WO2020087935A1 - 一种ct - Google Patents

一种ct Download PDF

Info

Publication number
WO2020087935A1
WO2020087935A1 PCT/CN2019/090906 CN2019090906W WO2020087935A1 WO 2020087935 A1 WO2020087935 A1 WO 2020087935A1 CN 2019090906 W CN2019090906 W CN 2019090906W WO 2020087935 A1 WO2020087935 A1 WO 2020087935A1
Authority
WO
WIPO (PCT)
Prior art keywords
baffle
limit switch
cable
turntable
slider
Prior art date
Application number
PCT/CN2019/090906
Other languages
English (en)
French (fr)
Other versions
WO2020087935A8 (zh
Inventor
郭彦彬
刘煜
华越轩
孙意成
谢庆国
Original Assignee
苏州瑞派宁科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州瑞派宁科技有限公司 filed Critical 苏州瑞派宁科技有限公司
Publication of WO2020087935A1 publication Critical patent/WO2020087935A1/zh
Publication of WO2020087935A8 publication Critical patent/WO2020087935A8/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A61B6/035—Mechanical aspects of CT
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/508—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for non-human patients

Definitions

  • the invention relates to an auxiliary structure of medical imaging equipment, and more particularly to a CT.
  • Computerized tomography is a non-destructive imaging technology that uses X-ray cable drag chain to scan a certain thickness layer of a specific part such as an animal or a prosthesis, and uses the data obtained by scanning to reconstruct Obtaining images of the internal structure of scanned objects is widely used in industrial, security, medical and biomedical fields, especially in the field of small animal imaging.
  • CT is an effective method for biological detection at the whole body level of small animals.
  • Common CT equipment mainly includes three parts: a scanning part, a computer system, and an image display system.
  • the scanning part includes an X-ray generator, a detector, and a scanning rack.
  • the computer system is used to collect the information data of the detector and perform storage operations.
  • the image display system is used to display the image processed and reconstructed by the computer system on the display.
  • the X-ray generator and the detector need to rotate around the scanning object at high speed for data acquisition or to rotate and scan the region of interest of the scanning object according to a special track.
  • the X-ray generator and the detector are in a high-speed rotation state during operation, how to provide stable power supply and communication is particularly important.
  • the X-ray generator and the detector can be powered and communicated through a slip ring or through a cable.
  • the slip ring has poor stability, high noise and high cost; CT equipment that uses cables often uses a complex cable crimping mechanism to ensure that the cable does not twist, pull, or fall off within a certain rotation angle. This makes the rotating parts of the CT equipment only positive and negative. Rotate alternately.
  • it is often necessary to add an additional power source which increases the difficulty of controlling the equipment and the complexity of the structure.
  • the CT disc can only rotate within a limited angle. If it exceeds the limit, it will have a pulling effect on the energy chain and the harness, damage its life and even cause a safety accident.
  • the limit position is essential for the CT disk to quickly and accurately find the origin position. Therefore, it is especially important to obtain a stable and reliable limit signal of the CT disk important. For a CT with an effective angular range that greatly exceeds the range of one revolution, it is not possible to obtain a limit signal by fixing the limit switch on the CT disc.
  • the purpose of the present invention is to provide a CT, so as to solve the problems in the prior art that the CT turntable cannot accurately perform rotational positioning and the cost is high.
  • the technical solution of the present invention is to provide a CT including a gantry, a CT turntable, a CT rotation axis, and a cable, wherein the CT turntable and the CT rotation axis are concentric and fixed to all On the machine frame, the cable extends from the machine frame to the CT rotation axis, wherein the CT further includes a limit mechanism, and the limit mechanism includes: a driving portion, the driving portion has A driver, a first synchronous belt wheel and a transmission shaft, the driver is connected to the transmission shaft, the synchronous belt wheel is fixed on the transmission shaft, and the synchronous belt wheel is connected to the CT rotating shaft through a first conveyor belt ; And a linear motion part, the linear motion part has a third synchronous pulley, ball screw, slider and limit switch, the third synchronous pulley is provided on the ball screw and the drive shaft In cooperation, the slider is arranged on the ball screw and cooperates with the ball screw, and the slider simultaneously cooperates with the limit switch.
  • a second timing pulley is further provided on the transmission shaft, and the second timing pulley and the third timing pulley are connected by a second conveyor belt.
  • a first bevel gear is further provided on the transmission shaft, and a second bevel gear meshing with the first bevel gear is used as the third timing pulley.
  • a protruding sensing block is provided on the slider, the limit switch includes a first limit switch and a second limit switch arranged at intervals, and the sensing block is located on the first Between a limit switch and the second limit switch, the slider cooperates with the limit switch through the sensing block.
  • the linear motion part is fixed on the frame through a fixed support, and the ball screw is fixed on the fixed support.
  • a plurality of optical axes are further provided on the fixed support, and the optical axes pass through the slider.
  • the limit switch includes a first limit switch and a second limit switch arranged at intervals, and the slider is located between the first limit switch and the second limit switch and Cooperate with the first limit switch and the second limit switch respectively.
  • the CT further includes a winding structure including: a first baffle; a second baffle, the second baffle and the first baffle are respectively fixed to On two opposite sides of the CT rotating shaft, the second baffle and the first baffle form a V-shaped or inverted trapezoidal groove, and the CT rotating shaft and the cable are accommodated in the groove Inside, the two ends of the cable are respectively fixed to the CT rotating shaft and the bottom of the groove.
  • the winding structure further includes a cable drag chain, two ends of the cable drag chain are respectively fixed to the CT rotating shaft and the bottom of the groove, the cable drag chain Integrate with the cable to form a whole.
  • the angle between the first baffle and the second baffle is between 20 ° and 60 °.
  • the winding structure further includes: a third baffle, the third baffle is connected to the first baffle; a fourth baffle, the fourth baffle is connected to the A second baffle; and a fifth baffle, the fifth baffle is connected to the third baffle and the fourth baffle, the third baffle, the fourth baffle and the The fifth baffle forms a rectangular groove.
  • the winding structure further includes a fifth baffle, the fifth baffle connects the first baffle and the second baffle, and the width of the groove is from The fifth baffle began to gradually increase.
  • the rotation angle of the CT rotation axis ranges from -90 ° to 450 °.
  • the length of the cable drag chain and the cable match the rotation angle of the CT rotation axis, and the distance of the limit switch corresponds to the rotation angle of the CT rotation axis match.
  • the CT further includes: an X-ray generator, the X-ray generator is disposed on the CT turntable; and a detector, the detector is disposed on the CT turntable and is The X-ray generator is relatively arranged, the detector receives the X-rays emitted by the X-ray generator and converts them into electrical signals, and the cables are electrically connected to the X-ray generator and the detector and / or Communication connection.
  • the CT further includes a CT origin sensor, and the CT origin sensor is fixed on the gantry to measure the rotational position of the CT turntable.
  • the CT provided by the present invention performs motion conversion through a transmission mechanism, and converts the rotary motion of the CT turntable into a linear motion without repetitive motion areas.
  • the limit of the rotary motion of the CT turntable is realized by limiting the linear motion mechanism, thereby simplifying
  • the mechanism solves the problem of the limit of the CT turntable, and the cost is extremely low.
  • the winding structure of the present invention can prevent the cable from swinging and winding at will, and can quickly store the cable in the groove.
  • the CT provided with the winding structure provided by the present invention is especially suitable for small animal CT, and can improve the stability of the small animal CT system and reduce the system control under the premise of ensuring the rapid scanning speed and appropriate scanning angle of the small animal CT Difficulty and complexity of the structure, thereby further reducing costs.
