WO2021082387A1

WO2021082387A1 - Portable x-ray ct imaging device

Info

Publication number: WO2021082387A1
Application number: PCT/CN2020/089060
Authority: WO
Inventors: 鞠欢; 林晨曦; 曹玥
Original assignee: 南京全设智能科技有限公司
Priority date: 2019-11-01
Filing date: 2020-05-07
Publication date: 2021-05-06
Also published as: CN211528252U

Abstract

A portable X-ray CT imaging device comprising a C-arm (3), an X-ray generator, a detector (2), a drive motor, a cantilever (5) and a support mechanism, said support mechanism functioning to support the device. One end of the cantilever (5) is connected to the support mechanism, and the other end is connected to the C-arm (3) via a rotating joint (4). The two ends of the C-arm (3) are connected to the X-ray generator and the detector (2) respectively. A ray source (1) of the X-ray generator faces the detector (2), and a receiving surface of the detector (2) faces the X-ray generator. The detector (2) transmits images to a computing apparatus. By controlling the rotation of the X-ray generator and the detector, three-dimensional imaging of an item being inspected is realized in a portable manner. The inconvenience of transporting the item to the location of a specialized CT scanning mechanism is avoided, and it is possible to obtain three-dimensional information on the interior of the item being inspected. When used in the security industry, the present invention can aid in the rapid and accurate on-site determination of the internal composition and structure of a suspicious item.

Description

A portable X-ray CT imaging device

Technical field

The utility model relates to a CT imaging device, in particular to a portable X-ray CT imaging device, belonging to the technical field of radiation imaging equipment.

Background technique

With the increasingly severe security situation, real-time security inspections of suspicious items are required to quickly detect prohibited items and ensure social safety. However, traditional portable X-ray inspection devices cannot meet the requirements for rapid inspection.

The traditional portable X-ray inspection device can only take two-dimensional images and cannot perform three-dimensional CT imaging; the Chinese patent with the announcement number CN201378150Y discloses a portable X-ray stereo imaging device, but the stereo imaging device needs to manually move the X-ray optical path. The operation is relatively cumbersome in actual use.

technical problem

A portable X-ray CT imaging device is provided to solve the above-mentioned problems existing in the prior art.

Technical solutions

Technical solution: A portable X-ray CT imaging device, comprising a C-arm, an X-ray machine, a detector, a drive motor, a cantilever, and a supporting mechanism. One end of the cantilever is connected to the supporting mechanism, and the other end is connected through a rotating joint Connected to the C-shaped arm, both ends of the C-shaped arm are respectively connected to the X-ray machine and the detector, the ray source of the X-ray machine faces the detector, and the receiving surface of the detector Towards the X-ray machine;

The detector transmits the image to the computer device through a predetermined transmission method to form a three-dimensional image.

After the rotating joint is rotated, the C-arm rotates with it. The X-ray machine at one end of the C-arm emits rays. The detector at the other end of the C-arm collects images. The detector transmits the image to the computer device through wireless transmission. The CT algorithm performs reconstruction to form a three-dimensional image.

In a further embodiment, the rotary joint includes a drive motor, the motor shaft of the drive motor is perpendicular to the cantilever, and the motor shaft of the drive motor is connected to the C-arm through a coupling; the The distance between the driving motor and the X-ray machine is d1, the distance between the driving motor and the detector is d2, and the d1 is greater than d2. By controlling the start of the driving motor, the rotation of the C-arm can be controlled, and the C-arm can rotate at a constant speed in the circumferential direction, which is beneficial to keep the scanning device in a stable working state, and helps to accurately obtain each voxel data. Place the object to be measured under the C-arm and between the ray source and the detector. During the rotation of the C-arm, the ray source of the X-ray machine penetrates the object to be measured and forms an image on the detector; Since the distance between the X-ray machine and the object to be measured is greater than the distance between the detector and the object to be measured, the X-ray machine can penetrate a larger area of the object to be measured under the condition that the angle of the ray source of the X-ray machine remains unchanged.

In a further embodiment, the support mechanism includes a handle, the handle is arranged on the outside of the cantilever, and a handle control end is arranged inside the handle. The handle control end can receive a scan command from a computer device and control the drive motor. Working state; buttons are provided on the handle. When in use, the operator will support the cantilever by holding the handle. When the handle control end receives a scan command, the handle control end controls the drive motor to rotate, and the C-arm rotates accordingly, facilitating the scanning of the object to be tested. When the operator presses the button, the button control terminal is in the on state, and the handle control terminal can receive scanning commands from the computer equipment, which is convenient for a single operator to operate the device.

