WO2021082388A1 - 一种便携式 x 射线 ct 成像装置及其工作方法 - Google Patents

一种便携式 x 射线 ct 成像装置及其工作方法 Download PDF

Info

Publication number
WO2021082388A1
WO2021082388A1 PCT/CN2020/089061 CN2020089061W WO2021082388A1 WO 2021082388 A1 WO2021082388 A1 WO 2021082388A1 CN 2020089061 W CN2020089061 W CN 2020089061W WO 2021082388 A1 WO2021082388 A1 WO 2021082388A1
Authority
WO
WIPO (PCT)
Prior art keywords
detector
ray
joint
arm
handle
Prior art date
Application number
PCT/CN2020/089061
Other languages
English (en)
French (fr)
Inventor
鞠欢
林晨曦
曹玥
Original Assignee
南京全设智能科技有限公司
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 南京全设智能科技有限公司 filed Critical 南京全设智能科技有限公司
Publication of WO2021082388A1 publication Critical patent/WO2021082388A1/zh

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • G01N23/046—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material using tomography, e.g. computed tomography [CT]

Definitions

  • the invention relates to a CT imaging device, in particular to a portable X-ray CT imaging device and a working method thereof, and belongs to the technical field of radiation imaging equipment.
  • 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.
  • a portable X-ray CT imaging device is provided, and a further object is to provide a working method based on the imaging device to solve the above-mentioned problems in the prior art.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the C-arm 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.
  • 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.
  • 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.
  • a working method of a portable X-ray CT imaging device includes the following steps:
  • Step 1 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, and adjust the device to the end of the cantilever.
  • put the software on the computer equipment in a waiting state press the button, and the equipment will control the scanning and at the same time notify the computer equipment to start collecting data;
  • Step 2 The computer equipment sends scan commands to the handle control terminal through software. After the handle control terminal receives the signal, it controls the motor to rotate.
  • the X-ray machine emits rays, the rays pass through the object to be measured, the detector collects images, and the detector transmits wirelessly. Transfer images to computer equipment;
  • Step 3 When the scanning device performs a rotating scan, place the inspected item under the C-arm, take the motor shaft of the drive motor as the center of rotation, and the rotating joint rotates at a constant speed and collects the image, which is reconstructed by the CT algorithm to form a three-dimensional image .
  • the distance between the drive motor and the X-ray machine is d1
  • the distance between the drive motor and the detector is d2.
  • the horizontal dimension of the detector is L
  • the invention relates to a portable X-ray CT imaging device and a working method thereof.
  • a C-shaped arm is controlled to rotate at a constant speed.
  • the X-ray machine emits rays, and the position of the ray penetrates and the driving motor
  • the corresponding object to be measured is imaged on the detector, and the detector transmits the image signal to the computer equipment through wire or wireless to form a three-dimensional image.
  • the detector transmits the image signal to the computer equipment through wire or wireless to form a three-dimensional image.
  • Fig. 1 is a schematic structural diagram of Embodiment 1 of the present invention.
  • Fig. 2 is a schematic diagram of the working process of the first embodiment of the present invention.
  • Fig. 3 is a schematic structural diagram of the second embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the motion track of the present invention.
  • Fig. 5 is a schematic structural diagram of Embodiment 3 of the present invention.
  • Fig. 6 is a schematic structural diagram of Embodiment 4 of the present invention.
  • Fig. 7 is a top view of the fourth embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of a mechanical arm in the fourth embodiment of the present invention.
  • Fig. 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 present invention discloses a portable X-ray CT imaging device and its working method, and the implementation is as follows:
  • 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.
  • a support mechanism which plays a role in the portable X-ray CT imaging device.
  • 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.
  • 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
  • the d1 is greater than d2.
  • 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.
  • the rotation of the C-arm place the object to be measured at the relative position of the drive motor.
  • 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.
  • 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.
  • the handle control end When in use, the operator will support the cantilever by holding the handle.
  • 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.
  • 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.
  • 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.
  • 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.
  • the C-arm 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the rotation assembly includes a servo turntable
  • the lifting assembly includes a screw lifter
  • the screw lifter is installed on the servo turntable.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pulmonology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

