Imaging device and imaging method thereof

Abstract

This invention provides an imaging device, comprising: an adjustable arm; an imaging component connected to one end of the adjustable arm; and a counterweight connected to the other end of the adjustable arm via a cable, the counterweight having an actuator connected to one end of the cable and capable of moving the cable. A method for imaging using the imaging device is also provided, comprising: adjusting the position of the imaging component; adjusting the cable length using the actuator to adjust the effective weight of the imaging component acting on the tissue to be imaged; and performing imaging using the imaging component.

Description

Technical Field

[0001] The subject matter disclosed in the present invention relates to the field of medical imaging, and in particular to an imaging device and an imaging method thereof. Background Art

[0002] Medical imaging devices are widely used in the field of medical diagnosis. Common medical imaging devices include ultrasound imaging devices, magnetic resonance imaging devices, X-ray imaging devices, etc. For example, a breast ultrasound scanning device is one of the ultrasound imaging devices, which uses the echo signal of high-frequency sound waves emitted by the detector in the imaging component to produce breast images. In breast examination, breast ultrasound scanning can be used as an auxiliary means of breast cancer screening, providing advantages over X-ray mammography in patients with dense breast tissue (e.g., high content of fibroglandular tissue).

[0003] In one example, a breast ultrasound scanning device can be used to image breast tissue in one or more planes. Before initiating a scan, a user of the scanning device places an imaging assembly on the tissue to be scanned and applies a downward force on the imaging assembly to compress the tissue so as to properly image the tissue. Adjusting the position of the imaging assembly and adjusting the downward force applied by the imaging assembly have an important impact on the image quality. Summary of the invention

[0004] In some embodiments of the present invention, an imaging device is provided, which includes: an adjustable arm; an imaging component connected to one end of the adjustable arm; a counterweight connected to the other end of the adjustable arm via a cable, wherein an actuator is provided on the counterweight, and the actuator is connected to one end of the cable and can drive the cable to move.

[0005] Optionally, a frame is further included, wherein the frame includes a guide rail, and the guide rail is used for guiding when the counterweight and / or the adjustable arm moves.

[0006] Optionally, the guide rail is a hollow structure, the interior of which contacts the adjustable arm, and the exterior of which contacts the counterweight.

[0007] Optionally, the adjustable arm includes a limiting structure for limiting the position of the adjustable arm when it moves.

[0008] Optionally, the portion where the guide rail contacts the adjustable arm is a non-cylindrical structure.

[0009] Optionally, the portion of the adjustable arm that contacts the guide rail and other portions of the adjustable arm are rotatably connected.

[0010] Optionally, the other end of the cable is fixedly connected to the adjustable arm.

[0011] Optionally, the cable is slidably connected to the bottom of the adjustable arm, and the other end is connected to the counterweight.

[0012] Optionally, a pulley and a baffle at least partially surrounding the pulley are provided at the bottom of the adjustable arm, the distance between the pulley and the baffle is smaller than the diameter of the cable, and the cable is slidably connected to the bottom of the adjustable arm through the pulley.

[0013] Optionally, the actuator includes a lead screw motor and a slider connected to the lead screw motor, and the slider is connected to one end of the cable.

[0014] Optionally, it also includes a frame and a locking device, and the locking device is used to position the counterweight.

[0015] Optionally, the locking device includes:

[0016] a through hole, the through hole being arranged on the counterweight at a position close to the frame;

[0017] a pin, wherein the pin is at least partially disposed in the through hole;

[0018] A first connecting rod and a pressure rod, wherein one end of the first connecting rod is movably connected to the pin, and the other end of the first connecting rod is movably connected to the pressure rod;

[0019] a second actuator, the second actuator driving the pressure rod to move;

[0020] and at least one groove, which is disposed on the frame and matches the pin.

[0021] Optionally, the imaging assembly comprises an ultrasonic transducer.

[0022] Some embodiments of the present invention also provide a method for performing imaging using any of the above-mentioned imaging devices, comprising: adjusting the position of an imaging component; adjusting the cable length using an actuator to adjust the effective weight of the imaging component acting on the tissue to be imaged; and performing imaging using the imaging component.

[0023] Optionally, the method further includes: positioning the counterweight using a locking device.

