first driving component and a laser ranging sensor, where the X-ray emitter is arranged on the first support in a liftable manner, the X-ray emitter is used to emit X-rays to a shooting object, the first driving component is arranged on the first support, the first driving component is connected with the X-ray emitter, and the first driving component is used to drive the X-ray emitter to move in a lifting manner; the first drive assembly includes a first linkage member that is linked with the X-ray emitter;

the laser ranging sensor is arranged on the first supporting piece, a reflecting surface is arranged on the first linkage part, or the laser ranging sensor is arranged on the first linkage part, and a reflecting surface is arranged on the first supporting piece; the laser ranging sensor is used for emitting laser and irradiating the emitted laser onto the reflecting surface through the ranging channel, the reflecting surface is used for reflecting the laser, the laser ranging sensor is further used for receiving the laser reflected by the reflecting surface, and the laser ranging sensor detects the ascending and descending absolute height position of the X-ray emitter according to the emitted laser and the laser reflected by the reflecting surface.

In one embodiment, the laser ranging sensor is fixed on top of the first support, and the reflecting surface is disposed on the first linkage member.

In one embodiment, the first linkage member has a reflecting portion of an integrated structure, the reflecting portion forming the reflecting surface; alternatively, the first linking member may be provided with a reflecting plate, and at least one surface of the reflecting plate may form the reflecting surface.

In one embodiment, an X-ray emitting device is provided, including an X-ray emitter, a first support, a first driving component and a ranging sensor, where the X-ray emitter is movably disposed on the first support, the X-ray emitter is used to emit X-rays to a shooting object, the first driving component is disposed on the first support, the first driving component is connected with the X-ray emitter, and the first driving component is used to drive the X-ray emitter to move; the first drive assembly includes a first linkage member that is linked with the X-ray emitter;

The distance measuring sensor is arranged on the first supporting piece, a reflecting surface is arranged on the first linkage part, or the distance measuring sensor is arranged on the first linkage part, and a reflecting surface is arranged on the first supporting piece; the distance measuring sensor is used for transmitting wireless signals and irradiating the transmitted wireless signals onto the reflecting surface through the distance measuring channel, the reflecting surface is used for reflecting the wireless signals, the distance measuring sensor is further used for receiving the wireless signals reflected by the reflecting surface, and the distance measuring sensor detects the moving absolute position of the X-ray emitter according to the transmitted wireless signals and the wireless signals reflected by the reflecting surface.

In one embodiment the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

According to the X-ray imaging system, the X-ray receiving device and the X-ray transmitting device, as the laser ranging sensor is arranged on the X-ray receiving device and is used for detecting the absolute height position of the X-ray receiver, compared with the conventional encoder and other position sensors, the laser ranging sensor is relatively independent in each measurement result, and the laser ranging sensor cannot accumulate false touches, so that the X-ray receiver and the X-ray receiver can accurately realize lifting movement such as mutual lifting following or positioning guiding, and the imaging efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of an X-ray receiving device according to an embodiment;

FIG. 2 is a schematic diagram showing an internal structure of an X-ray receiving device according to an embodiment;

FIG. 3 is a block diagram showing a control section of an X-ray receiving device in one embodiment;

FIG. 4 is a schematic structural diagram of an X-ray receiving device according to an embodiment;

FIG. 5 is a schematic view showing a structure of an X-ray emitting apparatus according to an embodiment;

FIG. 6 is a block diagram showing the structure of a control section of an X-ray emitting device in one embodiment;

FIG. 7 is a schematic diagram of an X-ray imaging system according to an embodiment;

FIG. 8 is a block diagram showing the structure of a control section of an X-ray imaging system in one embodiment;

wherein the reference numerals are as follows:

1-X-ray receiving device, 11-X-ray receiver, 12-second support piece, 121-front shell, 122-back shell, 123-top cover, 124-mounting box, 13-second driving component, 131-driving motor, 132-fixed pulley, 133-driving belt, 134-balancing weight, 135-pulley, 14-support seat;

2-X-ray emitting device, 21-X-ray emitter, 22-first support, 221-upright, 222-cantilever, 23-first drive assembly, 24-ground rail;

3-a laser ranging sensor;

4-control means.

Detailed Description

In the existing product, an encoder is arranged in an X-ray receiving device to detect the height position of an X-ray receiver, but the encoder belongs to a relative position sensor, the detection principle is that the height difference of lifting is measured, and then the height position of the X-ray receiver relative to the ground is obtained by combining the previous measurement result.