一种便携式X射线CT成像装置及其工作方法，包括C型臂（3）、X光机、探测器（2）、驱动电机、悬臂（5）和支持机构，支持机构对该装置起到支撑作用，悬臂（5）的一端与支持机构连接，另一端通过旋转关节（4）与C型臂（3）相连接，C型臂（3）的两端分别与X光机与探测器（2）相连接，X光机的射线源（1）朝向探测器（2），探测器（2）的接收面朝向X光机；探测器（2）将图像传输至计算机设备。通过控制X光机与探测器的转动，用便携的方式实现了对被检物品的三维成像，既免除了将物品运送至专门CT扫描机构所在地的麻烦，又可以获得被检物品的内部三维信息，用于安检行业时有助于现场快速准确判断可疑物品的内部组成和结构。

Description

一种便携式X射线CT成像装置及其工作方法 技术领域
本发明涉及一种CT成像装置，具体涉及一种便携式X射线CT成像装置及其工作方法，属于辐射成像设备技术领域。
 背景技术
随着安全形势的日益严峻，要求对可疑的物品进行实时安全检查，以快速查出违禁物品，保障社会平安，而传统的便携X射线检查装置无法满足快速检测的要求。
传统的便携X射线检查装置只能拍摄二维图像，不能进行三维CT成像；公告号为CN201378150Y的中国专利公布了一种便携式X射线立体成像装置，但该立体成像装置需手动移动X射线光路，在实际使用过程中操作较为繁琐。
 技术问题
提供一种便携式X射线CT成像装置，进一步目的是提供一种基于该成像装置的工作方法，以解决现有技术存在的上述问题。
 技术解决方案
技术方案：一种便携式X射线CT成像装置，包括C型臂、X光机、探测器、驱动电机、悬臂、以及支持机构，所述悬臂的一端与所述支持机构连接，另一端通过旋转关节与所述C型臂连接，所述C型臂的两端分别与所述X光机和探测器相连接，所述X光机的射线源朝向所述探测器，所述探测器的接收面朝向X光机；
所述探测器通过预定的传输方式将图像传输至计算机设备，形成三维图像。
将旋转关节旋转后，C型臂随之转动，位于C型臂一端的X光机发出射线，位于C型臂另一端的探测器采集图像，探测器通过无线传输将图像传输至计算机设备，通过CT算法进行重建，形成三维图像。
在进一步的实施例中，所述旋转关节包括驱动电机，所述驱动电机的电机轴与所述悬臂相垂直，所述驱动电机的电机轴与所述C型臂通过联轴器连接；所述驱动电机与X光机之间的距离为d1，所述驱动电机与探测器之间的距离为d2，所述d1大于d2。通过控制驱动电机启动，即可控制C型臂旋转，并且有利于C型臂以恒定速度周向旋转，有利于使扫描装置保持稳定的工作状态，有助于精确获得每个体素数据。将待测物体放置在C型臂的下方，并位于射线源和探测器之间，在C型臂旋转过程中，此时X光机的射线源穿透待测物体并在探测器上成像；由于X光机与待测物体的距离大于探测器与待测物体的距离，在X光机的射线源角度不变的情况下，能穿透较大的待测物体区域。
在进一步的实施例中，所述支持机构包括手柄，所述手柄设置于悬臂的外侧，所述手柄内部设置有手柄控制端，所述手柄控制端可接收计算机设备的扫描命令并控制驱动电机的工作状态；所述手柄上设有按钮。在使用时，操作者将通过把持手柄，实现对悬臂的支持，当手柄控制端接收到扫描命令时，手柄控制端控制驱动电机转动，C型臂随之转动，便于对待测物品的扫描。操作者按压按钮时，按钮控制端处于接通状态，手柄控制端可接收来自计算机设备的扫描命令，便于单个操作者对装置进行操作。