[0024] It should be understood that the brief description above is provided to introduce some concepts further described in the detailed description in a simplified form. It is not meant to identify key or essential features of the claimed subject matter, the scope of which is solely defined by the claims that follow the detailed description. Furthermore, the claimed subject matter is not limited to implementations that solve any disadvantages mentioned above or in any section of this disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] These and other features, aspects and advantages of the present invention will be better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters refer to like parts throughout the several views, and in which:

[0026] Figure 1 is a schematic structural diagram of a breast ultrasound scanning device according to some embodiments of the present invention;

[0027] Figure 2 is a schematic diagram of the structure of an adjustable arm according to some embodiments of the present invention;

[0028] Figure 3 is a schematic structural diagram of an adjustable arm according to some other embodiments of the present invention;

[0029] Figure 4 is a bottom view of a guide rail structure according to some embodiments of the present invention;

[0030] Figure 5 is a bottom view of a guide rail structure according to some other embodiments of the present invention;

[0031] Figure 6 is a schematic structural diagram of the contact portion between the adjustable arm and the guide rail according to some embodiments of the present invention;

[0032] Figure 7 is a schematic diagram of the structure of a counterweight according to some embodiments of the present invention;

[0033] Figure 8 is a schematic structural diagram of a locking device according to some embodiments of the present invention;

[0034] Fig. 9 is a flowchart of an imaging method of an imaging device according to some embodiments of the present invention. DETAILED DESCRIPTION

[0035] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to be concise, it is impossible for the present invention to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in the present disclosure are just conventional technical means, and should not be understood as insufficient content of the present disclosure.

[0036] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meanings understood by persons of ordinary skill in the relevant technical field. The words "first", "second" and similar terms used in the present invention and the claims do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar terms mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalent elements, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0037] Although some embodiments of the present invention are presented in the specific context of human breast ultrasound, it should be understood that the present invention is applicable to facilitating ultrasound scanning of any externally accessible human or animal body part (e.g., abdomen, legs, feet, arms, neck, etc.), and is also applicable to other medical imaging devices with similar mechanical structures (e.g., X-ray scanning). In addition, although some embodiments of the present invention are presented in the specific context of using mechanized scanning, it should be understood that the present invention is also applicable to handheld scanning environments.

[0038] refer to Figure 1A perspective view of a breast ultrasound scanning device 102 (hereinafter also referred to as the scanning device 102) according to some embodiments of the imaging device of the present invention includes a frame 104, an ultrasound processor housing 105 including an ultrasound processor, an adjustable arm 106 including a hinge joint 114, an imaging assembly 108 connected to one end 120 of the adjustable arm 106 via a ball joint 112, and a display 110 connected to the frame 104. The imaging assembly 108 includes an ultrasound transducer. The display 110 is connected to the frame 104 at the interface where the adjustable arm 106 enters the frame 104. Since the display 110 is directly connected to the frame 104 instead of the adjustable arm 106, the display 110 does not affect the weight of the adjustable arm 106 and the balance mechanism of the adjustable arm 106. In some embodiments, the display 110 can be rotated in the horizontal and lateral directions (for example, it can be rotated around the central axis of the frame 104), but cannot be moved vertically. In other embodiments, the display 110 can also be vertically movable.

[0039] It should be noted that Figure 1 Some configurations and relative positions of the components are shown for reference only, but these configurations and relative positions are not exclusive. For example, the position of the display 110 is arbitrary, for example, it can be set on the ultrasound processor housing 105, or it can be set arbitrarily independently of the frame 104 or the housing 105. The shape of the adjustable arm 106 does not necessarily have to be like Figure 1 The structure may be curved, or may be a folded line structure or even a straight line structure. The adjustable arm 106 may not include the hinge joint 114 but may be integrally formed or arranged in any other manner, which does not affect the implementation of various embodiments of the present invention. In addition, the arrangement of the ball joint 112 is not unique, and other types of connection methods may be selected to connect the adjustable arm 106 and the imaging assembly 108. In some embodiments, the imaging assembly 108 includes a membrane 118 that is at least partially fitted and is in a substantially taut state, for compressing the breast, the membrane 118 having a bottom surface that contacts the breast, while the transducer sweeps across its top surface to scan the breast. The membrane 118 may be a taut piece of fabric.

[0040] In some embodiments, the adjustable arm 106 is configured so that the net downward weight of the imaging assembly 108 is substantially zero, or has a relatively light net downward weight (e.g., 1-2 kg). Under this net downward weight, the position of the imaging assembly 108 can be easily adjusted by the user at will, and can remain stationary after adjustment. In other embodiments, after the above adjustment makes the imaging assembly 108 contact the tissue to be scanned, the internal components of the scanning device 102 can be adjusted to apply the desired downward weight for breast compression and improved imaging quality. In some embodiments, the net downward weight can be in the range of 2-11 kg. The weight adjustment of the imaging assembly 108 will be described in detail below.