  • FIG. 1 is a front perspective schematic view of a CT according to an embodiment of the present invention
  • FIG. 2 is a schematic perspective view of the back of the CT according to FIG. 1;
  • FIG. 3 is an enlarged schematic view of the limit mechanism of the CT according to FIG. 1;
  • FIG. 4 is an enlarged schematic diagram of another angle limit mechanism according to the CT of FIG. 1;
  • FIG. 5 is a schematic perspective view of the front of a CT according to another embodiment of the present invention.
  • FIG. 6 is a perspective schematic view of the back of the CT according to FIG. 5;
  • FIG. 7 is an enlarged schematic view of the limit mechanism of CT according to FIG. 5;
  • FIG. 8 is a schematic plan view of a rack and a baffle according to the winding structure of the CT of FIG. 1, wherein the CT turntable is not shown;
  • FIG. 9 is a schematic side view of a frame and a baffle according to the winding structure of CT of FIG. 3;
  • FIG. 10 is a schematic diagram of the back of the CT according to FIG. 1, wherein the cable drag chain is at the initial position of 0 °;
  • FIG. 11 is a schematic view of the back of the CT according to FIG. 1 using a winding structure, in which the cable drag chain is at -90 °;
  • FIG. 12 is a schematic diagram of the back of the CT using the winding structure according to FIG. 6, wherein the cable drag chain is at a 90 ° position;
  • FIG. 13 is a schematic view of the back of the CT using the winding structure according to FIG. 6, wherein the cable drag chain is at a 180 ° position;
  • FIG. 14 is a schematic view of the back of the CT using the winding structure according to FIG. 6, wherein the cable drag chain is at a 270 ° position;
  • 15 is a schematic diagram of the back of the CT using the winding structure according to FIG. 6, wherein the cable drag chain is in the 360 ° position;
  • FIG. 16 is a schematic back view of the CT using the winding structure according to FIG. 6, wherein the cable drag chain is at the 450 ° position.
  • connection / coupling refers to the presence of features, steps or components / parts, but does not exclude the presence or addition of one or more other features, steps or components / parts.
  • connecting / or includes any and all combinations of one or more of the associated listed items.
  • FIG. 1 is a perspective schematic view of a CT according to an embodiment of the present invention
  • FIG. 2 is a perspective schematic view of another angle of the CT of FIG. 1, as can be seen from FIG. 1 in conjunction with FIG. 2,
  • the CT provided by the present invention includes a gantry 1, a CT turntable 2.
  • the frame 1 is a frame structure;
  • the CT turntable 2 is in the shape of a disk with a circular opening in the middle;
  • the CT rotating shaft 3 is in the shape of a cylinder
  • the CT rotation axis 3 is arranged on the CT turntable 2.
  • the centers of the CT rotation axis 3 and the CT turntable 2 coincide and have a common circular opening.
  • the axis of the CT rotation axis 3 is perpendicular to the plane where the CT turntable 2 is located.
  • the shaft 3 is installed on the rack 1 through the support; the cable 5 and the CT rotating shaft 3 are located on the same side of the CT turntable 2, one end of the cable 5 is fixed on the rack 1, and the other end of the cable 5 is fixed on the CT rotation
  • the winding structure 6 includes two baffles 61, 62.
  • the two baffles 61, 62 are located between the CT turntable 2 and the frame 1.
  • the two baffles 61, 62 are about the CT turntable 2.
  • the centers of the circles are symmetrically arranged and are located on opposite sides of the CT rotation axis 3, respectively.
  • the two baffles 61, 62 form a "V" -shaped structure or an inverted trapezoidal structure similar to the groove That is, the spacing between the two baffles 61 and 62 is narrower at one end and wider at the other end, and the cable 5 is generally accommodated in the "V" shaped groove or inverted trapezoidal structure;
  • the limit mechanism includes a driving portion 9 and
  • the linear motion part 10 and the driving part 9 include a driver, a transmission shaft and a first conveyor belt 8, the first conveyor belt 8 is respectively disposed on the transmission shaft and the CT rotation shaft 3, so that the driver drives the CT rotation shaft 3 and the CT turntable through the first conveyor belt 2 Rotates relative to the frame 1, the linear motion part 10 cooperates with the driving part 9 and converts the rotary motion of the transmission shaft and the CT rotary axis 3 into linear motion.
  • the frame 1 is a frame structure formed by rods, plates, etc., and several flat table tops may be provided on the frame 1 to support or place other components, such as ,
  • the rack 1 is also provided with a first platform 11 and a second platform 12, the first platform 11 and the second platform 12 are connected by a number of rods to form a whole, which belongs to the conventional technical means in the field, This will not be repeated here.
  • the shape of the rack 1 can also be changed according to actual needs, which is only an example and not a limitation.
  • a plurality of universal wheels 13 are installed on the second platform 12 of the rack 1 to facilitate moving the position of the rack 1, and a plurality of lifting supports 14 are installed on the second platform 12 of the rack 1 to adjust the rack 1 s position.
  • the CT turntable 2 is provided with several reserved holes 21 for installing various components, such as an X-ray generator 22 and a detector 25, where X
  • the ray generator 22 is fixed to the bracket 23, and the bracket 23 is fixed to the reserved hole 21 of the CT turntable 2 by bolts.
  • the detector 25 and the X-ray generator 22 are arranged substantially symmetrically with respect to the center of the CT turntable 2.
  • the detector 25 is used to The X-rays emitted by the X-ray generator 22 are received and converted into electrical signals for output, which will not be repeated here.
  • the CT turntable 2 can rotate clockwise or counterclockwise around the center of the circle under the action of an external force.
  • the external force can be a driving device commonly used in the art, such as a motor, which will not be repeated here.
  • the CT rotating shaft 3 is rotated by the drive of the driving portion 9 through the first conveyor belt 8.
  • the CT rotating shaft 3 can also integrate a driving device and a power supply device, Communication equipment, where the drive equipment is used to drive the rotation of the CT rotating shaft 3, the CT turntable 2, and the drive shaft, the power supply equipment is used to provide electrical support for the drive equipment and the X-ray generator 22, detector 25 and other components, and the communication equipment is used to Providing communication support for the X-ray generator 22, the detector 25, etc. to facilitate signal transmission, which is consistent with the CT principle commonly used in the art and will not be repeated here.
  • a first cable connector (not shown) is provided on the outer side of the CT rotating shaft 3 to facilitate the fixed connection of the cable 5 and the CT rotating shaft 3.
  • the rack 1 is provided with a second cable connector (not shown) to facilitate the fixing of the cable 5 and the rack 1.
  • the cable 5 may include several wires, and two ends of each wire may be provided with corresponding connectors, and several connectors may form a first / second cable connector together.
  • the first cable connector includes several connectors
  • the second cable connector contains several connectors to connect the power supply device and the signal receiving / respectively Sending equipment.
  • the cable 5 is fixed to the CT rotating shaft 3 and the frame 1 through the first cable connector and the second cable connector, because the cable 5, the CT rotating shaft 3 and the frame 1 are located on the same side of the CT turntable 2, Moreover, the cable 5 has a certain length, so the cable 5 is substantially wound on the CT rotating shaft 3.
  • the winding structure further includes a cable drag chain 4, and the two ends of the cable drag chain 4 are respectively provided with a first drag link 41 and a second drag link 42
  • the first tow-chain connector 41 and the second tow-chain connector 42 are respectively connected to the first cable connector and the second cable connector to facilitate fixing the cable towline 4.
  • the cable drag chain 4 is combined with the cable 5 to form an integrated body.
  • the specific combination may include the following forms: the cable 5 is fixed in the cable drag chain 4 by a cable tie, and the cable drag chain 4 covers the cable 5.
  • the cable 5 is fixed on the cable towline 4 by other components, or the cable towline 4 and the cable 5 are integrally formed and the like, which is only an example and not a limitation.
