A two-stage sample delivery system, device, method, and scanning imaging system

Abstract

The present application relates to a kind of two-stage sample feeding system, device, method and scanning imaging system, wherein, two-stage sample feeding system, comprising: controller, primary motion platform and secondary motion platform;Controller is used to generate first sample feeding instruction, and first sample feeding instruction is sent to secondary motion platform;Secondary motion platform is used to receive first sample feeding instruction, and based on first sample feeding instruction, scanning cabin is moved into preset scanning area;Controller is also used to generate feedback instruction based on the distance information that scanning cabin moves into preset scanning area, and according to the second sample feeding instruction of the feedback instruction, and the second sample feeding instruction is sent to the primary motion platform;Primary motion platform is used to receive second sample feeding instruction, and based on second sample feeding instruction, scanning cabin is moved to preset scanning position.The present application is by two-stage sample feeding, both ensure that the overall size of two-stage sample feeding system, and realize local range high positioning accuracy motion control.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a two-stage sample delivery system, apparatus, method, and scanning imaging system. Background Technology

[0002] As a non-invasive imaging technique, imaging scanning technology is increasingly widely used in brain science and brain disease research. The results of animal head imaging scanning research can be translated into human brain imaging scanning research, providing an effective means for basic brain science research and new drug development, as well as new methods for brain medical treatment.

[0003] When performing image scanning experiments on objects such as small animals, a sample delivery device is needed to deliver the object to be scanned to the designated scanning position of the image scanning device to complete the image scanning. However, existing sample delivery devices generally use a single-stage transport structure, which occupies a large space and interferes with other equipment. Therefore, a two-stage transport structure can be used to reduce space. However, the two-stage transport structure will have accuracy issues due to the transport materials. If high-precision transport materials are replaced, the overall cost of the two-stage transport structure will increase significantly.

[0004] Therefore, ensuring the accuracy of sample delivery during the sample delivery process is an urgent problem to be solved. Summary of the Invention

[0005] In view of this, it is necessary to provide a two-stage sample delivery system, apparatus, method, and scanning imaging system to solve the problem of low sample delivery accuracy in the existing two-stage sample delivery structure.

[0006] To address the aforementioned problems, in a first aspect, the present invention proposes a two-stage sample delivery system, which is applied to a scanning imaging system and includes: a controller, a primary motion platform, and a secondary motion platform;

[0007] The controller is used to generate a first sample delivery command and send the first sample delivery command to the secondary motion platform;

[0008] The secondary motion platform is used to receive the first sample delivery instruction and move the scanning chamber to the preset scanning area based on the first sample delivery instruction;

[0009] The controller is also used to generate a feedback instruction based on the distance information of the scanning chamber moving to the preset scanning area, generate a second sample delivery instruction according to the feedback instruction, and send the second sample delivery instruction to the first-level motion platform;

[0010] The primary motion platform is used to receive the second sample delivery command and move the scanning chamber to a preset scanning position based on the second sample delivery command.

[0011] Furthermore, the controller includes a first sample delivery instruction module;

[0012] The first sample delivery instruction module is used to determine the first distance information that the scanning chamber needs to move based on the preset scanning position, and generate the first sample delivery instruction.

[0013] Furthermore, the controller also includes a first distance control module and a first distance detection module;

[0014] The first distance control module is used to control the movement of the secondary motion platform according to the first sample delivery command including first distance information, wherein the first distance information includes a first movement distance;

[0015] The first distance detection module is used to measure the first actual distance that the secondary motion platform actually moves under the first sample delivery command.

[0016] Furthermore, the controller also includes a distance determination module;

[0017] The distance judgment module is used to determine whether the first moving distance is the same as the first actual distance, and generates the feedback instruction when the first moving distance is not the same as the first actual distance.

[0018] Furthermore, the feedback instruction includes a compensation instruction; the controller further includes a compensation instruction module; the compensation instruction module is used to generate a compensation instruction based on the distance difference between the first moving distance and the first actual distance;

[0019] The controller further includes a second sample delivery instruction module; the second sample delivery instruction module is used to determine the second distance information that the scanning chamber needs to move based on the compensation instruction, and generate the second sample delivery instruction, wherein the second distance information includes the second movement distance.