[0041] refer to Figure 2-3 , shows a schematic diagram of the adjustment structure of the adjustable arm 106 in some embodiments of the present invention. One end of the adjustable arm 106 is connected to the imaging component 108 (the imaging component 108 is Figure 2 , 3(not shown in the figure), and the other end is connected to the counterweight 201 through the cable 202. It should be noted that the meaning of connection through the cable 202 is not limited to the fixed connection between the adjustable arm 106 and / or the counterweight 201 and the cable 202. This connection can also be in any other form, such as a sliding connection, etc. As long as it is ensured that there is a certain interaction force between the adjustable arm 106 and the counterweight 201 through the cable 202, it should be regarded as a connection between the two. In addition, the description of one end and the other end does not limit the two ends set on the adjustable arm 106, but is used to distinguish two different setting positions, which can be located at the two ends of the adjustable arm 106 or at positions close to the end. An actuator 203 is also provided on the counterweight 201, and one end of the cable 202 is connected to the actuator 203, so that the actuator 203 can drive the cable 202 to move. In some embodiments, the weight of the counterweight 201 is specially designed, which is basically equal to the sum of the weight of the imaging component 108 and the weight of the adjustable arm 106. The present invention finds that such a setting can ensure that the imaging component 108 is neutrally buoyant in the vertical direction, that is, its net weight downward is substantially zero, thereby facilitating the operator to adjust its position. Of course, this weight setting of the counterweight 201 is not unique, and it can also be greater than or less than the sum of the weight of the imaging component 108 and the weight of the adjustable arm 106. The operator can also adjust the length of the cable 202 by controlling the actuator 203, thereby adjusting the position of the adjustable arm 106. When the imaging component 108 is attached to the surface of the tissue to be imaged, this adjustment will cause the pressure of the imaging component 108 on the tissue to be imaged to change, that is, it will cause the adjustment of the effective weight of the imaging component 108 downward. By adjusting this pressure change, the imaging quality can be adjusted. It can be seen that such a setting simplifies the configuration of the counterweight 201, and can simultaneously adjust the position of the imaging component 108 and the pressure applied by the imaging component 108 to the tissue to be imaged without the need for additional design.

[0042] In some embodiments of the present invention, a connection method between the adjustable arm 106 and the cable 202 is provided. Figure 2, the cable 202 can be fixedly connected to the other end of the adjustable arm 106, and then connected to the counterweight 203 through the first pulley 204. This arrangement makes the connection between the adjustable arm 106 and the cable 202 more secure, and it is not easy for the cable to fall off during use. It should be noted that the first pulley 204 is not necessary, and the cable 202 can also be guided by other structures, such as a smoother columnar structure, which can also guide the cable 202. In some embodiments, multiple first pulleys 204 can also be set to make the guidance of the cable 202 smoother. The cable 202 can also be set as a chain structure, and the first pulley 204 can be configured as a gear structure accordingly. Such a setting can avoid slipping. Reference Figure 3 , another connection method between the cable 202 and the adjustable arm 106 is given. In some embodiments, a third pulley 206 is provided at the bottom of the adjustable arm 106, one end of the cable 202 is connected to the actuator 203 on the counterweight 201, and then the other end of the cable 202 is fixedly connected to the counterweight 201 through the first pulley 204, the third pulley 206 at the bottom of the adjustable arm 106, and the second pulley 205. Such a setting method realizes the sliding connection between the cable 202 and the bottom of the adjustable arm 106, which can make the position adjustment of the adjustable arm 106 smoother. In some embodiments, the line connecting the first pulley 204 and the second pulley 205 basically passes through the center position of the adjustable arm 106. Such a setting can ensure that the force exerted by the counterweight 201 on the adjustable arm 106 through the cable 202 is roughly in the vertical direction, so that the position adjustment of the adjustable arm 106 can be smoother.

[0043] In some embodiments, the frame 104 may further include a guide rail 207 structure, which may be used to guide the counterweight 201 and the adjustable arm 106, so that the position of the adjustable arm 106 can be adjusted more smoothly. When the guide rail 207 is provided, the first pulley 204 and / or the second pulley 205 described above may be provided on the guide rail structure to facilitate the fixed connection of the pulleys. It should be noted that the guide rail structure is not necessary, and the pulley structure may also be fixedly provided on the frame 104 instead of the guide rail 207. In some embodiments, the shape of the guide rail 207 may be various, for example, Figure 2 and Figure 3 As shown, it has a hollow structure. Such a structural arrangement allows the interior of the guide rail 207 to accommodate and contact at least a portion of the adjustable arm 106, and the exterior of the guide rail 207 to contact at least a portion of the counterweight 201. Optionally, the adjustable arm 106 and the counterweight 201 are also provided with guide structures that cooperate with the guide rails, and these guide structures will be discussed in detail below. Figure 2 , 3In addition to the arrangement shown, the guide rail 207 can also be arranged in other structural types, such as a column type structure. The guide rail 207 of this structure can allow a portion of the adjustable arm 106 to be arranged on one surface of the guide rail 207 column, and at least a portion of the counterweight 201 to be arranged on another surface of the guide rail 207 column.