  • the cable drag chain 4 is made of a flexible material, and the first drag link 41 and the second drag link 42 at both ends can be made into a plug / socket style to facilitate connection with the CT rotating shaft 3, the frame 1 or other external components .
  • the lengths of the cable drag chain 4 and the cable 5 match the rotation number or rotation angle of the CT turntable 2, for example, in this embodiment, the maximum continuous rotation angle of the CT turntable 2 is 450 degrees, that is, the cable drag
  • the chain 4 needs to be wound one and a half times along the outer diameter of the CT rotating shaft 3, considering the appropriate redundant length, the length of the cable 5 and the cable drag chain 4 is about 2.4 to 3 meters, preferably 2.5 meters.
  • the CT turntable 2 is also provided with an opening 24 through which the cable 5 passes through the CT turntable 2 to facilitate connection with the X-ray generator 22 and the detector 25. Since all the cables 5 are placed in the cable towline 4, when extending from the first towing link 41, they need to be twisted by 90 degrees to make the cables 5 pass through the CT turntable 2 smoothly.
  • the CT further includes a CT origin sensor fixing bracket 31 and a CT origin sensor 32, wherein the CT origin sensor fixing bracket 31 is fixed to the support of the CT rotation axis 3 along the vertical direction
  • the CT origin sensor 32 is located at the top of the CT origin sensor fixing bracket 31.
  • the CT origin sensor 32 is also located at the top of the CT turntable 2 in order to detect whether the CT turntable 2 reaches the origin. After the CT turntable 2 reaches the origin, the CT origin sensor 32 will Generate a trigger signal to facilitate motion control.
  • the limit mechanism includes a driving part 9 and a linear motion part 10.
  • the driving part 9 includes a driver 91, a transmission shaft 92, a first timing pulley 93 and a second timing pulley 94.
  • the driver 91 may be a motor, and the driver 91 passes through a fixed bracket 95 Fixed on the panel 15 of the frame 1, the drive 91 outputs torque through the transmission shaft 92, the first timing pulley 93 and the second timing pulley 94 are respectively fixed on the transmission shaft 92 and rotate synchronously with the transmission shaft 92, the first The selection of the diameter and meshing tooth shape of the timing belt pulley 93 and the second timing belt pulley 94 can be designed according to the needs of the transmission ratio.
  • the first conveyor belt 8 is provided at The first timing pulley 93 and the CT rotating shaft 3, so that the drive 91 can drive the CT rotating shaft 3 and the CT turntable 2 to rotate relative to the frame 1 through the first conveyor belt 8; roll The lead screw 102, the third timing pulley 103, the slider 104, the sensing block 105, the first limit switch 106 and the second limit switch 107, wherein the extension direction of the ball screw 102 is parallel to the extension direction of the transmission shaft 92 ,
  • the ball screw 102 is fixed to the panel 15 of the frame 1 through a fixed support 101, and one end of the ball screw 102 is provided with a third timing pulley 103, between the third timing pulley 103 and the second timing pulley 94 Connected by the second conveyor belt 19, the running plane of the second conveyor belt 19 is perpendicular to the extension direction of the ball screw 102 and the extension direction of the transmission shaft 92.
  • the ball screw 102 When the transmission shaft 92 rotates, the ball screw 102 can be driven to synchronize through the second conveyor belt Rotate; the ball screw 102 is also provided with a slider 104, the slider 104 cooperates with the ball screw 102 and slides back and forth on the ball screw 102; the slider 104 is provided with a sensing block 105 protruding outward, the sensing block 105 moves with the slider 104; the fixed support 101 is provided with a first limit switch 106 and a second limit switch 107 that are arranged at intervals, and the first limit switch 106 and the second limit switch 107 use photoelectric switches, respectively. The slider 104 is provided with a first limit position The sensing block 105 is between the switch 106 and the second limit switch 107.
  • the first limit switch 106 moves to the control module (not shown) ) Send a signal to cause the control module to control the driver 91 to rotate in the reverse direction, thereby further moving the slider 104 in the reverse direction toward the second limit switch 107.
  • the second limit switch 107 also sends a signal to the control module and switches the motion state of the driver 91, so that the sensing block 105 reciprocates between the first limit switch 106 and the second limit switch 107.
  • two optical axes 108 are also provided between the fixed supports 101, and the two optical axes 108 are distributed on both sides of the ball screw 102 and pass through the slider 104 at the same time, thereby supporting The slider 104 moves more smoothly along the ball screw 102.
  • the fixed support is provided with a first limit switch and a second limit switch that are arranged at intervals, and the first limit switch and the second limit switch are respectively provided as convex plate-like structures ,
  • the slider is located between the first limit switch and the second limit switch.
  • the slider moves and contacts the first limit switch, the slider sends a signal to the control module to cause the control module to control the driver 91 to rotate in the reverse direction. Therefore, the slider is further moved toward the second limit switch in reverse.
  • the slider contacts the second limit switch, the slider also sends a signal to the control module and switches the motion state of the driver 91, so that the slider is in the first position.
  • the limit switch and the second limit switch reciprocate.
  • the connections and functions of other components are the same as those described in the embodiment of FIG. 3, and will not be repeated here.
  • FIG. 5 is a perspective schematic view of the front of the CT according to another embodiment of the present invention
  • FIG. 6 is a perspective schematic view of the back of the CT according to FIG. 5, wherein the reference signs of the same or similar parts are performed by adding the number of "'" Marks, only the parts that are different from the previous embodiment are described here.
  • 7 is an enlarged schematic view of the CT limiting mechanism according to FIG. 5, as can be seen from FIG. 7 in conjunction with FIGS.
  • the driving portion 9 ′ of the CT limiting mechanism includes a driver 91 ′ and a transmission shaft 92 ',
  • the first synchronous pulley 93' and the first bevel gear 94 ', the driver 91' is fixed to the panel 15 'of the frame 1' through a fixing bracket 95 ', the driver 91' outputs torque through the transmission shaft 92 ', the first The timing pulley 93 'and the first bevel gear 94' are respectively fixed on the transmission shaft 92 'and rotate with the transmission shaft 92', the diameter of the first timing pulley 93 'and the selection of the shape of the meshing tooth can be selected according to the transmission ratio It needs to be designed, which belongs to the common knowledge in the art and will not be repeated here; the first conveyor belt 8 'is respectively disposed on the first timing pulley 93' and the CT rotating shaft 3 ', so that the drive 91' can pass through the A conveyor belt 8 'drives the CT rotating shaft 3' and the CT
  • the ball screw 102 ' is fixed to the panel 15' of the frame 1 'through a fixing support 101'.
  • One end of the ball screw 102 ' is provided with a second cone
  • the gear 19 ', the second bevel gear 19' and the first bevel gear 94 ' are meshed.
  • the ball screw 102 ' When the transmission shaft 92' rotates, the ball screw 102 'can be driven by the meshing of the first bevel gear 94' and the second bevel gear 19 ' Synchronous rotation; the ball screw 102 'is also provided with a slider 104', the slider 104 'cooperates with the ball screw 102' and slides back and forth on the ball screw 102 '; the slider 104' is provided with an outward protrusion Sensing block 105 ', the sensing block 105' moves with the slider 104 '; the fixed support 101' is provided with a first limit switch 106 'and a second limit switch 107', the first limit switch arranged at intervals 106 'and the second limit switch 107' are photoelectric switches respectively, and the slider 104 'is provided with a sensing block 105' located between the first limit switch 106 'and the second limit switch 107'.
  • the first limit switch 106' sends a signal to the control module to make the control module control the driver 91 'Reverse rotation, thereby further moving the slider 104' in the reverse direction toward the second limit switch 107 ', when the sensing block 105' contacts the second limit switch 107 ', the second limit switch 107' is also controlled
  • the module sends a signal and switches the motion state of the driver 91 ', so that the sensing block 105' reciprocates between the first limit switch 106 'and the second limit switch 107'.