Based on the analysis, the application adopts the laser ranging sensor to detect the height position of the X-ray receiver relative to the ground. Each measurement by the laser ranging sensor is to measure the distance between the transmitting end and the reflecting surface, and the height position of the X-ray receiver relative to the ground is calculated through the distance. The laser ranging sensor directly measures the height position of the X-ray receiver relative to the ground, the measurement results of each time are mutually independent, calculation is not carried out on the basis of the previous measurement result, and error inheritance and accumulated error can be avoided. It can be seen that the laser ranging sensor has less error than the relative position sensor.

In the present application, the laser ranging sensor may be other types of measuring sensors such as an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor. The application adopts the laser ranging sensor to measure, which not only can improve the detection precision, but also has the cost advantage.

In some embodiments, the laser ranging sensor may also employ an absolute position encoder pocket, which also enables higher accuracy position measurements, but at a higher cost than the aforementioned laser ranging sensor.

In some schemes, a laser ranging sensor can be arranged on the X-ray emitting device, and the laser ranging sensor detects the height position of the X-ray emitter, so that the accuracy of mutual following and other positioning lifting between the X-ray emitter and the X-ray receiver is improved.

The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.

Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.

The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "coupled" as used herein, unless otherwise indicated, include both direct and indirect coupling (coupling), where the absolute height position is relative to the ground, or relative to a specified reference.

In one embodiment, an X-ray receiving device 1 is provided, where the X-ray receiving device 1 may be in a vertical structure, and the X-ray receiving device 1 has a liftable X-ray receiver. The X-ray receiving device 1 is further provided with a laser ranging sensor, the laser ranging sensor is used for measuring the height position of the X-ray receiver, and the laser ranging sensor is used for measuring, so that measurement errors can be reduced, high-precision following of the X-ray receiver is facilitated, and the shooting efficiency is improved.

In other embodiments, the X-ray receiving device 1 may also be a suspension structure, and the X-ray receiving device 1 also has a liftable X-ray receiver, and the laser ranging sensor is used to measure the height position of the lifting X-ray receiver at the same time.

In other embodiments, the X-ray receiving device 1 may also be of a horizontal type structure, the X-ray receiving device 1 having an X-ray receiver movable in a horizontal direction, and a laser ranging sensor for simultaneously measuring the horizontal position of the X-ray receiver.

Referring to fig. 1 to 3, the X-ray receiving apparatus 1 of the present embodiment mainly includes an X-ray receiver 11, a second support 12, and a second driving assembly 13, wherein a ranging sensor 3 is installed in the second support 12.

The X-ray receiver 11 may be a cassette, in which a flat panel detector may be inserted, the cassette has a vertical collecting surface, the subject may stand against the collecting surface of the cassette, and the flat panel detector may collect X-rays passing through the subject through the collecting surface, and perform X-ray imaging on the subject through the collected X-rays.

The second supporting piece 12 may be a column, the lower end of the second supporting piece 12 is provided with a supporting seat 14, the second supporting piece 12 is placed on the ground through the supporting seat 14, the supporting seat 14 may be fixedly connected with the second supporting piece 12 by means of clamping, welding, screw connection, etc., and the supporting seat 14 may also be an integrated structure with the second supporting piece 12.

The second supporting member 12 may include a front shell 121 and a rear shell 122, where the front shell 121 and the rear shell 122 are of a vertical strip structure, the front shell 121 and the rear shell 122 are connected front and back by means of clamping, welding, screw connection, and the like, a containing cavity is formed between the front shell 121 and the rear shell 122, and a chute in a vertical direction is further formed between the front shell 121 and the rear shell 122, and is located on the left and right sides of the second supporting member 12, and the chute is communicated with the containing cavity. The upper ends of the front and rear cases 121 and 122 have openings communicating with the receiving chambers, a top cover 123 is installed at the upper ends of the front and rear cases 121 and 122, the top cover 123 covers the openings of the upper ends of the front and rear cases 121 and 122, and the top cover 123 itself has a certain receiving space. The provision of the top cover 123 facilitates the mounting of the second drive assembly 13 and the distance measuring sensor 3 into the second support 12.

In other embodiments, the front and rear cases 121 and 122 may also be an integrated structure, with the front and rear cases 121 and 122 of the integrated structure having a more stable structural emphasis. Of course, the top cover 123 may be provided as an integrated structure with the front case 121 and the rear case 122, and the second driving assembly 13 and the ranging sensor 3 may be installed from the lower end of the second supporter 12.

In this embodiment, the second driving assembly 13 is installed in the accommodating cavity of the second support 12, and the second driving assembly 13 is used for driving the X-ray receiver 11 to move up and down along the chute of the second support 12.