[0044] refer to Figure 4 and Figure 5 , the guide structure of the guide rail 207 is described in more detail. First, refer to Figure 4 , shows a bottom view of the guide rail 207 in some embodiments of the present invention. In some embodiments, the guide rail 207 is a hollow cylindrical structure and is provided with a notch 208 protruding outward, and at the same time, the outer wall of the guide rail is provided with a plurality of protrusions 209. Correspondingly, the adjustable arm 106 is partially arranged inside the guide rail 207, and a limiting structure 210 is arranged outside, and the limiting structure 210 is accommodated in the notch 208. In some embodiments, the limiting structure 210 can be a pulley or a pulley group. Such a setting facilitates the realization that the adjustable arm 106 will not have unexpected swinging during the position adjustment process, and is convenient for the operator to position. Under the guidance of the present invention, those skilled in the art can also set the limiting structure 210 to any other structure other than the pulley, such as any other type of protrusion. In addition to the limiting structure 209, a plurality of pulley structures can also be arranged on the outer wall of the adjustable arm 106, so that the movement process in the guide rail 207 is smoother, and the specific structure of the adjustable arm 106 will be described in detail below. In some embodiments, at least a portion of the counterweight 201 is connected to the outside of the guide rail 207. In some embodiments, the counterweight 201 is configured as an annular structure, surrounded by the outside of the guide rail 207, and provided with a defect to accommodate the above-mentioned outwardly protruding notch 208. In some embodiments, a plurality of pulley block structures 221 can also be provided on the counterweight 201, and the pulley block structure 221 is used to engage the plurality of protrusions 209 on the outer wall of the guide rail. This configuration allows the counterweight 201 to slide more smoothly along the guide rail 207 without rotation, thereby preventing the cable 202 from becoming knotted or entangled during the movement of the counterweight 201. In some embodiments, each pulley block structure 221 is configured as follows: Figure 4 The three pulleys are respectively in contact with three surfaces of the protrusion 209. Such a configuration ensures smooth relative movement of the counterweight 201 and the guide rail 207, because during the movement of the counterweight 201, no matter where it deviates, the pulleys in the pulley assembly structure 221 can be slidably connected with the protrusion 209 of the guide rail 207. Such a configuration also ensures that the counterweight 201 is limited to prevent it from rotating around the guide rail. More detailed embodiments of the counterweight 201 are described in Figure 7 and discussed below. It should be noted that Figure 4Only the pulley block structure 211 at the bottom of the counterweight 201 is shown. In actual configuration, there may be more pulley block structures 221, for example, they may also be configured at the top of the counterweight 201. In addition, the pulley block structure 221 may not be provided.

[0045] Continue to refer Figure 5 , shows the guiding manner of the guide rail 207 in some other embodiments of the present invention. In some embodiments, the cross section of the guide rail 207 can be a non-circular structure. Figure 5 1 shows an embodiment of a non-circular structure, in which the portion of the guide rail 207 that matches the adjustable arm 106 is set to a triangular structure. In some embodiments, the triangular guide rail 207 can be an equilateral triangle. Such a setting will facilitate the installation of the counterweight 201 and the adjustable arm 106. The non-circular structure of the guide rail 207 and the counterweight 201 and the adjustable arm 106 that match it make it unnecessary to Figure 4 The limiting structure 210 is set in that way, because such a structure itself plays a limiting role, so that the counterweight 201 and the adjustable arm 106 will not rotate freely. Of course, the outer contour cross-section of the guide rail 207 can also be set to a triangular structure, and accordingly, the protrusion 209 and the pulley block structure 221 are not required. It should be noted that under the guidance of the above technical solution of the present invention, those skilled in the art can also set protrusions 209, limiting structures 210 and pulley block structures 221 to further improve the limiting effect of the guide rail 207. In other words, after the teachings of the present invention, Figure 4 and Figure 5 The various implementation methods are not contradictory, but can be freely combined. Figure 5 Only some embodiments of the non-circular guide rail 207 are shown. In addition to the triangular structure, any other non-circular structure can also be used, such as a rectangle, an ellipse, other irregular polygons, etc.