[0020] Furthermore, the controller also includes a second distance detection module and a second distance control module;

[0021] The second distance detection module is used to detect the second actual distance that the primary motion platform actually moves under the second sampling command;

[0022] The second distance control module is used to control the movement of the primary motion platform based on the feedback from the second distance detection module, so that the second actual distance is equal to the second movement distance.

[0023] Furthermore, the first distance control module and the second distance control module include a motor encoder;

[0024] The first distance detection module and the second distance detection module include a straight-line distance detection sensor.

[0025] Secondly, the present invention also provides a two-stage sample delivery device, which is applied to a scanning imaging system and includes:

[0026] The system comprises a base, a first control component, a first detection component, a second detection component, a second control component, a primary motion platform, and a secondary motion platform; the primary motion platform is connected to the base, the secondary motion platform is connected to the primary motion platform, and the secondary motion platform is used to connect to the scanning chamber of the scanning imaging system.

[0027] The first control component is connected to the second-level motion platform and is used to control the movement of the second-level motion platform;

[0028] The first detection component is used to measure the first actual distance actually moved by the secondary motion platform.

[0029] The second detection component is used to measure the second actual distance actually moved by the primary motion platform.

[0030] The second control component is connected to the primary motion platform and is used to control the movement of the primary motion platform based on feedback from the second detection component.

[0031] The motion accuracy of the first-level motion platform is higher than that of the second-level motion platform.

[0032] Thirdly, the present invention also provides a two-stage sample delivery method applied to a scanning imaging system, comprising:

[0033] The controller generates a first sampling instruction based on a preset scanning position and sends the first sampling instruction to the secondary motion platform;

[0034] The scanning chamber is moved to the preset scanning area by the secondary motion platform based on the first sample delivery command;

[0035] The controller generates a feedback command based on the distance information of the scanning chamber moving to the preset scanning area, generates a second sample delivery command based on the feedback command, and sends the second sample delivery command to the first-level motion platform.

[0036] The scanning chamber is moved to the preset scanning position by the primary motion platform based on the second sample delivery command.

[0037] Fourthly, the present invention also provides a scanning imaging system, comprising:

[0038] A two-stage sample delivery device is used to connect to the scanning chamber and move the object to be scanned in the scanning chamber to the preset scanning position of the scanning device; the two-stage sample delivery device includes a primary motion platform and a secondary motion platform, wherein the motion accuracy of the primary motion platform is higher than that of the secondary motion platform.

[0039] A scanning device used to scan and image an object.

[0040] Furthermore, the scanning device includes one or a combination of CT, MRI, PET, and SPECT devices.

[0041] Furthermore, the scanning device is a PET-CT device.

[0042] The beneficial effects of the above embodiments are as follows: The present invention utilizes a controller to generate a first sampling instruction and sends the first sampling instruction to a low-precision secondary motion platform. After the secondary motion platform executes the first sampling instruction, it determines whether the secondary motion platform has reached the preset accuracy requirement or the preset travel requirement based on the distance information of the scanning cabin moving to the preset scanning area. If the secondary motion platform has not reached the preset accuracy requirement or the preset travel requirement, the controller generates a second sampling instruction based on the distance information of the scanning cabin moving to the preset scanning area. The high-precision primary motion platform performs motion compensation or motion supplementation on the low-precision secondary motion platform according to the second sampling instruction. This not only achieves high-precision motion control for local areas but also realizes large-travel sampling, further improving the scanning accuracy of the image.

[0043] In addition, by dividing the sample delivery process into two stages, the overall structural size of the sample delivery system is effectively shortened, the cantilever distance between the first-stage motion platform and the second-stage motion platform is shortened, and the structure is more stable. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of a two-stage sample delivery system provided in some embodiments of the present invention;

[0045] Figure 2 This is a diagram illustrating a compensation feedback process provided in some embodiments of the present invention;

[0046] Figure 3 This is a schematic diagram of the structure of a two-stage sample delivery device provided in some embodiments of the present invention;

[0047] Figure 4 This is a schematic diagram of the structure of a primary motion platform provided in some embodiments of the present invention;

[0048] Figure 5 This is a schematic diagram of the structure of a two-stage motion platform provided in some embodiments of the present invention;

[0049] Figure 6 This is a flowchart illustrating a two-stage sample delivery method provided in some embodiments of the present invention;