In a further embodiment, the support mechanism includes a column, the column is movably arranged on the ground, and the cantilever is connected to an end of the column away from the ground. The cantilever is fixed by the column, and the column is directly placed on the ground when the test is performed, which is convenient for the operator to use.

In a further embodiment, the support mechanism includes a mechanical arm arranged on the ground, and the column is detachably connected to one end of the mechanical arm; the mechanical arm includes a drive base, which is movably connected to the drive The primary joint on the base, the secondary joint movably connected to one end of the primary joint, the tertiary joint movably connected to one end of the secondary joint, and the pivot movably connected to one end of the tertiary joint Joint joints; between the drive base and the first-level joint, between the first-level joint and the second-level joint, between the second-level joint and the third-level joint, and between the third-level joint and the adapter joint, respectively, driven and controlled by the first motor ; One end of the upright column and one end of the adapter joint are detachably connected. By rotating the mechanical arm, the C-arm can be rotated to a vertical plane. After the drive motor is started, the C-arm can be rotated circumferentially in the vertical direction, which is convenient for scanning and imaging horizontal objects. Through the coordinated operation of multiple joints, the C-arm can be controlled to move to any position within the space.

In a further embodiment, the support mechanism further includes a remote control car that walks in a predetermined area on the ground, and the column of the support mechanism is detachably connected to the remote control car; the remote control car includes a drive assembly, a lifting assembly, The revolving component, the revolving component is installed above the lifting component, and the upright is fixedly installed on the revolving component. The remote control car is remotely controlled by the operator to drive the CT imaging device to move to a predetermined position. The lifting assembly is used to drive the CT imaging device up and down, and the rotating assembly is used to drive the CT imaging device to rotate along the center of rotation. The above actions cooperate to make the CT imaging device reach the target. Measure the object and move to the height corresponding to the object to be measured.

In a further embodiment, the control signal of the X-ray machine and the detector, and the data signal of the detector are transmitted to the host computer in a wired slip ring mode or a wireless mode; one side of the X-ray machine or the detector is installed A counterweight with a predetermined mass, so that the total center of gravity of the C-arm, X-ray machine, and detector is located on the rotation axis, so that the overall center of gravity will not move during rotation, which is beneficial to maintain stability and obtain good imaging And reconstruction effect.

Beneficial effect

The utility model relates to a portable X-ray CT imaging device. By setting a driving motor, a C-shaped arm is controlled to rotate at a constant speed. When the C-shaped arm rotates, the X-ray machine emits rays, and the ray penetration corresponds to the position of the driving motor. The object to be measured is imaged on the detector, and the detector transmits the image signal to the computer equipment through wired or wireless transmission to form a three-dimensional image. During the whole detection process, there is no need to manually control the movement trajectory of the X-ray machine's ray source, and the X-ray machine rotates circumferentially at a constant speed, which is convenient for obtaining accurate voxel data.

Description of the drawings

Fig. 1 is a schematic diagram of the structure of the first embodiment of the present invention.

Figure 2 is a schematic diagram of the working process of the first embodiment of the present invention.

Figure 3 is a schematic diagram of the second embodiment of the present invention.

Figure 4 is a schematic diagram of the motion track of the utility model.

Fig. 5 is a schematic diagram of the structure of the third embodiment of the present invention.

Fig. 6 is a schematic diagram of the structure of the fourth embodiment of the present invention.

Fig. 7 is a top view of the fourth embodiment of the present invention.

Fig. 8 is a schematic diagram of the structure of the mechanical arm in the fourth embodiment of the present invention.

Figure 9 is a perspective view of the fifth embodiment of the present invention.

Fig. 10 is a partial disassembly schematic diagram of the remote control car in the fifth embodiment of the present invention.

The reference signs in the figure are: ray source 1, detector 2, C-arm 3, rotary joint 4, cantilever 5, handle 6, object to be inspected 7, button 8, column 9, mechanical arm 10, first joint 1001 , The second joint 1002, the third joint 1003, the adapter joint 1004, the stepping motor 1005, the driving base 1006, the remote control car 11, the driving wheel 1101, the motor bracket 1102, the driving bracket 1103, the speed regulating motor 1104, and the swing lever 1105.