在进一步的实施例中，所述支持机构包括立柱，所述立柱活动设置在地面上，所述悬臂与立柱远离地面的一端相连接。通过立柱对悬臂进行固定，在进行检测时，直接将立柱放置在地面上，便于操作者使用。
在进一步的实施例中，所述支持机构包括一个安置在地面上的机械臂，所述立柱与所述机械臂的一端可拆式连接；所述机械臂包括驱动底座，活动连接在所述驱动底座上的一级关节，与所述一级关节的一端活动连接的二级关节，与所述二级关节的一端活动连接的三级关节，以及与所述三级关节的一端活动连接的转接关节；所述驱动底座与一级关节之间、一级关节与二级关节之间、二级关节与三级关节之间、三级关节与转接关节之间分别通过第一电机驱动控制；所述立柱的一端与所述转接关节的一端可拆式连接。通过旋转机械臂，可将C型臂旋转至位于竖直平面，启动驱动电机后C型臂可在竖直方向上进行周向旋转，便于对于横向物品进行扫描成像。通过多个关节之间的协调运作，可控制C型臂移动到空间范围内的任意位置。
在进一步的实施例中，所述支持机构还包括在地面预定区域内行走的遥控小车，所述支持机构的立柱与所述遥控小车可拆式连接；所述遥控小车包括驱动组件、升降组件、回转组件，所述回转组件安装在所述升降组件上方，所述立柱固定安装在所述回转组件上。遥控小车由操作人员远程操控带动CT成像装置移动至预定位置处，升降组件用于驱动CT成像装置升降，回转组件用于驱动CT成像装置沿回转中心旋转，上述动作协同配合使得CT成像装置到达被测物体处，并移动至与待测物品相应的高度。
在进一步的实施例中，所述X光机和探测器的控制信号、以及探测器的数据信号采用有线滑环方式或无线方式传输至上位计算机；所述X光机或探测器的一侧安装有预定质量的配重块，使得所述C型臂、X光机、探测器的总重心位于所述旋转轴上，这样在旋转时整体重心不会移动，有利于保持稳定，得到良好的成像和重建效果。
一种便携式X射线CT成像装置的工作方法，包括以下步骤：
步骤1、将装置组装好后，将待测物品放置于C型臂的下方，此时以手柄为支点，另一只手放于悬臂的末端，使扫描装置保持平衡，调节装置至与待测物品相应的高度；所述手柄上设置按钮，所述按钮可以控制手柄控制端的工作状态；当单人操作设备时，操作员通过按压按扭使得手柄控制端接通，此时手柄控制端可接收计算机的扫描命令，手持扫描物品前，使计算机设备上的软件处于等待状态，按下按钮，设备控制扫描的同时，通知计算机设备开始采集数据；
步骤2、计算机设备通过软件发送扫描命令给手柄控制端，手柄控制端接收到信号后控制电机转动，X光机发出射线，射线穿过待测物体，探测器采集图像，探测器通过无线传输，将图像传输至计算机设备；
步骤3、扫描装置做旋转扫描时，将被检物品放置于C型臂下方，以驱动电机的电机轴为旋转中心，旋转关节以恒定速度旋转并采集图像，通过CT算法进行重建，形成三维图像。