[0046] refer to Figure 1 and Figure 6 , the structure of the contact portion between the adjustable arm 106 and the guide rail 207 is further described in detail. Figure 6 , shows a schematic diagram of the structure of the contact portion between the adjustable arm and the guide rail in some embodiments of the present invention. In some embodiments, one end of the adjustable arm 106 includes the third pulley 206 disposed at the bottom of the adjustable arm 106 and the limiting structure 210 disposed outside the adjustable arm 106 as described above. In addition, in some embodiments, a plurality of guide pulleys 212 are also disposed outside the adjustable arm 106. Figure 1 and Figure 6It can be seen that the arrangement of the guide pulley 212 can make the adjustable arm 106 have less friction when in contact with the guide rail 207, so that the operator can freely adjust the height of the adjustable arm 106 during use. In some embodiments, a baffle 213 is arranged on the outside and bottom of the third pulley 206, and the baffle 213 at least partially surrounds the third pulley 206. During the assembly of the device, the cable 202 passes through the gap between the baffle 213 and the third pulley 206 to contact the third pulley 206. In some embodiments, the spacing between the baffle 213 and the third pulley 206 is set to be smaller than the diameter of the cable 202. Such an arrangement can at least achieve the following technical effects: the cable 202 will be better fixed after being arranged between the baffle 213 and the third pulley 206, and it is not easy to fall off or get stuck during use.

[0047] In some embodiments, the portion of the adjustable arm 106 that contacts the guide rail 207 and the rest of the adjustable arm 106 (including the portion connected to the imaging assembly 108) are detachably designed. Such a design allows the two parts of the adjustable arm 206 to be connected by snap-fitting, thereby providing more convenience during installation. More preferably, the two are rotatably connected. The present invention finds that such a setting also has obvious advantages in other aspects: on the one hand, the portion in contact with the guide rail 207 ensures that the portion of the adjustable arm 106 will not rotate in the horizontal plane during the lifting process due to the presence of a limiting structure or a non-circular structure design, thereby avoiding the entanglement and knotting of the cable 202 and other power supply lines, and improving the stability of the instrument; on the other hand, the rest of the adjustable arm 106 is rotatably connected, which can ensure that the imaging assembly 108 has the function of rotating in the horizontal plane, so that it can be easier to adjust the position at multiple angles during use to get close to the tissue to be imaged. It should be noted that this detachable manner is not necessarily required, and the adjustable arm 206 may also be provided in an integrated design manner. In addition, as described above in the present invention, the adjustable arm 206 does not need to rely on the guide rail 207 in some embodiments.

[0048] refer to Figure 7 , shows a schematic diagram of the structure of the counterweight 201 in some embodiments of the present invention. In some embodiments, pulley block structures 221 are arranged at multiple positions on the upper and lower parts of the counterweight 201, and each pulley block structure 221 can be provided with a plurality of, for example, three Figure 7The fixed pulley shown. Such a setting can ensure that the friction force of the counterweight 201 is reduced as much as possible after contacting the several protrusions 209 on the outer wall of the guide rail 207. In some embodiments, in order to facilitate the processing and assembly of the pulley block structure 221, the pulley block structure 221 and the counterweight 201 can be set to be detachably connected. For example, screw holes are set on the pulley block structure 221 and the counterweight 201, and the two are connected by bolts. It should be noted that bolt connection is not the only connection method between the two, and other detachable connection methods are also allowed. In addition, the pulley block structure 211 and the counterweight can also be designed as an integral molding. Each protrusion 209 on the outer wall of the guide rail 207 can correspond to two pulley block structures 221, so that the counterweight 201 can move more smoothly along the guide rail. The two pulley block structures 221 can be set at the upper and lower ends of the counterweight. It should be noted that the number and position of the pulley block structure 221 can also be freely adjusted.

[0049] Continue to refer Figure 7 , showing a schematic diagram of the structure of the actuator 203 in some embodiments of the present invention. In some embodiments, the actuator 203 is configured in a manner that a screw motor 231 cooperates with a slider 233. For example, the screw motor 231 can be arranged at the bottom of the counterweight, and a screw rod 232 extends from the bottom to the top. The screw rod 232 is provided with a thread, and the slider 233 is provided with an internal thread and is sleeved on the screw rod 232. This arrangement allows the screw motor 231 to move the slider 233 through the screw rod 232 when it rotates. The screw motor 231 can rotate forward or reverse to make the slider 233 rise or fall (it may also fall or rise). In some embodiments, the slider 233 is connected to a cable 202 ( Figure 7 One end of the cable 202 is not shown, so that the cable 202 can move under the drive of the slider 233. As mentioned above, the cable 202 connects the adjustable arm 106 and the counterweight 201. The movement of the cable 202 driven by the slider 233 will result in fine-tuning of the vertical height position of the adjustable arm 106. This fine-tuning will drive the movement of the imaging component 108 at the other end of the adjustable arm 106, and then adjust the effective weight applied by the imaging component 108 on the tissue to be imaged. This setting method can not only very conveniently adjust the effective weight to adjust the imaging quality, but also such a sophisticated setting greatly simplifies the structural complexity of the effective weight adjustment device. It should be noted that Figure 7Only some embodiments of the structure of the actuator 203 are shown, but the actuator 203 can also have other settings. For example, the position of the screw motor 231 in the actuator 203 can be arbitrary, such as at the upper part, or the middle part, or any other position of the counterweight 201. In addition, the actuator 203 does not necessarily need to adopt the transmission method of the screw motor 231. Under the teaching of the present invention, any other type of actuator 203 structure is allowed. For example, by setting a motor with a gear to cooperate with the rack transmission, the movement adjustment of the cable 202 is achieved; or by setting a motor with a transmission belt structure to drive the movement of the cable 202. In short, the present invention has described in detail the principle of the actuator 203 driving the cable 202 to move and the outstanding beneficial effects compared with the prior art. Under the teaching of the present invention, technicians in this field can select other possible types of actuators 203 according to the prior art.