Embodiments of the present invention

In the following description, a lot of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present utility model, some technical features known in the art are not described.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The orientation or positional relationship of the other indications is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation and a specific orientation. The azimuth structure and operation of, therefore cannot be understood as a limitation of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

As shown in Fig. 1, the specific details are as shown in Figs. 2 to 10: The present utility model discloses a portable X-ray CT imaging device, and the implementation is as follows:

Example one:

As shown in the figure, a portable X-ray CT imaging device includes: a C-arm 3, an X-ray machine, a detector 2, a drive motor, a cantilever 5, and a support mechanism, which plays a role in the portable X-ray CT imaging device. To support, one end of the cantilever 5 is connected to the supporting mechanism, and the other end is connected to the C-shaped arm 3 through the rotating joint 4, and the two ends of the C-shaped arm 3 are respectively connected to the X-ray machine and the detector 2. The ray source 1 of the X-ray machine faces the detector 2, and the receiving surface of the detector 2 faces the X-ray machine; the detector 2 transmits the image to the computer device through wireless transmission, and reconstructs it through the CT algorithm to form a three-dimensional image.

As a preferred solution, the rotary joint includes a drive motor, the motor shaft of the drive motor is perpendicular to the cantilever, and the motor shaft of the drive motor is connected to the C-arm through a coupling; the drive motor The distance from the X-ray machine is d1, the distance between the driving motor and the detector is d2, and the d1 is greater than d2. When the lateral dimension of the detector (perpendicular to the axis of rotation) is L and the maximum lateral dimension of the inspected object is D, the lateral opening angle θ of the effective use of the X-ray machine's beams meets: sin(θ/2)=(D/ 2)/d1, tan(θ/2)=(L/2)/(d1+d2), generally the beam angle is relatively small, there is an approximate sin(θ/2) ≈tan(θ/2), then d2 /d1≈L/D-1. There must be D<L here, otherwise the inspected object cannot form a complete projection image on the detector. We hope that D is as close to L as possible in order to make full use of the detector area, so the design ensures that d2/d1 is as small as possible. Therefore, the solution of d2=d1/2 is adopted in this embodiment. In actual projects, only the above formulas need to be satisfied, and the proportional relationship between d1 and d2 can be adjusted. The above-mentioned solution of d2=d1/2 is just an example and should not be interpreted as a limitation of the utility model itself.

By controlling the start of the driving motor, the rotation of the C-arm can be controlled, and the C-arm can rotate at a constant speed in the circumferential direction, which is beneficial to keep the scanning device in a stable working state, and helps to accurately obtain each voxel data. During the rotation of the C-arm, place the object to be measured at the relative position of the drive motor. At this time, the ray source of the X-ray machine penetrates the object to be measured and forms an image on the detector; due to the distance between the X-ray machine and the object to be measured The distance is greater than the distance between the detector and the object to be measured, and it can penetrate a larger area of the object to be measured when the X-ray machine's ray source angle remains unchanged.

As a preferred solution, the support mechanism includes a handle, the handle is arranged on the outside of the cantilever, a handle control end is arranged inside the handle, and the handle control end can receive a scan command from a computer device and control the working state of the drive motor ; The handle is provided with a button. When in use, the operator will support the cantilever by holding the handle. When the handle control end receives a scan command, the handle control end controls the drive motor to rotate, and the C-arm rotates accordingly, facilitating the scanning of the object to be tested. When the operator presses the button, the button control terminal is in the on state, and the handle control terminal can receive scanning commands from the computer equipment, which is convenient for a single operator to operate the device.

As a preferred solution, the support mechanism includes a column, the column is movably arranged on the ground, and the cantilever is connected to an end of the column away from the ground. The cantilever is fixed by the column, and the column is directly placed on the ground when the test is performed, which is convenient for the operator to use.