  • FIG. 8 is a schematic plan view of the gantry 1 and the baffle of the CT according to FIG. 1
  • FIG. 9 is a schematic side view of the gantry 1 and the baffle of the CT according to FIG. 8 using a winding structure. As shown in FIG. 9 in conjunction with FIGS.
  • the winding structure 6 includes a first baffle 61, a second baffle 62, a third baffle 63, a fourth baffle 64, and a fifth baffle 65, wherein the first The baffle 61 and the third baffle 63 are symmetrically arranged with the second baffle 62 and the fourth baffle 64, respectively, the first baffle 61 is connected with the third baffle 63, and the second baffle 62 is connected with the fourth baffle 64 ,
  • the fifth baffle 65 connects the ends of the third baffle 63 and the fourth baffle 64, the first baffle 61 and the second baffle 62 form a V-shaped groove with an increasing opening width, the third baffle 63,
  • the fourth baffle 64 and the fifth baffle 65 form a rectangular groove.
  • the third baffle 63 and the fourth baffle 64 are fixed on the rack 1, and all baffles are located between the CT turntable 2 and the rack 1, thereby forming a flat box shape by means of the rack 1 and the CT turntable 2. space.
  • the second towing link 42 is fixed to the end of the fifth baffle 65 close to the second baffle 62, and the first towing link 41 is located on the side of the CT rotating shaft 3 close to the second baffle 62 in the initial state, thereby
  • the cable drag chain 4 and the cable 5 are wound on the CT turntable 3 in a “Z” -like posture and are accommodated in the box-shaped space.
  • the cable towline 4 and the cable 5 are wound on the CT rotating shaft 3, when the CT turntable 2 and the CT rotating shaft 3 rotate, no matter Whether it rotates clockwise or counterclockwise around the rotation axis, both can rotate the cable drag chain 4 through the CT rotation axis 3 and the first drag link 41, when the cable drag chain 4 touches the baffle 61/62 during the swing It rebounds into the V-shaped groove when it moves, and further moves to the narrower width of the groove with the rotation of the CT rotating shaft 3 and the effect of gravity, and automatically folds on the fifth baffle 65, which ultimately avoids the occurrence of cables and Problems such as winding and irregular swing of cable drag chain.
  • first baffle 61 and the second baffle 62 may also be arranged asymmetrically, for example, where the first baffle 61 is inclined 10 away from the center of the CT turntable 2 with respect to the vertical direction Degrees, the second baffle 62 is inclined 20 degrees relative to the vertical direction away from the center of the CT turntable 2, at this time, the two baffles 6 are still formed into a "V" shape structure, and the angle between the V shape structure is 30 degrees.
  • the first baffle 61 and the second baffle 62 are arranged symmetrically and the angle between the two ranges from 20 ° to 60 °, that is, the angle between the first baffle 61 and the vertical direction is 10 ° to 30 °
  • the angle between the second baffle 62 and the vertical direction is 10 ° to 30 °.
  • the lengths of the first baffle 61 and the second baffle 62 may be the same or different, as long as a V-shaped groove can be formed, which will not be repeated here.
  • first baffle 61 and the second baffle 62 can also be split into multiples according to actual needs, multiple baffles are connected at different angles, or the first baffle 61 and the second baffle 62 are set as Shapes such as curved panels, such as circular plates.
  • the third baffle 63 and the fourth baffle 64 may not be used, and the first baffle 61 and the second baffle 62 may be connected to the fifth baffle 65 respectively, thereby forming an inverted trapezoid shape. Or only the first baffle 61 and the second baffle 62 are enclosed in a V-shape. At this time, the rectangular groove enclosed by the third baffle 63, the fourth baffle 64, and the fifth baffle 65 disappears accordingly, and the position of the second drag link 42 is also adjusted accordingly.
  • CT turntable 2 Since the CT turntable 2 is fixed on the CT rotating shaft 3, a timing belt pulley (not shown) is installed on the CT rotating shaft 3, which is formed by the first conveyor belt 8 and the first timing belt pulley 93 on the drive motor 91 Driven by the driving motor 91, the CT rotating shaft 3 and the CT turntable 2 are rotated. At the same time, the CT origin sensor 32 monitors the position of the CT turntable 2 and sends the position information to the control device (not shown), and the control device controls the drive motor Running.
  • this position is the initial position or the origin position of the CT, where the first drag link 41 is located near the second baffle 62 on the horizontal plane, and the cable drag chain 4 and the cable 5 are rotated from the CT rotation axis
  • the upper part of 3 is wound and extended, and the second drag link 42 at the other end of the cable drag chain 4 and the first drag link 41 are arranged substantially diagonally.
  • the CT turntable 2 goes to the original position through the return process.
  • the CT turntable 2 rotates counterclockwise for two seconds to leave a sufficient acceleration range.
  • the first drag link 41 moves to the vertical position and is located in the V-shaped groove In the middle of the bottom, the length of the cable drag chain 4 and the cable 5 wound on the CT rotating shaft 3 is further increased, and the cable drag chain 4 with a redundant length in the rectangular groove is pulled up.
  • the CT equipment completes the preparation process before acceleration.
  • the CT turntable 2 rotates along the pointer and completes the acceleration process before reaching the origin position shown in FIG. 5.
  • the control device controls the X-ray generator 22 and the detector 25 to work and collect information.
  • the CT turntable 2 continues to rotate clockwise by 90 °.
  • the cable drag chain 4 is at the 90 ° position, and the first drag link 41 moves to the vertical position and is located on top of the CT rotation axis 3
  • the length of the cable drag chain 4 and the cable 5 wound on the CT rotating shaft 3 is shortened, and the cable drag chain 4 with redundant length in the rectangular groove moves into the rectangular groove under the action of gravity.
  • the CT turntable 2 continues to rotate clockwise by 180 °.
  • the cable drag chain is at the 90 ° position, and the first drag link 41 moves to a position close to the first baffle 61 on the horizontal plane.
  • the length of the towline 4 and the cable 5 wound on the CT rotating shaft 3 basically disappears.
  • the cable towline 4 and the cable 5 move outwards under the action of centrifugal force and contact the first baffle 61.
  • the first baffle 61 limits The swing amplitudes of the cable drag chain 4 and the cable 5 and exerting a reverse force on them cause the cable drag chain 4 to be stacked into the rectangular groove under the action of gravity and the second baffle 62.
  • the CT turntable 2 continues to rotate 270 ° clockwise.
  • the cable drag chain 4 is at the 270 ° position, and the first drag link 41 moves to the vertical position and is located at the bottom of the CT rotation axis 3
  • the cable drag chain 4 and the cable 5 are stacked in a rectangular groove.
  • the CT turntable 2 continues to rotate 360 ° clockwise, the cable drag chain is in the 360 ° position, the cable drag chain 4 and the cable 5 are pulled up from the rectangular groove, and the CT scanning process is completed.
  • the CT rotation angle during the scanning process is set to be slightly greater than 360 degrees, and it is generally preferred to rotate 361 degrees clockwise.
  • the CT turntable 2 needs to continue to rotate and begin to decelerate after completing the scan. When it reaches 450 °, the CT turntable 2 completes the deceleration and relatively stops, and waits for the arrival of the reset command to start the reverse movement and Reset for the next scan, and the movement process of the cable drag chain 4 will not be repeated here.
  • the CT turntable accelerates from -90 ° to 0 °, scans from 0 ° to 360 °, and decelerates from 360 ° to 450 °, in order to ensure sufficient acceleration space and retrieval space of the CT turntable, a line is required.
  • the length of the cable drag chain 4 and the cable 5 can satisfy the rotation of the CT turntable from -90 ° to 450 °. Because the length of the drag chain is limited, the CT turntable can only rotate within a limited angle. If it exceeds the limit, it will have a pulling effect on the cable drag chain and the cable, damaging its life and even causing a safety accident.
  • the limit position is essential for the CT disc to quickly and accurately find the origin position. Therefore, in the embodiment of the present invention, the effective angle range of CT is -90 ° to 450 °, which greatly exceeds the range of one circle.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pulmonology (AREA)
  • Theoretical Computer Science (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