[0050] Figure 7This is a schematic diagram of the structure of a scanning imaging system provided in some embodiments of the present invention. Detailed Implementation

[0051] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0052] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, "a plurality of" means two or more, unless otherwise explicitly specified. The reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] The specific embodiments are described in detail below:

[0054] Please see Figure 1 , Figure 1 This is a schematic diagram of a two-stage sample delivery system provided in some embodiments of the present invention. In a specific embodiment of the present invention, a two-stage sample delivery system 100 is disclosed, including: a controller 101, a secondary motion platform 102 and a primary motion platform 103; the two-stage sample delivery system 100 can be applied to a scanning imaging system, by connecting to a scanning chamber and moving the scanning chamber to a preset scanning position.

[0055] The controller 101 is used to generate a first sampling instruction and send the first sampling instruction to the secondary motion platform;

[0056] The secondary motion platform 102 is used to receive the first sample delivery command and move the scanning chamber to the preset scanning area based on the first sample delivery command;

[0057] The controller 101 is also used to generate a feedback command based on the distance information of the scanning chamber moving to the preset scanning area, generate a second sample delivery command according to the feedback command, and send the second sample delivery command to the first-level motion platform;

[0058] The primary motion platform 103 is used to receive the second sample delivery command and move the scanning chamber to the preset scanning position based on the second sample delivery command.

[0059] In some embodiments, in the design of the secondary sample delivery system, the secondary motion platform can first move a displacement M, and then the primary motion platform compensates for the displacement N. In this case, the overall displacement of the secondary sample delivery system is M+N, and the distance the scanning chamber moves is S=M. + N.

[0060] In some embodiments, when a two-stage sample delivery system is designed with two-stage sample delivery, the motion accuracies of the primary motion platform and the secondary motion platform differ. In some embodiments, the motion accuracy of the secondary motion platform is lower than that of the primary motion platform. The primary motion platform is a high-precision motion platform, and the secondary motion platform is a low-precision motion platform. It is understood that a high-precision primary motion platform at least indicates that its motion accuracy is higher than that of the secondary motion platform, and that its motion accuracy meets the minimum accuracy requirements of the scanning imaging system. A low-precision secondary motion platform at least indicates that its motion accuracy is lower than that of the primary motion platform. The motion accuracy of the secondary motion platform may be lower than the minimum accuracy requirements of the scanning imaging system. In some embodiments, a first sample delivery command can be sent to the low-precision secondary motion platform first. After the secondary motion platform moves, the distance information of the scanning chamber moving to the preset scanning area is used to detect whether the preset position and accuracy requirements have been met. If the preset position and accuracy requirements have not been met, the high-precision primary motion platform can continue to compensate for the secondary motion platform to achieve the effect of high-precision motion.

[0061] The first sample delivery instruction includes information on the first distance the scanning chamber needs to move, specifically the first moving distance and the first moving direction. When the secondary motion platform receives the first sample delivery instruction, it drives the secondary motor to move the scanning chamber to the preset scanning area.

[0062] In some embodiments, the scanning chamber support arm and the secondary motion platform are mechanically connected. During the sample delivery process, the object to be scanned needs to be placed in the scanning chamber. Then, as the secondary motion platform moves, it drives the scanning chamber support arm to move the scanning chamber to the preset scanning area.

[0063] In some embodiments, after the secondary motion platform executes the first sample delivery command, the controller obtains the actual distance information of the scanning chamber moving into the preset scanning area, so as to determine the current sample delivery status based on the actual distance information.

[0064] If the secondary motion platform fails to meet the preset position and accuracy requirements, the controller can further generate a second sample delivery instruction based on the feedback command. This second sample delivery instruction includes information on the second distance the scanning chamber needs to move, specifically the second moving distance and the second moving direction. In some embodiments, the second sample delivery instruction is sent to the primary motion platform, utilizing its high-precision characteristics to achieve high-precision feeding in a localized area.

[0065] Specifically, when the primary motion platform receives the second sample delivery command, it drives the primary motor to move the scanning chamber to a preset scanning position. In some embodiments, the preset scanning position is within a preset area. Moving the scanning chamber to the preset scanning position can further improve the scanning accuracy of the image compared to moving it to the preset scanning area.