The second driving assembly 13 comprises a driving motor 131, a fixed pulley 132, a transmission belt 133, a balancing weight 134 and a pulley 135, wherein the driving motor 131 and the fixed pulley 132 are arranged at the upper end of the accommodating cavity of the second supporting piece 12, an output shaft of the driving motor 131 can be connected with the fixed pulley 132 through a gear set or a coupling and other transmission devices, an output shaft of the driving motor 131 can also be directly connected with the fixed pulley 132, and the driving motor 131 is used for driving the fixed pulley 132 to rotate positively and negatively. The driving belt 133 may be a rope structure, the driving belt 133 may also be a belt structure, the driving belt 133 is connected to the fixed pulley 132, the driving belt 133 has a first end and a second end, the first end and the second end of the driving belt 133 respectively extend downward vertically, and the fixed pulley 132 is used for driving the first end and the second end of the driving belt 133 to respectively move up and down along opposite directions.

The balancing weight 134 is located in the accommodating cavity of the second support 12, and the balancing weight 134 is connected to the first end of the driving belt 133. The pulley 135 is located outside the second support 12, the left and right sides of the pulley 135 have connection portions, the connection portions of the sliding groove 135 extend into the accommodating cavity through the sliding groove to be connected with the second end of the driving belt 133, and the X-ray receiver 11 is mounted on the pulley 135.

The principle of the second driving component 13 driving the lifting is as follows: the driving motor 131 drives the fixed pulley 132 to rotate in a forward and reverse direction, and the fixed pulley 132 drives the first end and the second end of the driving belt 133 to move up and down in opposite directions, so as to drive the X-ray receiver 11 and the balancing weight 134 to move up and down in opposite directions.

The weight 134 is equal or approximately equal to the sum of the weights of the X-ray receiver 11 and sled 135. The setting of balancing weight can reduce driving motor 131's output torque, and then can improve driving motor 131 drive X-ray receiver 11 and go up and down's stationarity, makes X-ray receiver 11 can realize hovering under unpowered's condition simultaneously, practices thrift the energy consumption.

In other embodiments, the second driving assembly 13 may not include a weight, and lifting driving and hovering of the X-ray receiver 11 can be achieved by driving force of the driving motor 131.

In other embodiments, the driving motor 131 may also be installed at the lower end of the accommodating cavity of the second support member 12, where a fixed pulley 132 is respectively disposed at the upper end and the lower end of the accommodating cavity, and the driving belt 133 is connected end to form an annular structure, so as to also realize lifting driving of the X-ray receiver 11.

In other embodiments, the fixed pulleys 132 have a plurality of fixed pulleys 132 mounted at the upper end of the receiving chamber of the second support 12, the fixed pulleys 132 are spaced apart, the belt 133 is connected to the fixed pulleys 132, and the fixed pulleys 132 are used to enlarge the horizontal interval between the first and second ends of the belt 133.

In other embodiments, the second driving assembly 13 may not include the driving motor 131, a connection terminal is disposed on the second supporting member 12, one end of the connection terminal extends into the accommodating cavity of the second supporting member 12 to be connected with the fixed pulley 132, and the other end of the connection terminal is located outside the second supporting member 12 for being connected with an external driving motor, so as to achieve lifting driving of the X-ray receiver 11.

In this embodiment, the X-ray receiver 11 has a second linkage member that moves up and down along with the X-ray receiver 11, and the direction of the second linkage member up and down may be the same as or opposite to that of the X-ray receiver 11. The drive belt 133, the weight 134 and the trolley 135 may all act as a second linkage part of the X-ray receiver 11.

In this embodiment, the laser ranging sensor 3 is installed in the receiving cavity of the second support 12. The laser ranging sensor 3 is installed at the top or the upper end of the second support 12 in the accommodating cavity, the mounting box 124 may be installed at the top or the upper end of the second support 12 in the accommodating cavity, the opening or the opening is provided at the lower end of the mounting box 124, the laser ranging sensor 3 is installed in the mounting box 124, and the transmitting end and the receiving end of the laser ranging sensor 3 are both located at the lower end and aligned with the opening or the opening, so that the laser ranging sensor 3 can transmit and receive laser through the opening or the opening. The mounting box 124 can provide protection for the laser ranging sensor 3, avoid collision of the laser ranging sensor 3 with other components, and also can avoid entry of foreign matter into the laser ranging sensor 3.