在进一步的实施例中，所述驱动电机与X光机之间的距离为d1，所述驱动电机与探测器之间的距离为d2，当探测器横向尺寸为L，被检物体横向最大尺寸为D时，则X光机出束射线有效利用的横向张角 θ满足： sin（ θ /2） = (D / 2)/d1 ； tan( θ /2) =(L / 2)/(d1+d2)；
令 sin（ θ /2） = tan( θ /2)，则此时d2/ d1=L/(D-1) ，则有D<L。
有益效果
本发明涉及一种便携式X射线CT成像装置及其工作方法，通过设置驱动电机，控制C型臂以恒定速度旋转，在C型臂旋转时X光机发出射线，射线穿透与驱动电机的位置相对应的待测物体，并在探测器上成像，探测器将图像信号通过有线或无线传输至计算机设备，形成三维图像。在整个检测过程中无需用手控制X光机的射线源移动轨迹，并且X光机以恒定速度周向旋转，便于获得精确的体素数据。
 附图说明
图1是本发明实施例一的结构示意图。
图2是本发明实施例一的工作过程示意图。
图3是本发明实施例二的结构示意图。
图4是本发明的运动轨迹示意图。
图5是本发明实施例三的结构示意图。
图6是本发明实施例四的结构示意图。
图7是本发明实施例四的俯视图。
图8是本发明实施例四中机械臂的结构示意图。
图9是本发明实施例五的立体图。
图10是本发明实施例五中遥控小车的部分拆解示意图。
图中各附图标记为：射线源 1、探测器 2、C型臂3、旋转关节4、悬臂5、手柄6、被检物品7、按钮8、立柱9、机械臂10、第一关节1001、第二关节1002、第三关节1003、转接关节1004、步进电机1005、驱动底座1006、遥控小车11、主动轮1101、电机支架1102、驱动支架1103、调速电机1104、摆杆1105。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
如图1所示，具体的细节部分如如图2至图10所示：本发明公开了一种便携式X射线CT成像装置及其工作方法，实施方式如下：
实施例一：
如图所示，一种便携式X射线CT成像装置，包括：C型臂3、X光机、探测器 2、驱动电机、悬臂5和支持机构，所述支持机构对便携X射线CT成像装置起到支撑作用，所述悬臂5的一端与支持机构连接，另一端通过旋转关节4与C型臂3相连接，所述C型臂3的两端分别与X光机与探测器 2相连接，所述X光机的射线源 1朝向探测器 2，所述探测器 2的接收面朝向X光机；所述探测器 2通过无线传输将图像传输至计算机设备，通过CT算法进行重建，形成三维图像。
作为一个优选方案，所述旋转关节包括驱动电机，所述驱动电机的电机轴与所述悬臂相垂直，所述驱动电机的电机轴与所述C型臂通过联轴器连接；所述驱动电机与X光机之间的距离为d1，所述驱动电机与探测器之间的距离为d2，所述d1大于d2。当探测器横向（垂直于旋转轴）尺寸为L，被检物体横向最大尺寸为D时，则X光机出束射线有效利用的横向张角θ满足：sin(θ/2)=(D/2)/d1，tan(θ/2)=(L/2)/(d1+d2)，一般出束角度都比较小，有近似sin(θ/2) ≈tan(θ/2)，则d2/d1≈L/D-1。此处必有D<L，否则被检物体无法在探测器上形成完整的投影图像。我们希望D尽量接近L，以便充分利用探测器面积，故设计上保证d2/d1尽量小。故在本实施例中采用d2=d1/2的方案。在实际工程中只需满足上述公式，d1和d2的比例关系可以调整，上述d2=d1/2的方案只是一种实施例，不得解释为对本发明自身的限制。