一种CT，包括机架（1）、CT转盘（2）、CT旋转轴（3）、线缆（5）以及限位机构，限位机构包括驱动部分（9）和直线运动部分（10），驱动部分（9）具有驱动器（91）、第一同步带轮（93）和传动轴（92），驱动器（91）与传动轴（92）连接，第一同步带轮（93）固定于传动轴（92）上，第一同步带轮（93）通过第一传送带（8）与CT旋转轴（3）连接；直线运动部分（10）具有第三同步带轮（103）、滚珠丝杠（102）、滑块（104）和限位开关（106，107），第三同步带轮（103）设置于滚珠丝杠（102）上且与传动轴（92）配合，滑块（104）设置于滚珠丝杠（102）上且与滚珠丝杠（102）配合，滑块（104）同时与限位开关（106，107）配合。通过传动机构进行运动转换，将CT转盘（2）的旋转运动转换为无重复运动区域的直线运动，借助对直线运动机构的限位实现对CT转盘（2）旋转运动的限位，从而以简单的机构解决了CT转盘（2）的限位问题，而且成本极低。

Description

一种CT 技术领域
本发明涉及一种医疗成像器械辅助结构，更具体地涉及一种CT。
背景技术
计算机断层成像(computed tomography，简称CT)是一种无损成像技术，其利用X射线缆拖链对动物体或者假体等特定部位一定厚度的层面进行扫描，利用扫描得到的数据进行图像重建以获取扫描对象的内部结构图像，广泛应用于工业、安检、医疗卫生和生物医学等领域，尤其是在小动物成像领域中，CT是在小动物全身层面进行活体生物检测的一种有效手段。
常见的CT设备主要包括三部分：扫描部分、计算机系统以及图像显示系统，其中，扫描部分包括X射线发生器、探测器和扫描架，X射线发生器和探测器设置于扫描对象相对的两侧，计算机系统用于收集探测器的信息数据并进行贮存运算，图像显示系统用于将经过计算机系统处理、重建的图像在显示器上显示。
在CT设备的运行过程中，X射线发生器和探测器需要围绕扫描对象高速旋转以进行数据采集或者对扫描对象的感兴趣区域按照特殊轨道进行旋转扫描。但是，由于X射线发生器和探测器在工作中处于高速旋转状态，如何对其进行稳定的供电和通信显得尤为重要。在现有的技术方案中，X射线发生器和探测器可以通过滑环或者通过线缆进行供电与通信，对于采用滑环的CT设备，滑环的稳定性差、噪声大且成本较高；对于采用线缆的CT设备，往往采用复杂的线缆卷曲机构，以保证在一定的旋转角度内线缆不发生绕扭、牵拉、脱落等现象，这使得CT设备的旋转部件只能正、反交替旋转。而且为了实现线缆的收集与放出，往往需要额外增加一动力源，增加了设备的控制难度及结构复杂程度。
另外，对于采用拖链的CT，由于拖链的长度有限，CT圆盘只能在有限角度内转动。若超出限制范围，将会对拖链和线束产生拉扯作用，损害其寿 命，甚至发生安全事故。此外，由于扫描结束后CT需要回归初始原点位置，当CT意外停机时，极限位置对于CT圆盘快速准确找到原点位置有着必不可少的作用，因此，获取CT圆盘稳定可靠的限位信号尤为重要。对于有效角度范围大大超出一圈范围的CT，无法通过在CT圆盘上固定限位开关的方式获取限位信号。通过绝对式光栅传感器永久记录CT转盘的位置也可获取其限位信号，但绝对式光栅传感器成本极高，而限位信号的精度要求较低，采用绝对式光栅传感器将造成很大的浪费。
发明内容
本发明的目的是提供一种CT，从而解决现有技术中CT转盘无法准确进行旋转定位以及成本较高的问题。
为了解决上述技术问题，本发明的技术方案是提供一种CT，该CT包括机架、CT转盘、CT旋转轴以及线缆，其中，所述CT转盘和所述CT旋转轴同心且固定于所述机架上，所述线缆自所述机架延伸至所述CT旋转轴，其特征在于，所述CT还包括限位机构，所述限位机构包括：驱动部分，所述驱动部分具有驱动器、第一同步带轮以及传动轴，所述驱动器与所述传动轴连接，所述同步带轮固定于所述传动轴上，所述同步带轮通过第一传送带与所述CT旋转轴连接；以及直线运动部分，所述直线运动部分具有第三同步带轮、滚珠丝杠、滑块以及限位开关，所述第三同步带轮设置于所述滚珠丝杠上且与所述传动轴配合，所述滑块设置于所述滚珠丝杠上且与所述滚珠丝杠配合，所述滑块同时与所述限位开关配合。
根据本发明的一个实施例，所述传动轴上还设置有第二同步带轮，所述第二同步带轮与所述第三同步带轮之间通过第二传送带连接。
根据本发明的一个实施例，所述传动轴上还设置有第一锥齿轮，所述第三同步带轮采用与所述第一锥齿轮啮合的第二锥齿轮。
根据本发明的一个实施例，所述滑块上设置有凸出的感应块，所述限位开关包括间隔布置的第一限位开关与第二限位开关，所述感应块位于所述第一限位开关与所述第二限位开关之间，所述滑块通过所述感应块实现与所述限位开关配合。
根据本发明的一个实施例，所述直线运动部分通过固定支座固定于所述机架上，所述滚珠丝杠固定于所述固定支座上。
根据本发明的一个实施例，所述固定支座上还设置有若干根光轴，所述光轴穿过所述滑块。
根据本发明的一个实施例，所述限位开关包括间隔布置的第一限位开关与第二限位开关，所述滑块位于所述第一限位开关与第二限位开关之间并分别与所述第一限位开关以及第二限位开关配合。
根据本发明的一个实施例，所述CT还包括绕线结构，所述绕线结构包括：第一挡板；第二挡板，所述第二挡板与所述第一挡板分别固定于所述CT旋转轴相对的两侧，所述第二挡板和所述第一挡板形成V形或者倒梯形的凹槽，所述CT旋转轴和所述线缆容置于所述凹槽内，所述线缆的两端分别固定于所述CT旋转轴和所述凹槽底部。
根据本发明的一个实施例，所述绕线结构还包括线缆拖链，所述线缆拖链的两端分别固定于所述CT旋转轴和所述凹槽底部，所述线缆拖链与所述线缆结合成为整体。
根据本发明的一个实施例，所述第一挡板和所述第二挡板之间的夹角介于20°～60°之间。
根据本发明的一个实施例，所述绕线结构还包括：第三挡板，所述第三挡板与所述第一挡板连接；第四挡板，所述第四挡板与所述第二挡板连接；以及第五挡板，所述第五挡板与所述第三挡板和所述第四挡板连接，所述第三挡板、所述第四挡板和所述第五挡板形成矩形凹槽。
根据本发明的一个实施例，所述绕线结构还包括第五挡板，所述第五挡板连接所述第一挡板和所述第二挡板，所述凹槽的宽度自所述第五挡板开始逐渐增大。
根据本发明的一个实施例，所述CT旋转轴的旋转角度范围为-90°～450°。
根据本发明的一个实施例，所述线缆拖链和所述线缆的长度与所述CT 旋转轴的旋转角度相匹配，所述限位开关的距离与所述CT旋转轴的旋转角度相匹配。
根据本发明的一个实施例，所述CT还包括：X射线发生器，所述X射线发生器设置于所述CT转盘上；以及探测器，所述探测器设置于所述CT转盘上且与所述X射线发生器相对设置，所述探测器接收所述X射线发生器发出的X射线并转换为电信号，线缆分别与所述X射线发生器以及所述探测器电联接和/或通信连接。
根据本发明的一个实施例，所述CT还包括CT原点传感器，所述CT原点传感器固定于所述机架上以测量所述CT转盘的转动位置。
本发明提供的CT，通过传动机构进行运动转换，将CT转盘的旋转运动转换为无重复运动区域的直线运动，借助对直线运动机构的限位实现对CT转盘旋转运动的限位，从而以简单的机构解决了CT转盘的限位问题，而且成本极低。另外，本发明的绕线结构能够防止线缆随意摆动和缠绕，能够迅速将线缆收纳于凹槽内。本发明提供的采用该绕线结构的CT尤其适用于小动物CT，能够在保证小动物CT较迅速的扫描速度、合适的扫描角度的前提下，提高小动物CT系统的稳定性，降低系统控制难度和结构复杂程度，从而进一步降低成本。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明的一个实施例的CT的正面的立体示意图；
图2是根据图1的CT的背面的立体示意图；
图3是根据图1的CT的限位机构的放大示意图；
图4是根据图1的CT的限位机构的另一角度的放大示意图；
图5是根据本发明另一个实施例的CT的正面的立体示意图；
图6是根据图5的CT的背面的立体示意图；
图7是根据图5的CT的限位机构的放大示意图；
图8是根据图1的CT的绕线结构的机架和挡板的平面示意图，其中未示出CT转盘；
图9是根据图3的CT的绕线结构的机架和挡板的侧面示意图；
图10是根据图1的CT的背面示意图，其中，线缆拖链处于0°初始位置；
图11是根据图1的采用绕线结构的CT的背面示意图，其中，线缆拖链处于-90°位置；
图12是根据图6的采用绕线结构的CT的背面示意图，其中，线缆拖链处于90°位置；
图13是根据图6的采用绕线结构的CT的背面示意图，其中，线缆拖链处于180°位置；
图14是根据图6的采用绕线结构的CT的背面示意图，其中，线缆拖链处于270°位置；
图15是根据图6的采用绕线结构的CT的背面示意图，其中，线缆拖链处于360°位置；
图16是根据图6的采用绕线结构的CT的背面示意图，其中，线缆拖链处于450°位置。
具体实施方式
以下结合具体实施例，对本发明做进一步说明。应理解，以下实施例仅用于说明本发明而非用于限制本发明的范围。
需要说明的是，当部件/零件被称为“设置在”另一个部件/零件上，它可以直接设置在另一个部件/零件上或者也可以存在居中的部件/零件。当部件/零件被称为“连接/联接”至另一个部件/零件，它可以是直接连接/联接至另一个部件/零件或者可能同时存在居中部件/零件。本文所使用的术语“连接/联接”可以包括电气和/或机械物理连接/联接。本文所使用的术语“包括/包含”指特征、步骤或部件/零件的存在，但并不排除一个或更多个其它特征、步骤或部件/零件的存在或添加。本文所使用的术语“和/或”包括一个或多个相关所列项目的任意的和所有的组合。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技 术领域的技术人员通常理解的含义相同。本文中所使用的术语只是为了描述具体实施例的目的，而并不是旨在限制本申请。