In other embodiments, the laser ranging sensor 3 may be one or more ranging sensors such as an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor, where the multiple ranging sensors respectively and independently detect, and then perform a comparison analysis on multiple results to further eliminate measurement errors and improve measurement accuracy. The laser ranging sensor 3 emits and receives infrared light, electromagnetic waves or ultrasonic waves, the reflecting surface is arranged to be used for reflecting the infrared light, the electromagnetic waves or the ultrasonic waves, the laser ranging sensor 3 can also measure the distance between the laser ranging sensor 3 and the reflecting surface by adopting other optical or mechanical waves, and then the height position of the X-ray receiver 11 relative to the ground is calculated.

In other embodiments, the laser ranging sensor 3 may also be directly mounted in the receiving cavity of the second support 12, and also enables the height position measurement of the X-ray receiver 11.

In other embodiments, the laser ranging sensor 3 may also be mounted outside the second support 12, with the reflecting surface being provided on the X-ray receiver 11 or on the trolley 135 outside the second support 12, and the ranging channel being located outside the second support 12, as well as being able to measure the absolute height position of the X-ray receiver 11.

In the embodiment, the second linkage part is provided with a reflecting surface, the second linkage part is provided with a reflecting part with an integrated structure, and the top surface of the reflecting part forms the reflecting surface; alternatively, the second linkage part is provided with a reflecting plate, and the top surface of the reflecting plate forms a reflecting surface. The reflecting surfaces and the laser ranging sensors 3 are arranged face to face in the up-down direction.

Referring to fig. 4, in other embodiments, a plurality of laser ranging sensors 3 may be provided, for example, one laser ranging sensor 3 is respectively provided at each of the upper and lower ends of the accommodating cavity of the second support 12, and then two laser ranging sensors 3 respectively measure the reflecting surfaces corresponding to the upper and lower surfaces of the reflecting portion or the reflecting plate provided on the second linkage member, so as to further eliminate the measurement error.

In the present embodiment, the weight 134 is described as the second linkage member of the X-ray receiver 11, and the reflecting surface may be provided on the weight 134, or may be provided on the belt 133 and the pulley 135. The reflecting surface is disposed at the upper end of the balancing weight 134, and the upper surface of the balancing weight 134 may be formed with a reflecting coating by spraying or printing, and the reflecting coating forms the reflecting surface. Alternatively, the upper end of the weight 134 is provided with a reflective plate, and the reflective plate is provided with a reflective coating, and may also form a reflective surface.

The laser ranging sensor 3 is vertically aligned with the reflecting surface along the up-down direction, the reflecting surface is horizontally arranged, a ranging channel is formed between the laser ranging sensor 3 and the reflecting surface, and no other component in the ranging channel shields the laser from propagating. The laser ranging sensor 3 is used for emitting laser along the vertical direction to irradiate on the reflecting surface, the reflecting surface is used for reflecting the laser, the laser ranging sensor 3 is also used for receiving the laser reflected by the reflecting surface, the laser ranging sensor 3 calculates the distance between the laser ranging sensor 3 and the reflecting surface according to the time difference between the emitted laser and the received laser, and generates a corresponding second detection signal, and the second detection signal can be used for calculating the absolute height position of the X-ray receiver 11.

In other embodiments, the laser light emitted by the laser ranging sensor 3 may be inclined at an angle with respect to the vertical, and the corresponding reflecting surface may have the same inclination angle with respect to the horizontal plane, and the laser ranging sensor 3 is configured to measure the distance between the laser ranging sensor 3 and the reflecting surface, and the distance, in combination with the inclination angle of the emitted laser light, may also be used to calculate the absolute height position at which the X-ray receiver 11 is lifted.

In this embodiment, the laser ranging sensor 3 is fixedly installed, and the reflecting surface is used as a moving member, so that the stability of the laser ranging sensor 3 for transmitting and receiving laser light can be provided. In other embodiments, the positions of the laser ranging sensor 3 and the reflecting surface may be interchanged, the laser ranging sensor 3 is disposed on the counterweight 135 or other second linkage component, and the reflecting surface is fixedly disposed in the accommodating cavity of the second support 12, so that the height position measurement of the X-ray receiver 11 may also be implemented.

In this embodiment, the X-ray receiving device 1 further includes a control device 4, and the control device 4 is respectively connected with the driving motor 131 and the laser ranging sensor 3 in a signal manner. The control device 4 comprises a processing unit and a control unit, wherein the processing unit is used for calculating an absolute height position according to the first detection signal, and the control unit is used for controlling one or both of the X-ray emitter and the X-ray receiver 11 to move up and down according to the absolute height position so as to realize horizontal alignment or move to a designated position.