通过控制驱动电机启动，即可控制C型臂旋转，并且有利于C型臂以恒定速度周向旋转，有利于使扫描装置保持稳定的工作状态，有助于精确获得每个体素数据。在C型臂旋转过程中，将待测物体放置在于驱动电机的相对位置处，此时X光机的射线源穿透待测物体并在探测器上成像；由于X光机距离待测物体的距离大于探测器距离待测物体的距离，在X光机的射线源角度不变的情况下，能穿透较大的待测物体区域。
作为一个优选方案，所述支持机构包括手柄，所述手柄设置于悬臂的外侧，所述手柄内部设置有手柄控制端，所述手柄控制端可接收计算机设备的扫描命令并控制驱动电机的工作状态；所述手柄上设有按钮。在使用时，操作者将通过把持手柄，实现对悬臂的支持，当手柄控制端接收到扫描命令时，手柄控制端控制驱动电机转动，C型臂随之转动，便于对待测物品的扫描。操作者按压按钮时，按钮控制端处于接通状态，手柄控制端可接收来自计算机设备的扫描命令，便于单个操作者对装置进行操作。
作为一个优选方案，所述支持机构包括立柱，所述立柱活动设置在地面上，所述悬臂与立柱远离地面的一端相连接。通过立柱对悬臂进行固定，在进行检测时，直接将立柱放置在地面上，便于操作者使用。
作为一个优选方案，所述支持机构包括一个安置在地面上的机械臂，所述立柱与所述机械臂的一端可拆式连接；所述机械臂包括驱动底座，活动连接在所述驱动底座上的一级关节，与所述一级关节的一端活动连接的二级关节，与所述二级关节的一端活动连接的三级关节，以及与所述三级关节的一端活动连接的转接关节；所述驱动底座与一级关节之间、一级关节与二级关节之间、二级关节与三级关节之间、三级关节与转接关节之间分别通过第一电机驱动控制；所述立柱的一端与所述转接关节的一端可拆式连接。通过旋转机械臂，可将C型臂旋转至位于竖直平面，启动驱动电机后C型臂可在竖直方向上进行周向旋转，便于对于横向物品进行扫描成像。通过多个关节之间的协调运作，可控制C型臂移动到空间范围内的任意位置。
作为一个优选方案，所述支持机构还包括在地面预定区域内行走的遥控小车，所述支持机构的立柱与所述遥控小车可拆式连接；所述遥控小车包括驱动组件、升降组件、回转组件，所述回转组件安装在所述升降组件上方，所述立柱固定安装在所述回转组件上。遥控小车由操作人员远程操控带动CT成像装置移动至预定位置处，升降组件用于驱动CT成像装置升降，回转组件用于驱动CT成像装置沿回转中心旋转，上述动作协同配合使得CT成像装置到达被测物体处，并移动至与待测物品相应的高度。
作为一个优选方案，所述X光机和探测器的控制信号、以及探测器的数据信号采用有线滑环方式或无线方式传输至上位计算机；所述X光机或探测器的一侧安装有预定质量的配重块，使得所述C型臂、X光机、探测器的总重心位于所述旋转轴上，这样在旋转时整体重心不会移动，有利于保持稳定，得到良好的成像和重建效果。