另外，在本申请的描述中，术语“第一”、“第二”等仅用于描述目的和区别类似的对象，两者之间并不存在先后顺序，也不能理解为指示或暗示相对重要性。此外，在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
图1是根据本发明一个实施例的CT的立体示意图，图2根据图1的CT的另一个角度的立体示意图，由图1结合图2可知，本发明提供的CT包括机架1、CT转盘2、CT旋转轴3、线缆5、绕线结构6以及限位机构，其中，机架1为框架结构；CT转盘2呈中间具有圆形开口的圆盘状；CT旋转轴3呈圆筒状且CT旋转轴3设置于CT转盘2上，CT旋转轴3和CT转盘2的圆心重合且具有共同的圆形开口，CT旋转轴3的轴向垂直于CT转盘2所在的平面，CT旋转轴3通过支座设置于机架1上；线缆5与CT旋转轴3位于CT转盘2的同一侧，线缆5的一端固定于机架1上，线缆5的另一端固定于CT旋转轴3的侧壁上；绕线结构6包括两个挡板61、62，两个挡板61、62位于CT转盘2和机架1之间，两个挡板61、62关于CT转盘2的圆心对称布置且分别位于CT旋转轴3相对的两侧，两个挡板61、62形成类似于凹槽的“V”字形结构或者倒梯形结构，即两个挡板61、62一端的间距较窄而另一端的间距较宽，线缆5大致上容置于该“V”字形凹槽或者倒梯形结构内；限位机构包括驱动部分9和直线运动部分10，驱动部分9包括驱动器、传动轴和第一传送带8，第一传送带8分别设置于传动轴和CT旋转轴3上，从而使得驱动器通过第一传送带驱动CT旋转轴3和CT转盘2相对于机架1进行自转，直线运动部分10与驱动部分9配合并将传动轴和CT旋转轴3的旋转运动转换为直线运动。
更具体地，在图1-图2的具体实施例中，机架1为通过杆件、板件等形成的框架结构，机架1上可以设置若干个平板台面以支撑或者放置其它部件，例如，机架1上还设置有相对的第一平台11和第二平台12，第一平台11和第二平台12之间通过若干根杆件连接成为整体，这属于本领域的常规技术手段，在此不再赘述。本领域技术人员应当理解的是，机架1的形状还可以根据实际需求进行改变，在此仅作为示例而非限制。机架1的第二平台12上安装有若干个万向轮13以便于移动机架1的位置，机架1的第二平台12 上还安装有若干个升降支座14以便于调整机架1的位置。
进一步地，在图1-图2的具体实施例中，CT转盘2上设置有若干个预留孔21以用于安装各种零部件，比如X射线发生器22和探测器25，其中，X射线发生器22固定于支架23上，支架23通过螺栓固定于CT转盘2的预留孔21上，探测器25与X射线发生器22关于CT转盘2的圆心大致对称布置，探测器25用于接收X射线发生器22发出的X射线并将其转换为电信号输出，在此不再赘述。CT转盘2在外力的作用下可围绕圆心进行顺时针或者逆时针的转动，该外力可为本领域常用的驱动设备，比如电机等，在此不再赘述。
更具体地，在图1-图2的具体实施例中，CT旋转轴3通过第一传送带8在驱动部分9的驱动器的带动下进行转动，CT旋转轴3还可以集成驱动设备以及供电设备、通信设备，其中驱动设备用于驱动CT旋转轴3、CT转盘2以及传动轴的转动，供电设备用于为驱动设备以及X射线发生器22、探测器25等部件提供电力支持，通信设备用于为X射线发生器22以及探测器25等提供通信支持以方便信号的传输，这与本领域常用的CT原理一致，在此不再赘述。值得注意的是，CT旋转轴3的外侧设置有第一线缆接头(图中未示)以便于线缆5与CT旋转轴3固定连接。机架1上设置有第二线缆接头(图中未示)以便于线缆5与机架1进行固定。线缆5可以包括若干根线，每根线的两端都可以设置对应的接头，若干个接头可以一起构成第一/第二线缆接头，比如，第一线缆接头处分别包含若干个接头以分别用于连接X射线发生器22和探测器25以及CT转盘2上其余的需供电或存在信号传输的设备，第二线缆接头处分别包含若干个接头以分别连接供电设备和信号接收/发送设备。线缆5分别通过第一线缆接头和第二线缆接头固定于CT旋转轴3和机架1上，由于线缆5、CT旋转轴3和机架1均位于CT转盘2的同一侧，而且线缆5具有一定的长度，因此线缆5大致上缠绕于CT旋转轴3上。
进一步地，在图1-图2的具体实施例中，绕线结构还包括线缆拖链4，线缆拖链4的两端分别设置有第一拖链接头41和第二拖链接头42，第一拖链接头41和第二拖链接头42分别与第一线缆接头和第二线缆接头连接以便于固定线缆拖链4。线缆拖链4与线缆5结合并形成为一体，具体的结合方式可以包括以下形式：线缆5通过扎带固定在线缆拖链4内，线缆拖链4包 覆线缆5、线缆5通过其它部件固定于线缆拖链4上或者线缆拖链4和线缆5一体成型制作等方式，在此仅作为示例而非限制。线缆拖链4采用柔性材料制作，其两端的第一拖链接头41和第二拖链接头42可以制作为插头/插座样式以方便与CT旋转轴3、机架1或者其它外部部件进行连接。线缆拖链4和线缆5的长度与CT转盘2的旋转圈数或者旋转角度相匹配，比如，在该实施例中，CT转盘2的最大连续旋转角度为450度，即，线缆拖链4需要沿着CT旋转轴3的外径缠绕一圈半，考虑到合适的冗余长度，线缆5和线缆拖链4的长度为2.4米～3米左右，优选为2.5米。线缆拖链4和线缆5的长度过短会导致线缆绷断，过长则会使其产生不必要的摆动和材料浪费。值得注意的是，由于X射线发生器22和探测器25与线缆拖链4分别设置于CT转盘2相对的两面，为了顺利实现线缆5与X射线发生器22和探测器25的连接，CT转盘2上还设置了一个开孔24，线缆5通过该开孔24穿过CT转盘2以便于与X射线发生器22和探测器25连接。由于所有的线缆5放置在线缆拖链4中，从第一拖链接头41伸出来的时候，需要扭转90度，以使线缆5顺利穿过CT转盘2。
另外，在图1-图2的实施例中，CT还包括CT原点传感器固定支架31和CT原点传感器32，其中，CT原点传感器固定支架31沿着竖直方向固定于CT旋转轴3的支座上，CT原点传感器32设置于CT原点传感器固定支架31的顶端，CT原点传感器32同时位于CT转盘2的顶端以便于检测CT转盘2是否到达原点，CT转盘2到达原点后，CT原点传感器32会产生一个触发信号以便于进行运动控制。
图3是根据图1的CT的限位机构的放大示意图，图4是根据图1的CT的限位机构的另一角度的放大示意图，由图3结合图4可知，本发明提供的CT的限位机构包括驱动部分9和直线运动部分10，驱动部分9包括驱动器91、传动轴92、第一同步带轮93以及第二同步带轮94，驱动器91可以为电机，驱动器91通过固定支架95固定于机架1的面板15上，驱动器91通过传动轴92输出扭矩，第一同步带轮93和第二同步带轮94分别固定于传动轴92上并且随着传动轴92同步转动，第一同步带轮93和第二同步带轮94的直径大小和啮合齿形状的选择可以根据传送比的需要进行设计，这属于本领域的公知常识，在此不再赘述；第一传送带8分别设置于第一同步带轮93和CT旋转轴3上，从而使得驱动器91可以通过第一传送带8驱动CT 旋转轴3和CT转盘2相对于机架1进行自转；直线运动部分10包括固定支座101、滚珠丝杠102、第三同步带轮103、滑块104、感应块105、第一限位开关106以及第二限位开关107，其中，滚珠丝杠102的延伸方向与传动轴92的延伸方向平行，滚珠丝杠102通过固定支座101固定于机架1的面板15上，滚珠丝杠102的一端设置有第三同步带轮103，第三同步带轮103和第二同步带轮94之间通过第二传送带19连接，第二传送带19运行的平面与滚珠丝杠102的延伸方向、传动轴92的延伸方向垂直，当传动轴92转动时，通过第二传送带19可以带动滚珠丝杠102同步转动；滚珠丝杠102上还设置有滑块104，滑块104与滚珠丝杠102配合并在滚珠丝杠102上来回滑动；滑块104上设置有向外凸出的感应块105，感应块105随滑块104一起运动；固定支座101上设置有间隔布置的第一限位开关106和第二限位开关107，第一限位开关106和第二限位开关107分别采用光电开关，滑块104上设置有位于第一限位开关106和第二限位开关107之间感应块105，当感应块105随着滑块104运动并接触到第一限位开关106后，第一限位开关106向控制模块(图中未示)发送信号，使控制模块控制驱动器91反向旋转，从而进一步使得滑块104反向朝第二限位开关107运动，当感应块105接触到第二限位开关107后，第二限位开关107同样向控制模块发送信号并切换驱动器91的运动状态，从而使得感应块105在第一限位开关106和第二限位开关107之间做往复运动。另外，为了使滑块104的运动更加平稳，固定支座101之间还设置有两根光轴108，两根光轴108分布于滚珠丝杠102两侧且同时穿过滑块104，从而支撑滑块104沿着滚珠丝杠102更加平稳的运动。