In other embodiments, the X-ray receiving device 1 may not include the control device 4, the control device 4 may be mounted on another device such as the X-ray emitting device or a host computer, the driving motor 131 and the laser ranging sensor 3 of the X-ray receiving device 1 may be connected to the control device 4 through wired or wireless communication, and the height position measurement and the elevation control of the X-ray receiver 11 may be realized.

In the present embodiment, the principle of the laser ranging sensor 3 for measuring the absolute height position of the elevation of the X-ray receiver 11 is as follows:

the control device 4 stores an initial height position in advance, and the height position H0 of the laser distance measuring sensor 3 with respect to the ground. The height position H of the X-ray receiver 11 relative to the ground and the height position H1 of the reflecting surface relative to the ground have a fixed relationship, and the sum of the heights of the two and the length L of the conveyor belt 133 is a fixed value, which is equal to twice the height H2 of the highest point of the fixed pulley 132 relative to the ground, i.e., h+h1+l=2xh2. It should be noted that the height position H of the X-ray receiver 11 relative to the ground may be the height position of the connection between the first end of the conveyor belt 133 and the trolley 135, or the height position of the connection between the first end of the conveyor belt 133 and the trolley 135 may be obtained by adding a corresponding fixed difference.

When the X-ray receiver 11 moves up and down, the laser ranging sensor 3 measures and generates a second detection signal, the control device 4 obtains the time difference between the laser ranging sensor 3 and the reflecting surface according to the second detection signal, calculates the relative height position H3 (the height difference between the two) between the laser ranging sensor 3 and the reflecting surface, and calculates the height position H1 of the reflecting surface relative to the ground according to the prestored height position H0 of the laser ranging sensor 3 and the height difference H3 between the laser ranging sensor 3 and the reflecting surface, wherein h1=h0-H3;

knowing the values of H1, L and H2, H1 (perceived absolute height position) can be calculated by the formula h+h1+l=2×h2 above.

If the laser ranging sensor 3 does not emit laser light vertically, the inclination angle of the laser light with respect to the vertical direction is substituted into the calculation, and the height difference between the laser ranging sensor 3 and the reflecting surface can be calculated as well.

In other embodiments, when the reflecting surface is lifted and lowered together with the X-ray receiver 11, there is a fixed height difference H4 between the reflecting surface and the X-ray receiver 11, and the height difference may be zero; the absolute height position H of the X-ray receiver 11 can be calculated by the formula h=h0-H4-H3.

In other embodiments, the X-ray receiving device 1 may also be of a horizontal type structure, the X-ray receiving device 1 having an X-ray receiver 11 movable in a horizontal direction, and a laser ranging sensor for simultaneously measuring the horizontal position of the X-ray receiver.

The driving belt 133 in the second driving assembly 13 is disposed along a horizontal direction, and the driving motor 131 drives the driving belt 133 to move along the horizontal direction, so as to drive the X-ray receiver 11 to move horizontally.

The laser ranging sensor 3 may be an optical, acoustic or electromagnetic ranging sensor, the laser ranging sensor 3 and the reflecting surface are aligned on a horizontal line, and a horizontal ranging channel is formed between the laser ranging sensor 3 and the reflecting surface. The laser ranging sensor 3 is configured to transmit and receive a wireless signal such as laser light, ultrasonic wave, or electromagnetic wave, and generate a first detection signal. The first detection signal may be used to calculate an absolute horizontal position of the X-ray receiver 11 after the horizontal movement, where the absolute horizontal position is a horizontal coordinate position of the X-ray receiver 11, a zero point coordinate is set in a direction in which the X-ray receiver 11 horizontally moves, and the X-ray receiver 11 is at a horizontal position relative to the zero point coordinate.

In one embodiment, an X-ray emitting device 2 is provided, the X-ray emitting device 2 is in a vertical structure, and the X-ray emitting device 2 has a liftable X-ray receiver. The X-ray transmitting device 2 is further provided with a laser ranging sensor, the laser ranging sensor is used for measuring the height position of the X-ray receiver, and the laser ranging sensor is adopted to reduce errors, so that the high-precision following of the X-ray receiver is facilitated, and the shooting efficiency is improved.

In other embodiments, the X-ray emitting device 2 may be a suspended structure, and the X-ray emitting device 2 also has a liftable X-ray receiver, and the laser ranging sensor is used to measure the height position of the lifting X-ray receiver at the same time.

Referring to fig. 5 and 6, the X-ray emitting device 2 of the present embodiment mainly includes an X-ray emitter 21, a first support 22 and a first driving assembly 23, wherein the ranging sensor 3 is installed in the first support 22.