[0050] In some embodiments, a locking device 300 is also provided on the counterweight 201, and the locking device 300 can be used to lock the counterweight 201 to achieve positioning after the counterweight 201 is adjusted to any desired position by the operator. The function of the locking device 300 itself is to position the counterweight 201. Therefore, any device with a locking function that can achieve counterweight positioning in the prior art can be used for locking and positioning the counterweight 201 of the present invention. The present invention will not be exhaustive one by one, and only several examples of the locking device 300 are given below. It should be noted that the following are only several examples, which does not mean that the present imaging device can only use the following locking device 300. In addition, although the structural setting of the locking device 300 can be any in the prior art, due to the mutual cooperation between the locking device 300 and other components of the imaging device in the present invention, especially the mutual cooperation between the locking device 300 and the above-mentioned actuator 203 to achieve the adjustment of the effective net weight of the tissue to be imaged, the application of the locking device 300 has achieved significantly better results.

[0051] refer to Figure 8 , shows the structure of a locking device 300 in some embodiments of the present invention, and the locking device 300 is used to position the counterweight. The locking device 300 includes a through hole 301, a pin 302, a first connecting rod 303, a pressure rod 304, a second actuator 305 and a groove 306.

[0052] In some embodiments, the through hole 301 is provided on the counterweight 201 and is close to the guide rail 207, so as to facilitate the engagement of the pin 302 with the groove 305 provided on the guide rail 207 when locked. It should be noted that being close means that the through hole 301 can maintain a certain gap with the guide rail 207, or can be provided in a close fit. There are various ways to provide the through hole 301, for example, a protruding structure is provided on the counterweight 201, and the through hole 301 is provided on the protruding structure. In some embodiments, the protruding structure can be provided as an integral part with the counterweight 201, or can be provided in a detachable connection manner, and both are regarded as part of the counterweight 201. Other settings are also allowed, such as not providing a protruding structure but directly providing the through hole 301 on the body of the counterweight 201.

[0053] In some embodiments, the pin 302 is at least partially disposed in the through hole 301. At least partially disposed means that the pin 302 can be Figure 8 The portion shown passes through the through hole 301. A longer through hole 301 structure can also be provided so that most or even the entire pin 302 is disposed in the through hole 301. Such a configuration will allow the pin 302 to be better guided by the through hole during movement.

[0054] In some embodiments, one end of the first connecting rod 303 is movably connected to the pin 302. The shape of the first connecting rod 303 can be various, including but not limited to rod-shaped, sheet-shaped, dumbbell-shaped, etc., as long as the structure can play a connecting role. There are various ways for the first connecting rod 303 to be movably connected to the pin 302, which can be a connection method of a pin shaft and a pin hole, or a connection method through a hook and / or ring structure, which are not listed here one by one. The position where the pin 302 is connected to the first connecting rod 303 can be located at the end of the pin 302, or at the middle position of the pin 302, or at other positions. The above-mentioned setting method can realize that the first connecting rod 303 drives the pin 302 to move.

[0055] In some embodiments, the pressure rod 304 is movably connected to the other end of the first connecting rod 303. As described above, the movably connected manner is various, which can be a connection manner of a pin shaft and a pin hole, or a connection manner of a hook and / or a ring structure, which will not be listed here one by one. It should be noted that the connection between the two does not necessarily mean a direct physical or mechanical connection. The other end of the first connecting rod 303 is connected to the pressure rod 304 through any other transmission structure, which also belongs to the connection manner included in the present invention, for example, it is connected to the pressure rod 304 through the second connecting rod 307. In addition, the expression of the other end of the first connecting rod 303 is used to distinguish one end of the first connecting rod 303 mentioned above, and does not mean that the other end must be located at the end of the first connecting rod 303. It can also be a position close to the end, even a position close to the middle, or other positions. Through such a setting, the pressure rod 304 can drive the movement of the first connecting rod 303, and then drive the movement of the pin 302 in certain directions.