具体的工作过程如下：将装置组装好后，将待测物品放置于C型臂的下方，此时以手柄为支点，另一只手放于悬臂的末端，使扫描装置保持平衡，调节装置至与待测物品相应的高度。计算机设备通过软件发送扫描命令给手柄控制端，手柄控制端接收到信号后控制电机转动，X光机发出射线，射线穿过待测物体，探测器采集图像，探测器通过无线传输，将图像传输至计算机设备。扫描装置做旋转扫描时，运动轨迹示意图见图 4，将被检物品放置于C型臂下方，图中阴影部分为待测物品，以驱动电机的电机轴为旋转中心，小圆与大圆分别是探测器和X光机的旋转轨迹。旋转关节以恒定速度旋转并采集图像，通过CT算法进行重建，形成三维图像。
实施例二：
一种便携式X射线CT成像装置，与前述实施例一的不同之处在于：所述手柄上设置按钮，所述按钮可以控制手柄控制端的工作状态。
具体的工作过程如下：当单人操作设备时，操作员可以通过按压按扭使得手柄控制端接通，此时手柄控制端可接收计算机的扫描命令，手持扫描物品前，使计算机设备上的软件处于等待状态，按下按钮，设备控制扫描的同时，通知计算机设备开始采集数据。
实施例三：
一种便携式X射线CT成像装置，与前述实施例一和实施例二的不同之处在于：所述支持机构包括立柱，所述立柱架设在地面上，所述悬臂与立柱远离地面的一端相连接。立柱与地面相抵触的一端连接有配重块，配重块降低立柱在支持悬臂时发生晃动的可能，立柱的高度可调节，而调节高度的方法属于本领域技术人员熟知的工作方法，在此不再赘述。通过立柱对悬臂进行支持，便于移动，便于实施。
实施例四：
一种便携式X射线CT成像装置，与实施例一、实施例二和实施例三的不同之处在于：所述支持机构包括一个安置在地面上的机械臂，所述立柱与所述机械臂的一端可拆式连接。
具体的工作过程如下：通过旋转机械臂，可将C型臂旋转至位于竖直平面；机械臂上的四个关节，即第一关节、第二关节、第三关节、转接关节各自都可活动，动力通过步进电机输出；同时，驱动底座与第一关节之间拥有水平方向的回转运动；通过上述四个关节的摆动和驱动底座的回转运动，可以控制C型臂移动到空间范围内的任意位置。启动驱动电机后C型臂可在竖直方向上进行周向旋转，便于对于横向物品进行扫描成像。
实施例五：
一种便携式X射线CT成像装置，与实施例一、实施例二和实施例三的不同之处在于：所述支持机构包括在地面预定区域内行走的遥控小车，所述支持机构的立柱与所述遥控小车可拆式连接；所述遥控小车包括基础组件、驱动组件、升降组件、回转组件，所述回转组件安装在所述升降组件上方，所述立柱固定安装在所述回转组件上。所述基础组件包括车架和车辆底盘，所述驱动组件安装在所述车辆底盘的中部，所述驱动组件包括驱动支架、电机支架、第二电机、摆杆、驱动轮、导杆、压力弹簧，所述驱动支架和位于其两端的电机支架通过摆杆铰接，所述电机支架的内侧固定安装有调速电机，所述电机支架的外侧设有主动轮，所述主动轮与所述调速电机的输出轴连接。相对的两根摆杆之间通过连杆铰接，所述导杆的一端铰接在所述驱动支架上，另一端卡设在所述连杆上，所述压力弹簧套设在所述导杆上，所述回转组件包括伺服回转台，所述升降组件包括丝杆升降机，所述丝杆升降机安装在所述伺服回转台上。
如上所述，尽管参照特定的优选实施例已经表示和表述了本发明，但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下，可对其在形式上和细节上做出各种变化。