The lower end of the first support 22 is provided with a ground rail 24, the first support 22 is placed on the ground through the ground rail 24, the lower end of the first support 22 is slidably connected with the ground rail 24 through a pulley, and the first support 22 can move along the horizontal direction relative to the ground rail 24.

The first support 22 may include a column 221 and a cantilever 222, the column 221 and the first support 22 may have the same or similar structure, the first driving assembly 23 and the second driving assembly 13 may have the same or similar structure, and the distance measuring sensor 3 may be mounted in the column at the same or similar position as the X-ray receiving apparatus 1, which will not be described again,

one end of the cantilever 222 is fixedly mounted on the pulley of the first driving assembly 23, and the cantilever 222 can move up and down along the chute on the upright 221.

The X-ray emitter 21 may be an emission sphere, and the X-ray emitter 21 is configured to emit X-rays to be irradiated to a subject. The X-ray emitter 21 is mounted at the end of the cantilever 222 remote from the upright 221, and the X-ray emitter 21 is also rotatable relative to the cantilever 222. The first driving assembly 23 is used for driving the X-ray emitter 21 to lift and lower together with the cantilever 222.

In this embodiment, the X-ray emitter 21 has a first linkage member, which moves up and down along with the X-ray emitter 21, and the direction of the first linkage member can be the same as or opposite to that of the X-ray emitter 21. The belt, counterweight and sled 222 on the first drive assembly 23 may all be the first linkage member of the X-ray emitter 21.

In this embodiment, the distance measuring sensor 3 is mounted in the receiving cavity of the first support 22. The laser ranging sensor 3 may be one or more ranging sensors such as an infrared ranging sensor, a radar ranging sensor, an ultrasonic ranging sensor, etc., and the various ranging sensors are respectively and independently detected and then a plurality of results are compared and analyzed to further eliminate measurement errors and improve measurement accuracy. The laser ranging sensor 3 is installed at the top or upper end of the accommodation cavity of the upright 221, and the reflecting surface is disposed on the first linkage member, for example, the reflecting surface is disposed at the upper end of the balancing weight.

In other embodiments, the laser ranging sensor 3 may also be mounted on the first linkage member, for example, the laser ranging sensor 3 is mounted on the upper end of the balancing weight; the reflecting surface is disposed at the top or upper end of the receiving cavity of the post 221.

In this embodiment, the laser ranging sensor 3 and the reflecting surface are aligned on a vertical straight line, and a ranging channel is formed therebetween, and the ranging channel is disposed along the vertical direction. Of course, the laser ranging sensor 3 and the reflecting surface are aligned on a straight line inclined, and the ranging channel is disposed along the inclined direction. The distance measuring channel is vertically or obliquely arranged, so that the propagation of wireless signals such as laser, infrared rays, electromagnetic waves or ultrasonic waves can be realized. For example, the laser ranging sensor 3 is configured to emit laser light to the reflecting surface and receive laser light reflected by the reflecting surface, and generate a second detection signal, which can be used to calculate an absolute height position at which the X-ray emitter 21 is lifted.

In this embodiment, the X-ray emitting device 2 further includes a control device 4, and the control device 4 is respectively connected with the driving motor of the first driving assembly 23 and the laser ranging sensor 3 in a signal manner. The control device 4 includes a processing unit and a control unit, the processing unit is used for respectively calculating the absolute height position according to the second detection signal, and the control unit controls one or both of the X-ray emitter 21 and the X-ray receiver 11 to move up and down along with the absolute height position, so as to realize horizontal alignment or move to a designated position.

In other embodiments, the X-ray emitting device 2 may not include the control device 4, the control device 4 is mounted on the X-ray receiving device 1 or another device such as a host computer, the driving motor of the first driving component 23 of the X-ray emitting device 2 and the laser ranging sensor 3 are connected with the control device 4 in a wired or wireless communication manner, and the height position measurement and the lifting control of the X-ray emitter 21 can also be realized.

In this embodiment, the measurement and calculation principle of the laser ranging sensor 3 on the X-ray emitting device 2 is the same as or similar to that of the laser ranging sensor 3 on the X-ray receiving device 1, and will not be described in detail here.