As a preferred solution, the supporting mechanism includes a mechanical arm arranged on the ground, and the column is detachably connected to one end of the mechanical arm; the mechanical arm includes a driving base, which is movably connected to the driving base The first-level joint, the second-level joint movably connected with one end of the first-level joint, the third-level joint movably connected with one end of the second-level joint, and the adapter joint movably connected with one end of the third-level joint ; The drive base and the first-level joint, between the first-level joint and the second-level joint, between the second-level joint and the third-level joint, and between the third-level joint and the adapter joint are respectively driven and controlled by a first motor; One end of the upright column is detachably connected with one end of the adapter joint. By rotating the mechanical arm, the C-arm can be rotated to a vertical plane. After the drive motor is started, the C-arm can be rotated circumferentially in the vertical direction, which is convenient for scanning and imaging horizontal objects. Through the coordinated operation of multiple joints, the C-arm can be controlled to move to any position within the space.

As a preferred solution, the support mechanism further includes a remote control car that walks in a predetermined area on the ground, and the column of the support mechanism is detachably connected to the remote control car; the remote control car includes a drive assembly, a lifting assembly, and a rotation assembly , The rotation assembly is installed above the lifting assembly, and the upright is fixedly installed on the rotation assembly. The remote control car is remotely controlled by the operator to drive the CT imaging device to move to a predetermined position. The lifting assembly is used to drive the CT imaging device up and down, and the rotating assembly is used to drive the CT imaging device to rotate along the center of rotation. The above actions cooperate to make the CT imaging device reach the target. Measure the object and move to the height corresponding to the object to be measured.

As a preferred solution, the control signal of the X-ray machine and the detector, and the data signal of the detector are transmitted to the upper computer in a wired slip ring mode or a wireless mode; the X-ray machine or the detector is installed with a predetermined Mass counterweights make the total center of gravity of the C-arm, X-ray machine, and detector located on the rotation axis, so that the overall center of gravity will not move during rotation, which is beneficial to maintain stability and obtain good imaging and reconstruction effect.

The specific working process is as follows: After the device is assembled, place the object to be tested under the C-arm. At this time, use the handle as the fulcrum and place the other hand on the end of the cantilever to keep the scanning device in balance. Adjust the device to The height corresponding to the item to be tested. The computer equipment sends scan commands to the handle control terminal through the software. After the handle control terminal receives the signal, it controls the motor to rotate. The X-ray machine emits rays, and the rays pass through the object to be measured. The detector collects the image, and the detector transmits the image through wireless transmission. To computer equipment. When the scanning device performs a rotating scan, the schematic diagram of the movement track is shown in Figure 4. Place the inspected item under the C-arm. The shaded part in the figure is the item to be tested. The motor shaft of the driving motor is the center of rotation. The small circle and the large circle are respectively Rotation trajectory of detector and X-ray machine. The rotating joint rotates at a constant speed and collects images, which are reconstructed by CT algorithm to form a three-dimensional image.

Embodiment two:

A portable X-ray CT imaging device. The difference from the first embodiment is that a button is provided on the handle, and the button can control the working state of the control end of the handle.

The specific working process is as follows: When a single person is operating the device, the operator can press the button to turn on the handle control end. At this time, the handle control end can receive the computer's scan command. Before holding the scanning item, use the software on the computer device In the waiting state, press the button, the device controls the scan and at the same time informs the computer device to start collecting data.

Example three:

A portable X-ray CT imaging device, which is different from the foregoing first and second embodiments in that: the support mechanism includes a column, the column is erected on the ground, and the cantilever is connected to the end of the column away from the ground . The end of the column that conflicts with the ground is connected with a counterweight. The counterweight reduces the possibility of the column shaking when supporting the cantilever. The height of the column can be adjusted. The method of adjusting the height belongs to the working method well known to those skilled in the art. No longer. The cantilever is supported by the column, which is easy to move and easy to implement.

Embodiment four:

A portable X-ray CT imaging device, which is different from Embodiment 1, Embodiment 2 and Embodiment 3 in that: the support mechanism includes a mechanical arm arranged on the ground, and the column and the mechanical arm One end is detachable connection.

The specific working process is as follows: by rotating the robotic arm, the C-arm can be rotated to a vertical plane; the four joints on the robotic arm, namely the first joint, the second joint, the third joint, and the adapter joint can each be used Movement, the power is output by the stepping motor; at the same time, there is a horizontal rotation movement between the driving base and the first joint; through the swing of the above four joints and the rotation of the driving base, the C-arm can be controlled to move into the space. Anywhere. After starting the drive motor, the C-arm can rotate circumferentially in the vertical direction, which is convenient for scanning and imaging horizontal objects.