根据本发明的另一个实施例，固定支座上设置有间隔布置的第一限位开关和第二限位开关，第一限位开关和第二限位开关分别设置为凸起的板状结构，滑块位于第一限位开关和第二限位开关之间，当滑块运动并接触到第一限位开关后，滑块向控制模块发送信号，使控制模块控制驱动器91反向旋转，从而进一步使得滑块反向朝第二限位开关运动，当滑块接触到第二限位开关后，滑块同样向控制模块发送信号并切换驱动器91的运动状态，从而使得滑块在第一限位开关和第二限位开关之间做往复运动。在该实施例中，其他部件的连接及功能与图3实施例中所述相同，在此不再赘述。
图5是根据本发明另一个实施例的CT的正面的立体示意图，图6是根 据图5的CT的背面的立体示意图，其中，相同或者相似部分的附图标记通过增加“'”的数字进行标示，在此仅描述与上一实施例相比不同的部分。图7为根据图5的CT的限位机构的放大示意图，由图7结合图5、图6可知，该实施例提供的CT的限位机构的驱动部分9'包括驱动器91'、传动轴92'、第一同步带轮93'以及第一锥齿轮94'，驱动器91'通过固定支架95'固定于机架1'的面板15'上，驱动器91'通过传动轴92'输出扭矩，第一同步带轮93'和第一锥齿轮94'分别固定于传动轴92'上并且随着传动轴92'同步转动，第一同步带轮93'的直径大小和啮合齿形状的选择可以根据传送比的需要进行设计，这属于本领域的公知常识，在此不再赘述；第一传送带8'分别设置于第一同步带轮93'和CT旋转轴3'上，从而使得驱动器91'可以通过第一传送带8'驱动CT旋转轴3'和CT转盘2'相对于机架1'进行自转；直线运动部分10'包括固定支座101'、滚珠丝杠102'、第二锥齿轮19'、滑块104'、感应块105'、第一限位开关106'以及第二限位开关107'，其中，滚珠丝杠102'的延伸方向与传动轴92'的延伸方向垂直，滚珠丝杠102'通过固定支座101'固定于机架1'的面板15'上，滚珠丝杠102'的一端设置有第二锥齿轮19'，第二锥齿轮19'和第一锥齿轮94'啮合，当传动轴92'转动时，通过第一锥齿轮94'与第二锥齿轮19'的啮合可以带动滚珠丝杠102'同步转动；滚珠丝杠102'上还设置有滑块104'，滑块104'与滚珠丝杠102'配合并在滚珠丝杠102'上来回滑动；滑块104'上设置有向外凸出的感应块105'，感应块105'随滑块104'一起运动；固定支座101'上设置有间隔布置的第一限位开关106'和第二限位开关107'，第一限位开关106'和第二限位开关107'分别采用光电开关，滑块104'上设置有位于第一限位开关106'和第二限位开关107'之间的感应块105'，当感应块105'随着滑块104'运动并接触到第一限位开关106'后，第一限位开关106'向控制模块发送信号，使控制模块控制驱动器91'反向旋转，从而进一步使得滑块104'反向朝第二限位开关107'运动，当感应块105'接触到第二限位开关107'后，第二限位开关107'同样向控制模块发送信号并切换驱动器91'的运动状态，从而使得感应块105'在第一限位开关106'和第二限位开关107'之间做往复运动。
更进一步地，图8为根据图1的CT的机架1和挡板的平面示意图，图9为根据图8的采用绕线结构的CT的机架1和挡板的侧面示意图，由图8、图9结合图1、图2可知，绕线结构6包括第一挡板61、第二挡板62、第三 挡板63、第四挡板64和第五挡板65，其中，第一挡板61、第三挡板63分别与第二挡板62、第四挡板64对称布置，第一挡板61与第三挡板63连接，第二挡板62与第四挡板64连接，第五挡板65连接第三挡板63和第四挡板64的末端，第一挡板61和第二挡板62形成开口宽度逐渐增大的V形凹槽，第三挡板63、第四挡板64和第五挡板65形成矩形凹槽。第三挡板63和第四挡板64固定于机架1上，所有的挡板均位于CT转盘2和机架1之间，从而借助于机架1和CT转盘2形成一个扁平的盒状空间。第二拖链接头42固定于第五挡板65上靠近第二挡板62的一端，第一拖链接头41在初始状态时位于CT旋转轴3上靠近第二挡板62的一侧，从而使得线缆拖链4和线缆5以类似“Z”字形的姿态缠绕于CT转盘3上且容置于上述盒状空间内。由于第一挡板61、第二挡板62形成为“V”字形结构，线缆拖链4和线缆5缠绕在CT旋转轴3上，当CT转盘2和CT旋转轴3旋转时，无论是围绕旋转轴顺时针还是逆时针旋转，均可以通过CT旋转轴3和第一拖链接头41带动线缆拖链4摆动，当线缆拖链4在摆动中触碰到挡板61/62时向V形凹槽内反弹，进一步随着CT旋转轴3的转动以及重力的作用向着凹槽内宽度较窄的地方移动，并自动折叠于第五挡板65上，最终避免发生线缆以及线缆拖链的缠绕以及不规律摆动等问题。
本领域技术人员应当理解的是，第一挡板61、第二挡板62也可以采用非对称布置，比如，其中第一挡板61相对于竖直方向向远离CT转盘2圆心的方向倾斜10度，第二挡板62相对于竖直方向向远离CT转盘2圆心的方向倾斜20度，此时，两个挡板6仍然形成为“V”字形结构，且该V字形结构的夹角为30度。优选地，第一挡板61、第二挡板62对称布置且二者夹角的角度范围为20°～60°，即第一挡板61与竖直方向的夹角为10°～30°、第二挡板62与竖直方向的夹角为10°到30°。本领域技术人员还需要注意的是，第一挡板61、第二挡板62的长度可以一致也可以不一致，只要能形成一个V型凹槽即可，在此不再赘述。同时，第一挡板61、第二挡板62还可以根据实际需要拆分设置为多个，多个挡板以不同的角度进行连接，或者第一挡板61核第二挡板62设置为曲面板等形状，比如圆弧板等。
另外，为了节省成本，还可以不采用第三挡板63以及第四挡板64，而将第一挡板61和第二挡板62分别与第五挡板65连接，从而围成一个倒梯形的形状。或者仅采用第一挡板61和第二挡板62围成一个V字形的形状。 此时，第三挡板63、第四挡板64和第五挡板65围成的矩形凹槽随之消失，第二拖链接头42的位置也随之调整。
下面结合图10-图16描述本发明的CT的工作原理。由于CT转盘2固定在CT旋转轴3上面，CT旋转轴3上安装有一同步带轮(图中未示)，同步带轮通过第一传送带8与驱动电机91上的第一同步带轮93形成传动，由驱动电机91带动CT旋转轴3和CT转盘2旋转，同时，CT原点传感器32监测CT转盘2的位置并将位置信息发送至控制设备(图中未示)，由控制设备控制驱动电机的运行。
如图10所示，该位置为CT的初始位置或者原点位置，其中，第一拖链接头41位于水平面上靠近第二挡板62的位置，线缆拖链4和线缆5从CT旋转轴3的上部缠绕并延伸，线缆拖链4另一端的第二拖链接头42与第一拖链接头41基本呈对角线布置。此时，CT设备开启后，CT转盘2经过回原过程到达原点位置。
如图11所示，CT转盘2到达原点位置后，逆时针旋转两秒，以留出足够的加速范围，此时，第一拖链接头41运动至竖直方向的位置且位于V形凹槽底部的中间位置，线缆拖链4和线缆5在CT旋转轴3上缠绕的长度进一步增加，矩形凹槽内有冗余长度的线缆拖链4被拉起。此时，CT设备完成加速前的准备过程。之后，CT转盘2顺指针旋转，在到达图5所示的原点位置前完成加速过程。当CT设备第二次到达图5所示的原点位置时，扫描过程开启，控制装置控制X射线发生器22和探测器25工作并采集信息。
如图12所示，CT转盘2继续顺时针旋转90°，此时，线缆拖链4处于处于90°位置，第一拖链接头41运动至竖直方向的位置且位于CT旋转轴3顶部的中间位置，线缆拖链4和线缆5在CT旋转轴3上缠绕的长度缩短，矩形凹槽内有冗余长度的线缆拖链4在重力的作用下向矩形凹槽内移动。
如图13所示，CT转盘2继续顺时针旋转180°，此时，线缆拖链处于处于90°位置，第一拖链接头41运动至水平面上靠近第一挡板61的位置，线缆拖链4和线缆5在CT旋转轴3上缠绕的长度基本消失，线缆拖链4和线缆5在离心力作用下向外运动并且接触第一挡板61，第一挡板61限制了线缆拖链4和线缆5的摆动幅度并且对其施加反向的作用力，使得线缆拖链4在重力和第二挡板62的作用下向矩形凹槽内堆叠。
如图14所示，CT转盘2继续顺时针旋转270°，此时，线缆拖链4处 于处于270°位置，第一拖链接头41运动至竖直方向的位置且位于CT旋转轴3底部的中间位置，线缆拖链4和线缆5堆叠于矩形凹槽内。
如图15所示，CT转盘2继续顺时针旋转360°，线缆拖链处于360°位置，线缆拖链4和线缆5从矩形凹槽内被拉起，CT扫描过程完成。为了保证CT扫描过程中采集满360度的数据，设置扫描过程中CT转角略大于360度，通常优选顺时针旋转361度。
如图16所示，CT转盘2完成扫描后需要继续转动并开始减速，当运行至450°的位置时，CT转盘2完成减速并相对停止，并且等待复位命令的到来以开始进行反向运动并复位以进行下次扫描，线缆拖链4的运动过程不再赘述。
由于CT转盘从-90°到0°的过程中完成加速，0°到360°的过程进行扫描，360°到450°的过程中减速，为了保证CT转盘足够的加速空间和检索空间，需要线缆拖链4和线缆5的长度能够满足CT转盘自-90°旋转至450°。因为拖链的长度有限，CT转盘只能在有限角度内转动，超出限制范围，将会对线缆拖链和线缆产生拉扯作用，损害其寿命甚至发生安全事故。此外，当CT意外停机时，极限位置对于CT圆盘快速准确找到原点位置有着必不可少的作用。因此，在本发明的实施例中，CT的有效角度范围为-90°～450°，大大超出一圈的范围。
以上所述的，仅为本发明的较佳实施例，并非用以限定本发明的范围，本发明的上述实施例还可以做出各种变化。即凡是依据本发明申请的权利要求书及说明书内容所作的简单、等效变化与修饰，皆落入本发明专利的权利要求保护范围。本发明未详尽描述的均为常规技术内容。