Referring to fig. 7 and 8, in one embodiment, an X-ray imaging system is provided, which includes the X-ray receiving device 1 in any of the above embodiments and the X-ray emitting device 2 in any of the above embodiments, and further includes the laser ranging sensor 3 and the control device 4. Wherein, the X-ray receiving device 1 and the X-ray transmitting device 2 are provided with distance measuring sensors such as a laser distance measuring sensor 3, the laser distance measuring sensor 3 on the X-ray receiving device 1 is used for detecting the absolute height position and the relative height position of the X-ray receiver 11, and the laser distance measuring sensor 3 on the X-ray transmitting device 2 is used for detecting the absolute height position and the relative height position of the X-ray transmitter 21. The laser distance measuring sensor 3 on the X-ray receiving device 1 and the X-ray transmitting device 2 can work and detect at the same time, or can select one of the work and detect, and can realize that the X-ray receiver 11 and the X-ray transmitter 21 move to the designated height position or follow each other.

In other embodiments, one of the X-ray receiving device 1 and the X-ray emitting device 2 is mounted with the laser ranging sensor 3, also enabling the X-ray receiver 11 and the X-ray emitter 21 to be moved to a specified height position or to follow each other.

In the present embodiment, the control device 4 may be mounted on one of the X-ray receiving device 1 and the X-ray emitting device 2. In other embodiments, the X-ray imaging system may not include a control device, and the control device 4 may be mounted on another device such as a host computer.

In this embodiment, taking the case that the ranging sensor 3 is disposed on the X-ray receiving device 1 as an example, in this embodiment, the control device 4 is respectively connected with the second driving component 13 and the laser ranging sensor 3 in a signal manner, the control device 4 calculates the absolute height position and the relative height position of the X-ray receiver 11 according to the first detection signals respectively generated by the laser ranging sensor 3, and then performs a comparative analysis on the two height positions, so as to eliminate an error and select one with more accurate position precision as the absolute height position, or take the average value of the two height positions as the absolute height position. The control device 4 controls one or both of the first driving assembly 23 and the second driving assembly 13 according to the final result, and drives one or both of the X-ray receiver 11 and the X-ray emitter 21 to move up and down, so as to follow each other or move to a designated position.

The usage scenario is as follows: when a doctor manually or electrically drives the X-ray receiver 11 to move up and down to a designated position, the designated position is horizontally aligned with a photographing site of a photographing object; the ranging sensor 3 detects the absolute height position of the X-ray receiver 11 after movement; the control device 4 controls the X-ray emitter 21 to move up and down to the same height as the X-ray receiver 11, so as to realize automatic following. Conversely, when the doctor actively controls the X-ray emitter 21 to move up and down, the X-ray receiver 11 can also move to the same height as the X-ray emitter 21.

In this embodiment, the X-ray imaging system uses the laser ranging sensor to measure the height, and uses the ranging sensor such as the laser ranging sensor 3 to measure the height position of the X-ray emitter 21 relative to the ground, so as to reduce the elimination error, and finally improve the detection precision and the imaging efficiency.

The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.

Claims

1. An X-ray imaging system, comprising:

2. The X-ray imaging system according to claim 1, wherein the laser ranging sensor is fixed to a top of the second support member, and the reflecting surface is provided at an end of the second linkage member.

3. The X-ray imaging system according to claim 2, wherein the second linkage member has a reflecting portion of an integrated structure, the reflecting portion forming the reflecting surface; alternatively, the second linkage member is provided with a reflecting plate, and at least one surface of the reflecting plate forms the reflecting surface.

4. An X-ray imaging system according to claim 3, wherein a reflective coating is provided on the reflective portion or the reflective plate, the reflective coating forming the reflective surface.

5. The X-ray imaging system according to claim 2, wherein the second linkage member comprises a belt and a weight, the reflective surface being located on the belt and/or the weight.

6. The X-ray imaging system according to claim 5, wherein the second driving assembly further comprises a second driving motor and a fixed pulley, the second driving motor and the fixed pulley are arranged on the second supporting member, the second driving motor is connected with the fixed pulley, the driving belt is wound on the fixed pulley, two ends of the driving belt are located on two sides of the fixed pulley, one end of the driving belt is connected with the X-ray receiver, the other end of the driving belt is connected with the balancing weight, and the second driving motor drives the X-ray receiver to ascend and descend through the fixed pulley and the driving belt.

7. The X-ray imaging system of claim 6, wherein the second drive assembly further comprises a carriage, the carriage being disposed on the second support member, the belt being coupled to the carriage, the X-ray receiver being disposed on the carriage.

8. The X-ray imaging system according to any one of claims 1 to 7, wherein the second support is a column, a chute in a vertical direction is provided on a side surface of the column, the second driving assembly and the laser ranging sensor are located in the column, the X-ray receiver is located outside the column, and the X-ray receiver is connected to the second driving assembly through the chute.