[0066] This invention utilizes a controller to generate a first sampling instruction and sends it to a low-precision secondary motion platform. After the secondary motion platform executes the first sampling instruction, it determines whether the secondary motion platform has reached the preset accuracy requirement based on the actual distance information of the scanning chamber moving to the preset scanning area. If the secondary motion platform has not reached the preset position and accuracy requirements, the controller generates a second sampling instruction based on the actual distance information of the scanning chamber moving to the preset scanning area. The high-precision primary motion platform performs motion compensation on the low-precision secondary motion platform according to the second sampling instruction, realizing high-precision positioning motion control in a local area and further improving the scanning accuracy of the image.

[0067] In some embodiments, it is assumed that the maximum stroke of the primary motion platform is K1 and the maximum stroke of the secondary motion platform is K2. If the scanning chamber needs to move a distance K > K2, the secondary motion platform can be instructed to move a displacement M1 first, where M1 ≤ K2. Since the secondary motion platform is a low-precision motion platform, the actual displacement of the secondary motion platform is M1'. Based on this, the primary motion platform continues to move a displacement N, so that the overall displacement of the secondary sample delivery system is M1' + N = K. In some embodiments, if the scanning chamber needs to move a distance K > K2, the secondary motion platform can be instructed to move a displacement M1 first, where M1 = K2. The actual displacement of the secondary motion platform is M1' = M1 = K2. Based on this, the primary motion platform continues to move a displacement N, so that the overall displacement of the secondary sample delivery system is M1' + N = K. If the scanning chamber needs to move a distance K≤K2, the secondary motion platform can be instructed to move a displacement M1 first, where M1=K. The actual displacement of the secondary motion platform is M1'. Based on this, the primary motion platform compensates for the displacement N, so that the overall displacement of the secondary sample delivery system is M1'+N=K. Of course, if M1'=K, then the primary motion platform does not need to compensate for the displacement.

[0068] In some embodiments, the movement speed of the secondary motion platform is greater than that of the primary motion platform. The primary motion platform is a high-precision motion platform, and the secondary motion platform is a low-precision motion platform. By dividing the sample delivery process into two stages, a larger scanning chamber stroke can be achieved through the secondary motion, effectively shortening the overall structural size of the sample delivery system, reducing the cantilever distance between the primary and secondary motion platforms, resulting in a more stable structure. Furthermore, the motion accuracy of the primary motion platform is higher than that of the secondary motion platform, and the movement speed of the secondary motion platform is higher than that of the primary motion platform, leading to faster overall movement speed and higher accuracy.

[0069] In one embodiment of the present invention, the controller includes a first sample delivery instruction module;

[0070] The first sample delivery instruction module is used to determine the first distance information that the scanning chamber needs to move based on the preset scanning position, and generate the first sample delivery instruction.

[0071] In some embodiments, the present invention primarily moves the scanning chamber to a preset scanning position, i.e., a designated scanning position, to complete image scanning of the object in the scanning chamber, such as a small animal. However, since the volume of the object in the scanning chamber varies, or the scanning location of the object varies, the designated scanning position is different. Therefore, different designated scanning positions can be set according to different objects or different scanning locations of the object. Alternatively, in multimodal scanning (e.g., PET-CT scanning), it is necessary to scan the same object at different positions in the scanning cavity, and the distance to be moved is relatively large. Thus, the first distance information that the scanning chamber needs to move is determined based on the designated scanning position, and a first sample delivery command is generated. The first moving distance in the first distance information is set according to the preset scanning position, and the first moving direction is the direction in which the secondary motor approaches the preset scanning position.

[0072] In some embodiments, the maximum travel distance of the primary motion platform is K1, and the maximum travel distance of the secondary motion platform is K2. If the total distance K that the scanning cabin needs to move is greater than K2, the secondary motion platform can be instructed to move a displacement M1 first, i.e., the first moving distance is M1, where M1 ≤ K2. In some embodiments, M1 = K2, i.e., the secondary motion platform moves first according to the maximum travel distance K2. If the total distance K that the scanning cabin needs to move is less than or equal to K2, the secondary motion platform can be instructed to move a displacement M1 first, i.e., the first moving distance is M1, where M1 = K.