Claims (9)

  1. 一种便携式X射线CT成像装置，其特征是包括：C型臂、X光机、探测器、驱动电机、悬臂、以及支持机构，所述悬臂的一端与所述支持机构连接，另一端通过旋转关节与所述C型臂连接，所述C型臂的两端分别与所述X光机和探测器相连接，所述X光机的射线源朝向所述探测器，所述探测器的接收面朝向X光机；
    所述探测器通过预定的传输方式将图像传输至计算机设备，形成三维图像。
  2. 根据权利要求1所述的一种便携式X射线CT成像装置，其特征在于：所述旋转关节包括驱动电机，所述驱动电机的电机轴与所述悬臂相垂直，所述驱动电机的电机轴与所述C型臂通过联轴器连接；所述驱动电机与X光机之间的距离为d1，所述驱动电机与探测器之间的距离为d2，所述d1大于d2。
  3. 根据权利要求2所述的一种便携式X射线CT成像装置，其特征在于：所述支持机构包括手柄，所述手柄设置于悬臂的外侧，所述手柄内部设置有手柄控制端，所述手柄控制端可接收计算机设备的扫描命令并控制驱动电机的工作状态；所述手柄上设有按钮。
  4. 根据权利要求1所述的一种便携式X射线CT成像装置，其特征在于：所述支持机构包括立柱，所述立柱活动设置在地面上，所述悬臂与立柱远离地面的一端相连接。
  5. 根据权利要求4所述的一种便携式X射线CT成像装置，其特征在于：所述支持机构包括一个安置在地面上的机械臂，所述立柱与所述机械臂的一端可拆式连接；所述机械臂包括驱动底座，活动连接在所述驱动底座上的一级关节，与所述一级关节的一端活动连接的二级关节，与所述二级关节的一端活动连接的三级关节，以及与所述三级关节的一端活动连接的转接关节；所述驱动底座与一级关节之间、一级关节与二级关节之间、二级关节与三级关节之间、三级关节与转接关节之间分别通过第一电机驱动控制；所述立柱的一端与所述转接关节的一端可拆式连接。
  6. 根据权利要求4所述的一种便携式X射线CT成像装置，其特征在于：所述支持机构还包括在地面预定区域内行走的遥控小车，所述支持机构的立柱与所述遥控小车可拆式连接；所述遥控小车包括驱动组件、升降组件、回转组件，所述回转组件安装在所述升降组件上方，所述立柱固定安装在所述回转组件上。
  7. 根据权利要求1至6中任意一项所述的一种便携式X射线CT成像装置，其特征在于：所述X光机和探测器的控制信号、以及探测器的数据信号采用有线滑环方式或无线方式传输至上位计算机；所述X光机或探测器的一侧安装有预定质量的配重块，使得所述C型臂、X光机、探测器的总重心位于所述旋转轴上。
  8. 基于权利要求1至7中任意一项所述的一种便携式X射线CT成像装置的工作方法，其特征是包括以下步骤：
    步骤1、将装置组装好后，将待测物品放置于C型臂的下方，此时以手柄为支点，另一只手放于悬臂的末端，使扫描装置保持平衡，调节装置至与待测物品相应的高度；所述手柄上设置按钮，所述按钮可以控制手柄控制端的工作状态；当单人操作设备时，操作员通过按压按扭使得手柄控制端接通，此时手柄控制端可接收计算机的扫描命令，手持扫描物品前，使计算机设备上的软件处于等待状态，按下按钮，设备控制扫描的同时，通知计算机设备开始采集数据；
    步骤2、计算机设备通过软件发送扫描命令给手柄控制端，手柄控制端接收到信号后控制电机转动，X光机发出射线，射线穿过待测物体，探测器采集图像，探测器通过无线传输，将图像传输至计算机设备；
    步骤3、扫描装置做旋转扫描时，将被检物品放置于C型臂下方，以驱动电机的电机轴为旋转中心，旋转关节以恒定速度旋转并采集图像，通过CT算法进行重建，形成三维图像。
  9. 根据权利要求8所述的一种便携式X射线CT成像装置的工作方法，其特征在于：所述驱动电机与X光机之间的距离为d1，所述驱动电机与探测器之间的距离为d2，当探测器横向尺寸为L，被检物体横向最大尺寸为D时，则X光机出束射线有效利用的横向张角 θ满足： sin（ θ /2） = (D /2)/d1 ； tan( θ/2) =(L /2)/(d1+d2)；
    令 sin（ θ /2） = tan( θ/2)，则此时d2/ d1=L/(D-1) ，则有D<L。
PCT/CN2020/089061 2019-11-01 2020-05-07 一种便携式 x 射线 ct 成像装置及其工作方法 WO2021082388A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911058074.XA CN110763707A (zh) 2019-11-01 2019-11-01 一种便携式x射线ct成像装置及其工作方法
CN201911058074.X 2019-11-01