[0056] In some embodiments, although the pressure rod 304 can be moved by manual adjustment, for automation considerations, a second actuator 305 can be provided to drive the pressure rod to move. The actuation method between the second actuator 305 and the pressure rod 304 can be any method known to those skilled in the art, such as a screw rod / slider transmission method, an electromagnet / magnet interaction method, a gear / rack transmission method, a motor / transmission belt transmission method, etc. Figure 8 Only an example of the electromagnet / magnet actuation mode is given: the second actuator 305 is selected as an electromagnet actuator 305, which can generate a magnetic field when powered on, and the magnetic field disappears when powered off. Accordingly, the pressure rod 304 includes at least a part of the material that can be attracted by the electromagnet actuator 305, such as magnets, iron, stainless steel and other structures that can be attracted by electromagnets. The electromagnet actuator 305 will attract the pressure rod to move, and then drive the movement of the pin 302 through the first connecting rod 303. In addition, the electromagnet actuator 305 can also drive the pressure rod 304 to move by means of repulsive force. For example, the part of the pressure rod corresponding to the electromagnet actuator 305 is set to be the same as the magnetic pole of the electromagnet actuator 305, and such a repulsive force can also achieve the adjustment of the movement of the pressure rod 304.

[0057] In some embodiments, at least one groove 306 is provided on the frame 104, which is used to realize the engagement with the pin 302 in the locked state. The shape of the groove 306 can be arbitrary, such as circular, square, triangular, hexagonal, etc. As long as it can realize the function of accommodating a part of the pin, it can realize at least partial matching with the pin when locked, and realize the effective locking of the counterweight 201 and the frame 104. In some embodiments, the groove 306 can be set as one. In some embodiments, the groove 306 can also include multiple grooves, so that the counterweight 201 can be locked with the frame 104 at multiple positions. In some embodiments, multiple grooves are arranged along the relative sliding direction of the counterweight 201 and the frame 104. The spacing between the multiple grooves can be arbitrary. For example, if the counterweight 201 and the frame 104 need to be locked at multiple positions in the relative sliding direction, the spacing between the multiple grooves can be appropriately reduced to improve the locking positioning accuracy; if high accuracy is not required, the spacing between the multiple grooves can be appropriately increased, which is conducive to reducing the processing difficulty of the grooves. In summary, the number and position of the grooves 306 can be freely adjusted according to actual needs to achieve the above different technical effects under the above teachings of the present invention. It should be noted that although a setting method of a locking mechanism is described in detail above, under the teachings of the present invention, the setting method of this locking mechanism is not unique, but can be arbitrary, as long as the counterweight can be locked, it can meet at least part of the functions in the present invention.

[0058] refer to Fig. 9 , discloses a flow chart of an imaging method in some embodiments of the present invention. The imaging method can be implemented by relying on the imaging device in any of the above embodiments of the present invention. Now, the imaging method of the imaging device in any of the embodiments of the present invention is further described.

[0059] In S910, the imaging component 108 is adjusted in position so that the imaging component is close to the surface of the tissue to be imaged. As can be seen from the above description, in some embodiments, the weight of the counterweight 201 is specially designed, and is roughly equal to the sum of the weights of the adjustable arm 106 and the imaging component 108. In this case, it will be easier for the operator to adjust the position of the imaging component 108. Because this setting ensures that the imaging component 108 is basically neutrally buoyant, only a small upward or downward force needs to be applied to it to adjust its movement in the vertical direction, so that the imaging component 108 can be close to the surface of the tissue to be imaged, preparing for the next step of imaging. The force applied by the imaging component 108 to the tissue to be imaged has an important influence on the imaging quality. Too large or too small a force is not conducive to improving the imaging quality. Therefore, adjustment is required before imaging.

[0060] In S930, the actuator 203 is used to adjust the length of the cable 202. Specifically, after the imaging assembly 108 is close to the surface of the tissue to be imaged, the actuator 203 drives the extension of the cable 202, which will reduce the tension of the imaging assembly 108 by the counterweight 201 through the cable. The reduction of the tension will further lead to an increase in the effective weight of the imaging assembly 108 on the tissue to be imaged, thereby achieving the adjustment of the effective weight of the imaging assembly 108 on the tissue to be imaged from small to large. Conversely, when the pressure of the imaging assembly 108 on the tissue to be imaged is too large, the adjustable actuator 203 drives the cable 202 to contract. This will increase the tension of the imaging assembly 108 by the counterweight 201 through the cable. The increase in tension will further lead to a decrease in the effective weight of the imaging assembly 108 on the tissue to be imaged, thereby achieving the adjustment of the effective weight of the imaging assembly 108 on the tissue to be imaged from large to small. The pressure of the imaging assembly 108 is adjusted by the counterweight 201 in cooperation with the cable 202, rather than direct gears or other direct mechanical transmission. Such a pressure adjustment method is very gentle, and even if the mechanical device fails to be controlled or stuck, it will not cause serious damage to the tissue to be imaged, and it is easy to remove the imaging component 108 from the tissue to be imaged. It should be noted that although S930 can be implemented by directly controlling the actuator manually, for the convenience of the operator, it is more preferred to automatically adjust the actuator according to the operator's input instructions, such as by controlling the corresponding button on the imaging component 108, and the program executes the instruction.