[0073] In one embodiment of the present invention, the controller further includes a first distance control module and a first distance detection module;

[0074] The first distance control module is used to control the movement of the secondary motion platform according to the first sample delivery instruction, including the first distance information, wherein the first distance information includes the first movement distance;

[0075] The first distance detection module is used to measure the first actual distance that the secondary motion platform actually moves under the first sampling command.

[0076] In some embodiments, the first distance control module includes a first motor encoder connected to a second-level motor of the second-level motion platform. The second-level motor drives the second-level motion platform to move. The second-level motor controls its rotation based on feedback information from the first motor encoder, thereby driving the scanning chamber to move according to the first distance information. When the feedback information from the first motor encoder indicates that the second-level motion platform has completed the first movement distance in the first sample delivery command, the second-level motion platform stops moving based on the feedback information from the first motor encoder.

[0077] When the total distance K to be moved by the scanning chamber is less than or equal to K2, the secondary motion platform can be instructed to move a displacement M1, i.e., the first moving distance is M1, where M1 = K. However, due to the low overall rigidity and low motion accuracy of the secondary motion platform, the first moving distance in the feedback information from the first motor encoder is not the actual moving distance of the secondary motion platform. In this case, the actual moving distance of the secondary motion platform can be further measured using a first distance detection module based on the feedback information, i.e., the first actual distance. In some embodiments, the first distance detection module includes a linear distance detection sensor, such as an LA11 encoder. The linear distance detection sensor may include a first magnetic scale. Because the first magnetic scale has high measurement accuracy, the first actual distance measured by the first magnetic scale can be considered the actual moving distance of the secondary motion platform.

[0078] In one embodiment of the present invention, the controller further includes a distance determination module;

[0079] The distance judgment module is used to determine whether the first moving distance is the same as the first actual distance, and when the first moving distance is not the same as the first actual distance, it generates a feedback command, which is used to control the first-level motion platform to continue moving.

[0080] In some embodiments, the first distance control module is used to control the second-level motion platform to move a first distance under the first sample delivery command; the first distance detection module is used to measure the first actual distance actually moved by the second-level motion platform under the first sample delivery command. When the first moving distance is the same as the first actual distance, that is, when the actual moving distance of the second-level motion platform is the same as the first moving distance included in the first sample delivery command, it indicates that the second-level motion platform has moved the scanning chamber to the preset scanning position, the second-level motion platform has completed the entire sample delivery process, and generates an end command to the controller. At this time, there is no need to call the first-level motion platform to continue moving.

[0081] When the first moving distance is different from the first actual distance, that is, the actual moving distance of the secondary motion platform is different from the first moving distance included in the first sample delivery command, it indicates that the secondary motion platform has not moved the scanning chamber to the specified scanning position, but has only moved the scanning chamber to the preset scanning area. Therefore, a feedback command can be generated to the controller so that the controller can make adjustments according to the current sample delivery situation.

[0082] In one embodiment of the present invention, the feedback instruction includes a compensation instruction; the controller further includes a compensation instruction module; the compensation instruction module is used to generate a compensation instruction based on the distance difference between the first moving distance and the first actual distance;

[0083] In some embodiments, if the first moving distance is different from the first actual distance, that is, the actual moving distance of the scanning chamber is different from the first moving distance included in the first sample delivery instruction, it indicates that the scanning chamber has not reached the specified scanning position. Therefore, the feedback instruction includes a compensation instruction. At this time, the sample delivery motion process of the system has not ended, and it is necessary to call the first-level motion platform to continue the motion.

[0084] The controller also includes a second sample delivery instruction module; the second sample delivery instruction module is used to determine the second distance information that the scanning chamber needs to move based on the distance difference in the compensation instruction, and generate a second sample delivery instruction, wherein the second distance information includes a second movement distance.

[0085] The second distance information that the scanning cabin needs to move includes the second moving distance and the second moving direction that the scanning cabin needs to move. The second moving distance is the difference between the first moving distance and the first actual distance, and the second moving direction is determined by the magnitude of the first moving distance and the first actual distance.

[0086] Specifically, when the first moving distance is greater than the first actual distance, it indicates that the actual moving distance of the scanning cabin has not reached the first moving distance set in the first sample delivery command. Therefore, the second moving direction of the scanning cabin is the same as the first moving direction, and the scanning cabin needs to continue to move to the designated scanning position. The second moving distance is the difference between the first moving distance and the first actual distance.