Publications (1)

Publication Number Publication Date
WO2021082388A1 true WO2021082388A1 (zh) 2021-05-06

Family

ID=69335291

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/089061 WO2021082388A1 (zh) 2019-11-01 2020-05-07 一种便携式 x 射线 ct 成像装置及其工作方法

Country Status (2)

Country Link
CN (1) CN110763707A (zh)
WO (1) WO2021082388A1 (zh)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN211528252U (zh) * 2019-11-01 2020-09-18 南京全设智能科技有限公司 一种便携式x射线ct成像装置
CN110763707A (zh) * 2019-11-01 2020-02-07 南京全设智能科技有限公司 一种便携式x射线ct成像装置及其工作方法
CN111281407B (zh) * 2020-02-17 2023-09-29 京东方科技集团股份有限公司 一种c型臂x射线设备
EP4141427A4 (en) * 2020-11-18 2024-06-05 Jed Co., Ltd X-RAY INSPECTION DEVICE
CN112525929A (zh) * 2020-12-02 2021-03-19 南京理工大学 移动x光机危险品检测装置
CN112924479A (zh) * 2021-01-28 2021-06-08 山东科技大学 现场装配式环形扫描工业ct机及操作方法
CN113432671B (zh) * 2021-06-07 2024-03-15 江苏斯尔邦石化有限公司 一种基于eva放射性料位计的料位计界面测量装置及方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107498589A (zh) * 2017-07-31 2017-12-22 北京紫方启研科技有限公司 具有x射线透视成像功能的机器人
US20180315236A1 (en) * 2017-04-26 2018-11-01 The Aerospace Corporation Portable x-ray computed tomography
CN208784756U (zh) * 2018-01-31 2019-04-26 邦盛医疗装备（天津）股份有限公司 具有六自由度机械臂的dr机器人
CN110006931A (zh) * 2019-04-23 2019-07-12 西安增材制造国家研究院有限公司 一种工业在线ct及其应用
CN110763707A (zh) * 2019-11-01 2020-02-07 南京全设智能科技有限公司 一种便携式x射线ct成像装置及其工作方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180315236A1 (en) * 2017-04-26 2018-11-01 The Aerospace Corporation Portable x-ray computed tomography
CN107498589A (zh) * 2017-07-31 2017-12-22 北京紫方启研科技有限公司 具有x射线透视成像功能的机器人
CN208784756U (zh) * 2018-01-31 2019-04-26 邦盛医疗装备（天津）股份有限公司 具有六自由度机械臂的dr机器人
CN110006931A (zh) * 2019-04-23 2019-07-12 西安增材制造国家研究院有限公司 一种工业在线ct及其应用
CN110763707A (zh) * 2019-11-01 2020-02-07 南京全设智能科技有限公司 一种便携式x射线ct成像装置及其工作方法

Also Published As

Publication number Publication date
CN110763707A (zh) 2020-02-07

Similar Documents

Publication Publication Date Title
WO2021082388A1 (zh) 一种便携式 x 射线 ct 成像装置及其工作方法
JP2019078746A (ja) ケーブル懸架式プラットフォームを用いた構造体を測定及び検査するための方法
WO2018121079A1 (zh) 安检设备及方法
JPH07128258A (ja) 断層撮影装置
JP3485984B2 (ja) 炉内検査システムおよび炉内検査方法
JPH07148160A (ja) 医用検査装置
CN208725742U (zh) 智能型射线摄影装置
WO2021082387A1 (zh) 一种便携式 x 射线 ct 成像装置
CN111248933A (zh) 扫描方法、装置及系统
CN108333193A (zh) 一种管道培训试件射线数字化无损检测装置及方法
US20180214112A1 (en) Advanced concept mobile x-ray imaging device
WO2020191937A1 (zh) 用于机械结构件检测的无人机
JPS60214247A (ja) ロボツトｃｔ
CN110090033A (zh) 智能型射线摄影装置及控制方法
CN206192922U (zh) 探测装置
CN209667368U (zh) 用于机械结构件检测的无人机
CN208942168U (zh) 射线摄影装置
CN208610862U (zh) 多功能射线摄影装置
JPS6323780B2 (zh)
CN109613619B (zh) 单臂式毫米波成像系统转动机构的驱动装置和方法
JPH0510606B2 (zh)
CN210626371U (zh) 用于X-ray设备的平板探测器左右摆动装置
CN209167168U (zh) 管道自动探伤定位检测装置
CN208420749U (zh) 一种x射线成像装置
CN106546209A (zh) 一种测量x射线机拍摄角度的装置及其方法

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: 20882930

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: 20882930

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 20882930

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 02/11/2022)

122 Ep: pct application non-entry in european phase

Ref document number: 20882930

Country of ref document: EP

Kind code of ref document: A1