[0061] In S950, imaging can be performed using the imaging component 108. The method of imaging using the imaging component 108 can be arbitrary and can be determined according to the specific imaging device. In some embodiments, the imaging device can be configured as a breast ultrasound scanning device 102 as described above. In this case, the imaging component 108 can be a component containing an ultrasound transducer to perform ultrasound scanning. In addition, other imaging types are also allowed, such as ultrasound scanning of other human or animal tissues, and even imaging methods such as X-rays, which will not be described in detail here.

[0062] It should be noted that Fig. 9The imaging method only shows the key steps in some embodiments of the present invention, and does not mean that these methods are only composed of these steps. For example, in order to make the adjustment of the effective weight of the imaging component 108 more convenient, it can also include a step S20 of locking the counterweight using the locking device 300 described above. The setting method of the locking device 300 can refer to some of the above embodiments, or it can be any in the prior art. Optionally, the step S20 can be selected after step S10, that is, after the imaging component 108 is adjusted to be close to the surface of the tissue to be imaged. When the approximate position of the imaging component 108 is determined, the positioning of the counterweight 201 using the locking device 300 will make the subsequent adjustment of the effective weight of the imaging component 108 more efficient. The locking of the counterweight 201 makes the position of the counterweight 201 no longer move when the operator controls the actuator 203 to drive the cable 202 to extend or contract. At this time, the change in the length of the cable 202 will directly affect the effective weight applied by the imaging component 108 to the tissue to be imaged.

[0063] The purpose of providing the above specific embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive, but the present invention is not limited to these specific embodiments. It should be understood by those skilled in the art that various modifications, equivalent substitutions and changes, etc., may also be made to the present invention, as long as these changes do not violate the spirit of the present invention, they should all be within the protection scope of the present invention.

Claims

1. An imaging device, comprising: Adjustable arms; an imaging assembly connected to one end of the adjustable arm; A counterweight connected to the other end of the adjustable arm via a cable, wherein the counterweight is provided with an actuator, and the actuator is connected to one end of the cable and can drive the cable to move; Wherein, the actuator comprises a lead screw motor and a slider connected to the lead screw motor, the slider is connected to one end of the cable; the cable is slidably connected to the bottom of the adjustable arm, and the other end is connected to the counterweight; when the actuator drives the cable to move, the other end of the cable and the counterweight remain fixed; The imaging device further comprises a frame and a locking device, wherein the locking device is used to position the counterweight relative to the frame.

2. The device according to claim 1, wherein: Also included is a frame including rails for guiding the counterweight and / or the adjustable arm as they move.

3. The device according to claim 2, wherein: The guide rail is a hollow structure, the interior of which contacts the adjustable arm, and the exterior of which contacts the counterweight.

4. The device according to claim 3, wherein: The adjustable arm includes a limiting structure for limiting the position of the adjustable arm when it moves.

5. The device according to claim 3, wherein: The portions of the guide rail that contact the adjustable arm are all non-cylindrical structures.

6. The device according to claim 3, wherein: The portion of the adjustable arm that contacts the guide rail and the other portions of the adjustable arm are rotatably connected.

7. The device according to claim 1, wherein: The bottom of the adjustable arm is provided with a pulley and a baffle at least partially surrounding the pulley, the distance between the pulley and the baffle is smaller than the diameter of the cable, and the cable is slidably connected to the bottom of the adjustable arm through the pulley.

8. The device according to claim 1, wherein: The locking device comprises: a through hole, the through hole being arranged on the counterweight at a position close to the frame; a pin, wherein the pin is at least partially disposed in the through hole; A first connecting rod and a pressure rod, wherein one end of the first connecting rod is movably connected to the pin, and the other end of the first connecting rod is movably connected to the pressure rod; a second actuator, the second actuator driving the pressure rod to move; and at least one groove, which is disposed on the frame and matches the pin.

9. The device according to any one of claims 1 to 8, wherein: The imaging assembly includes an ultrasonic transducer.

10. A method for performing imaging using the imaging device according to any one of claims 1 to 9, comprising: Adjusting the position of the imaging component; Using the actuator to adjust the length of the cable, thereby adjusting the effective weight of the imaging assembly acting on the tissue to be imaged; as well as Imaging is performed using an imaging assembly.

11. The method according to claim 10, wherein: Also includes: The counterweight is positioned using a locking device.

Images