Embodiment five:

A portable X-ray CT imaging device. The difference from Embodiment 1, Embodiment 2 and Embodiment 3 is that the supporting mechanism includes a remote control car that walks in a predetermined area on the ground, and the uprights of the supporting mechanism are The remote control trolley is detachably connected; the remote control trolley includes a basic component, a driving component, a lifting component, and a slewing component. The slewing component is installed above the lifting component, and the upright is fixedly installed on the slewing component. The basic assembly includes a frame and a vehicle chassis. The drive assembly is installed in the middle of the vehicle chassis. The drive assembly includes a drive bracket, a motor bracket, a second motor, a swing rod, a drive wheel, a guide rod, and a compression spring. , The driving bracket and the motor brackets at both ends thereof are hinged by a swing rod, a speed regulating motor is fixedly installed on the inner side of the motor bracket, and a driving wheel is arranged on the outer side of the motor bracket, and the driving wheel is connected to the speed regulating motor. The output shaft of the motor is connected. Two opposite pendulum rods are hinged by a connecting rod, one end of the guide rod is hinged on the drive bracket, the other end is clamped on the connecting rod, and the pressure spring is sleeved on the guide rod , The rotation assembly includes a servo turntable, the lifting assembly includes a screw lifter, and the screw lifter is installed on the servo turntable.

As mentioned above, although the present utility model has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation on the present utility model itself. Various changes in form and details can be made without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims

A portable X-ray CT imaging device, which is characterized by comprising: a C-arm, an X-ray machine, a detector, a drive motor, a cantilever, and a support mechanism. One end of the cantilever is connected to the support mechanism, and the other end is rotated by The joint is connected to the C-shaped arm. The two ends of the C-shaped arm are respectively connected to the X-ray machine and the detector. The radiation source of the X-ray machine faces the detector. Face the X-ray machine;

The detector transmits the image to the computer device through a predetermined transmission method to form a three-dimensional image.
The portable X-ray CT imaging device according to claim 1, wherein the rotary joint includes a drive motor, the motor shaft of the drive motor is perpendicular to the cantilever, and the motor shaft of the drive motor is perpendicular to the cantilever. The C-arm is connected by a coupling; the distance between the drive motor and the X-ray machine is d1, the distance between the drive motor and the detector is d2, and the d1 is greater than d2.
The portable X-ray CT imaging device according to claim 2, wherein the supporting mechanism comprises a handle, the handle is arranged on the outside of the cantilever, the handle is provided with a handle control end, and the handle controls The terminal can receive scan commands from computer equipment and control the working state of the drive motor; buttons are provided on the handle.
The portable X-ray CT imaging device according to claim 1, wherein the supporting mechanism comprises a column, the column is movably arranged on the ground, and the cantilever is connected to an end of the column away from the ground.
The portable X-ray CT imaging device according to claim 4, wherein the supporting mechanism comprises a mechanical arm arranged on the ground, and the column is detachably connected to one end of the mechanical arm; The mechanical arm includes a drive base, a primary joint movably connected to the drive base, a secondary joint movably connected to one end of the primary joint, and a tertiary joint movably connected to one end of the secondary joint, And an adapter joint movably connected to one end of the tertiary joint; between the drive base and the primary joint, between the primary joint and the secondary joint, between the secondary joint and the tertiary joint, and the tertiary joint It is driven and controlled by a first motor respectively with the adapter joint; one end of the column is detachably connected with one end of the adapter joint.
The portable X-ray CT imaging device according to claim 4, characterized in that: the support mechanism further comprises a remote control car that walks in a predetermined area on the ground, and the column of the support mechanism is detachable from the remote control car. Connection; the remote control trolley includes a drive assembly, a lifting assembly, a slewing assembly, the slewing assembly is installed above the lifting assembly, and the upright is fixedly installed on the slewing assembly.
The portable X-ray CT imaging device according to any one of claims 1 to 6, characterized in that: the control signal of the X-ray machine and the detector, and the data signal of the detector adopt a wired slip ring method or It is wirelessly transmitted to the upper computer; a counterweight of predetermined mass is installed on one side of the X-ray machine or the detector, so that the total center of gravity of the C-arm, the X-ray machine, and the detector is located on the rotation axis.