9. The X-ray imaging system of claim 8, wherein a mounting box is provided within the column, the mounting box having an opening or aperture, the laser ranging sensor being located within the mounting box, the laser ranging sensor emitting and receiving laser light through the opening or aperture.

10. An X-ray imaging system, comprising:

11. The X-ray imaging system of claim 10, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

12. An X-ray imaging system, comprising:

13. The X-ray imaging system of claim 12, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

14. An X-ray imaging system, comprising:

15. The X-ray imaging system of claim 14, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

16. An X-ray receiving device is characterized by comprising an X-ray receiver, a second support, a second driving component and a laser ranging sensor, wherein the X-ray receiver is arranged on the second support in a lifting manner and is used for receiving X-rays passing through a shooting object; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move up and down; the second drive assembly includes a second linkage member that is linked to the X-ray receiver;

17. The X-ray receiving device of claim 16, wherein the laser ranging sensor is fixed to a top of the second support, and the reflecting surface is provided at an end of the second linkage member.

18. The X-ray receiving device according to claim 17, wherein the second linkage member has a reflecting portion of an integrated structure, the reflecting portion forming the reflecting surface; alternatively, the second linkage member is provided with a reflecting plate, and at least one surface of the reflecting plate forms the reflecting surface.

19. The X-ray receiving device according to claim 18, wherein a reflective coating is provided on the reflective portion or the reflective plate, the reflective coating forming the reflective surface.

20. The X-ray receiving device according to claim 17, wherein the second linkage member comprises a belt and a weight, the reflecting surface being located on the belt and/or the weight.

21. The X-ray receiving device according to any one of claims 16 to 20, wherein the second support member is a column, a chute in a vertical direction is provided on a side surface of the column, the second driving assembly and the laser ranging sensor are located in the column, the X-ray receiver is located outside the column, and the X-ray receiver is connected to the second driving assembly through the chute.

22. An X-ray receiving device, comprising an X-ray receiver, a second support, a second driving assembly and a ranging sensor, wherein the X-ray receiver is movably arranged on the second support and is used for receiving X-rays passing through a shooting object; the second driving component is arranged on the second supporting piece and is connected with the X-ray receiver, and the second driving component is used for driving the X-ray receiver to move; the second drive assembly includes a second linkage member that is linked to the X-ray receiver;

23. The X-ray receiving device of claim 22, wherein the ranging sensor is fixed to a top of the second support member, and the reflecting surface is provided at an end of the second linkage member.

24. The X-ray receiving device according to claim 22, wherein the second linkage member has a reflecting portion of an integrated structure, the reflecting portion forming the reflecting surface; alternatively, the second linkage member is provided with a reflecting plate, and at least one surface of the reflecting plate forms the reflecting surface.

25. The X-ray receiving device according to claim 24, wherein a reflective coating is provided on the reflective portion or the reflective plate, the reflective coating forming the reflective surface.

26. The X-ray receiving device according to any one of claims 23 to 25, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

27. The X-ray emission device is characterized by comprising an X-ray emitter, a first supporting piece, a first driving component and a laser ranging sensor, wherein the X-ray emitter is arranged on the first supporting piece in a lifting manner and is used for emitting X-rays to a shooting object, the first driving component is arranged on the first supporting piece and is connected with the X-ray emitter, and the first driving component is used for driving the X-ray emitter to move in a lifting manner; the first drive assembly includes a first linkage member that is linked with the X-ray emitter;

28. The X-ray emitting apparatus according to claim 27, wherein the laser ranging sensor is fixed on top of the first support, and the reflecting surface is provided on the first linkage member.

29. The X-ray emitting device of claim 28, wherein the first linkage member has a reflective portion of unitary construction, the reflective portion forming the reflective surface; alternatively, the first linking member may be provided with a reflecting plate, and at least one surface of the reflecting plate may form the reflecting surface.

30. The X-ray emitting device according to claim 29, wherein a reflective coating is provided on the reflective portion or the reflective plate, the reflective coating forming the reflective surface.

31. An X-ray emitting device is characterized by comprising an X-ray emitter, a first supporting piece, a first driving component and a distance measuring sensor, wherein the X-ray emitter is movably arranged on the first supporting piece and is used for emitting X-rays to a shooting object, the first driving component is arranged on the first supporting piece and is connected with the X-ray emitter, and the first driving component is used for driving the X-ray emitter to move; the first drive assembly includes a first linkage member that is linked with the X-ray emitter;

32. The X-ray emitting device of claim 31, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.