Claims (16)

  1. 一种CT，所述CT包括机架、CT转盘、CT旋转轴以及线缆，其中，所述CT转盘和所述CT旋转轴同心且固定于所述机架上，所述线缆自所述机架延伸至所述CT旋转轴，其特征在于，所述CT还包括限位机构，所述限位机构包括：
    驱动部分，所述驱动部分具有驱动器、第一同步带轮以及传动轴，所述驱动器与所述传动轴连接，所述同步带轮固定于所述传动轴上，所述同步带轮通过第一传送带与所述CT旋转轴连接；以及
    直线运动部分，所述直线运动部分具有第三同步带轮、滚珠丝杠、滑块以及限位开关，所述第三同步带轮设置于所述滚珠丝杠上且与所述传动轴配合，所述滑块设置于所述滚珠丝杠上且与所述滚珠丝杠配合，所述滑块同时与所述限位开关配合。
  2. 根据权利要求1所述的CT，其特征在于，所述传动轴上还设置有第二同步带轮，所述第二同步带轮与所述第三同步带轮之间通过第二传送带连接。
  3. 根据权利要求1所述的CT，其特征在于，所述传动轴上还设置有第一锥齿轮，所述第三同步带轮采用与所述第一锥齿轮啮合的第二锥齿轮。
  4. 根据权利要求2或3所述的CT，其特征在于，所述滑块上设置有凸出的感应块，所述限位开关包括间隔布置的第一限位开关与第二限位开关，所述感应块位于所述第一限位开关与所述第二限位开关之间，所述滑块通过所述感应块实现与所述限位开关配合。
  5. 根据权利要求4所述的CT，其特征在于，所述直线运动部分通过固定支座固定于所述机架上，所述滚珠丝杠固定于所述固定支座上。
  6. 根据权利要求5所述的CT，其特征在于，所述固定支座上还设置有若干根光轴，所述光轴穿过所述滑块。
  7. 根据权利要求2或3所述的CT，其特征在于，所述限位开关包括间隔布置的第一限位开关与第二限位开关，所述滑块位于所述第一限位开关与第 二限位开关之间并分别与所述第一限位开关以及第二限位开关配合。
  8. 根据权利要求1所述的CT，其特征在于，所述CT还包括绕线结构，所述绕线结构包括：
    第一挡板；
    第二挡板，所述第二挡板与所述第一挡板分别固定于所述CT旋转轴相对的两侧，所述第二挡板和所述第一挡板形成V形或者倒梯形的凹槽，所述CT旋转轴和所述线缆容置于所述凹槽内，所述线缆的两端分别固定于所述CT旋转轴和所述凹槽底部。
  9. 根据权利要求8所述的CT，其特征在于，所述绕线结构还包括线缆拖链，所述线缆拖链的两端分别固定于所述CT旋转轴和所述凹槽底部，所述线缆拖链与所述线缆结合成为整体。
  10. 根据权利要求8所述的CT，其特征在于，所述第一挡板和所述第二挡板之间的夹角介于20°～60°之间。
  11. 根据权利要求8所述的CT，其特征在于，所述绕线结构还包括：
    第三挡板，所述第三挡板与所述第一挡板连接；
    第四挡板，所述第四挡板与所述第二挡板连接；以及
    第五挡板，所述第五挡板与所述第三挡板和所述第四挡板连接，所述第三挡板、所述第四挡板和所述第五挡板形成矩形凹槽。
  12. 根据权利要求8所述的CT，其特征在于，所述绕线结构还包括第五挡板，所述第五挡板连接所述第一挡板和所述第二挡板，所述凹槽的宽度自所述第五挡板开始逐渐增大。
  13. 根据权利要求8所述的CT，其特征在于，所述CT旋转轴的旋转角度范围为-90°～450°。
  14. 根据权利要求13所述的CT，其特征在于，所述线缆拖链和所述线缆的长度与所述CT旋转轴的旋转角度相匹配，所述限位开关的距离与所述CT旋转轴的旋转角度相匹配。
  15. 根据权利要求1所述的CT，其特征在于，所述CT还包括：
    X射线发生器，所述X射线发生器设置于所述CT转盘上；以及
    探测器，所述探测器设置于所述CT转盘上且与所述X射线发生器相对设置，所述探测器接收所述X射线发生器发出的X射线并转换为电信号，线缆分别与所述X射线发生器以及所述探测器电联接和/或通信连接。
  16. 根据权利要求15所述的CT，其特征在于，所述CT还包括CT原点传感器，所述CT原点传感器固定于所述机架上以测量所述CT转盘的转动位置。
PCT/CN2019/090906 2018-11-01 2019-06-12 一种ct WO2020087935A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811293050.8A CN109199428A (zh) 2018-11-01 2018-11-01 一种ct
CN201811293050.8 2018-11-01

Publications (2)

Publication Number Publication Date
WO2020087935A1 true WO2020087935A1 (zh) 2020-05-07
WO2020087935A8 WO2020087935A8 (zh) 2020-07-09

Family

ID=64998362

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/090906 WO2020087935A1 (zh) 2018-11-01 2019-06-12 一种ct

Country Status (2)

Country Link
CN (1) CN109199428A (zh)
WO (1) WO2020087935A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109199428A (zh) * 2018-11-01 2019-01-15 苏州瑞派宁科技有限公司 一种ct
CN109771852A (zh) * 2019-03-05 2019-05-21 柯尼卡美能达再启医疗设备（上海）有限公司 一种落地锥形束ct
CN110720943B (zh) * 2019-12-19 2020-04-10 深圳市创谷科技发展有限公司 限束器及x光机
CN113456101A (zh) * 2021-07-01 2021-10-01 深圳市深图医学影像设备有限公司 一种便于使用的动物检测用ct机

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201253215Y (zh) * 2008-09-28 2009-06-10 清华大学 X射线ct设备
US20100172464A1 (en) * 2009-01-07 2010-07-08 Analogic Corporation Method of and system for low cost implementation of dual energy ct imaging
CN102499681A (zh) * 2011-10-17 2012-06-20 中国人民解放军第四军医大学 一种适用于磁感应断层成像的旋转式线圈组及其布置方法
US20140275953A1 (en) * 2013-03-15 2014-09-18 Mobius Imaging, Llc Mobile x-ray imaging system
CN105125233A (zh) * 2015-09-28 2015-12-09 中国科学院苏州生物医学工程技术研究所 锥束ct机回转扫描布线装置
CN109199428A (zh) * 2018-11-01 2019-01-15 苏州瑞派宁科技有限公司 一种ct

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB745247A (en) * 1953-07-17 1956-02-22 Vickers Electrical Co Ltd Improvements relating to the mounting of x-ray equipment
CN2638262Y (zh) * 2003-07-15 2004-09-01 北京航天天达卫星应用技术有限公司 一种任意转角大小的卫星天线限位机构
CN103185563A (zh) * 2011-12-30 2013-07-03 上海西门子医疗器械有限公司 一种角度计算装置
CN103284740B (zh) * 2012-02-28 2016-02-24 上海西门子医疗器械有限公司 Ct机的扫描控制方法、扫描控制装置及ct机
CN209644925U (zh) * 2018-11-01 2019-11-19 苏州瑞派宁科技有限公司 一种ct

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201253215Y (zh) * 2008-09-28 2009-06-10 清华大学 X射线ct设备
US20100172464A1 (en) * 2009-01-07 2010-07-08 Analogic Corporation Method of and system for low cost implementation of dual energy ct imaging
CN102499681A (zh) * 2011-10-17 2012-06-20 中国人民解放军第四军医大学 一种适用于磁感应断层成像的旋转式线圈组及其布置方法
US20140275953A1 (en) * 2013-03-15 2014-09-18 Mobius Imaging, Llc Mobile x-ray imaging system
CN105125233A (zh) * 2015-09-28 2015-12-09 中国科学院苏州生物医学工程技术研究所 锥束ct机回转扫描布线装置
CN109199428A (zh) * 2018-11-01 2019-01-15 苏州瑞派宁科技有限公司 一种ct

Also Published As

Publication number Publication date
CN109199428A (zh) 2019-01-15
WO2020087935A8 (zh) 2020-07-09

Similar Documents

Publication Publication Date Title
WO2020087935A1 (zh) 一种ct
BR102014011755A2 (pt) aparelho de formação de imagem por varredura holográfica de onda milimétrica
WO2020087936A1 (zh) 一种绕线结构以及采用该绕线结构的ct
CN106405321A (zh) 一种电力线缆故障检测设备
CN106448762A (zh) 一种螺孔视频检查装置
CN210277205U (zh) 一种具有角度调节功能的彩超机探头
CN209644925U (zh) 一种ct
CN208890326U (zh) 一种绕线结构以及采用该绕线结构的ct
CN208569066U (zh) 太赫兹主动式连续波三维人体隐藏物检测系统
CN215572746U (zh) 一种智能制造用实物扫描设备
CN203074719U (zh) 一种多截面x射线ct扫描装置
CN109129517A (zh) 一种带检测装置的巡检机器人
CN206419431U (zh) 一种传动装置和一种激光三维扫描头系统
CN207261977U (zh) 一种医院巡检机器人用云台装置
CN206123667U (zh) 一种应用于机器人的超声3d扫描装置
CN208000409U (zh) 聚能装置
WO2019201062A1 (zh) 聚能装置
CN216317670U (zh) 一种检测ct床板的位置的伺服电机及ct设备
CN210488012U (zh) 毫米波扫描装置及安检设备
CN215923551U (zh) 一种可调节的输送带撕裂检测用的激光总成
CN211292621U (zh) 一种桥梁病害检测装置
CN214425426U (zh) 一种37mm云台防水测量内窥镜
CN215986550U (zh) 一种无人天车全方位障碍物扫描装置
JPS60227186A (ja) 放射線テレビ装置
CN217561756U (zh) 一种旋转式安检装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19879094

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19879094

Country of ref document: EP

Kind code of ref document: A1