[0087] When the first moving distance is less than the first actual distance, it indicates that the actual moving distance of the scanning cabin has exceeded the first moving distance set in the first sample delivery command. Therefore, the second moving direction of the scanning cabin is opposite to the first moving direction, and the second moving distance is the difference between the first actual distance and the first moving distance.

[0088] In one embodiment of the present invention, the controller further includes a second distance detection module and a second distance control module;

[0089] The second distance detection module is used to detect the second actual distance that the primary motion platform actually moves under the second sampling command.

[0090] The second distance control module is used to control the movement of the primary motion platform based on the feedback from the second distance detection module, so that the second actual distance is equal to the second movement distance.

[0091] In some embodiments, the primary motion platform is mechanically connected to the secondary motion platform, and the scanning chamber is connected to the secondary motion platform; therefore, the scanning chamber can also move along with the primary motion platform. The second distance detection module may include a second magnetic scale. The second distance control module may include a second motor encoder. The second motor encoder is connected to the primary motor of the motion platform, and the primary motor is connected to the primary motion platform to drive the primary motion platform to move. The lead screw of the primary motion platform generally has high precision, resulting in high motion accuracy and small error during movement. Furthermore, the second distance detection module has high detection accuracy; therefore, the movement of the primary motion platform can be controlled based on the detection result of the second magnetic scale, and the second actual distance measured by the second magnetic scale is the actual distance moved by the primary motion platform.

[0092] When the primary motion platform moves under the second sample delivery command, the second magnetic scale moves accordingly. When the second actual distance detected by the second magnetic scale is the second moving distance, which is the difference between the first moving distance and the first actual distance, the primary motion platform stops moving according to the feedback from the second magnetic scale. At this time, the primary motion platform has moved the scanning chamber to the preset scanning position.

[0093] In this embodiment, the secondary lead screw in the secondary motion platform uses a lower precision grade, and the overall rigidity of the secondary motion platform is lower than that of the primary motion platform. After the secondary motion platform moves, the primary motion platform performs compensating motion based on the second sampling command generated by the compensation command, achieving high-precision motion.

[0094] For example, please see Figure 2 , Figure 2This is a diagram illustrating a compensation feedback process provided in some embodiments of the present invention. Specifically, when the secondary sample delivery system needs to move a distance K = 300mm, the scale A of the first magnetic scale (initial position A of the secondary motion platform) is read first, and a command to move 300mm (first distance information) is sent to the secondary motion platform. When the first moving distance displayed by the first motor encoder is M1 = 300mm, the secondary motion platform stops moving. At this time, the scale B of the first magnetic scale (end position B of the secondary motion platform) is read. The actual moving distance (BA) of the secondary motion platform at this time is the first actual distance M1'. As can be seen from the diagram, the first moving distance and the first actual distance are not the same, and the first moving distance is greater than the first actual distance. This indicates that the first actual distance traveled by the secondary motion platform has not reached the predetermined distance. Therefore, the primary motion platform needs to continue moving, and the direction of movement is the same as that of the secondary motion platform. The distance that the primary motion platform needs to move, i.e. the second moving distance N = K - M1 + (M1 - M1') = K - M1' = 300 - (BA) mm, can compensate for the motion defects of the secondary motion platform.

[0095] The two-stage sample delivery system provided in this invention uses a secondary motion platform to deliver the scanning chamber to the area to be scanned; and a primary motion platform to achieve high-precision feeding in the area to be scanned, so that the sampled animal in the scanning chamber can reach the designated scanning position, thereby making the scanned image clearer.

[0096] Of course, in some embodiments, when the distance K that the scanning chamber needs to move exceeds the maximum stroke K2 of the secondary motion platform, that is, when the first distance information in the first sample delivery command generated by the controller is greater than the maximum stroke of the secondary motion platform, the secondary motion platform can be controlled to move a displacement M1 first, where M1 = K2. At this time, the actual displacement of the secondary motion platform is M1' = M1 = K2. Based on this, the controller does not need to generate a feedback command based on the distance information of the scanning chamber moving to the preset scanning area and generate a second sample delivery command based on the feedback command. Instead, it can directly generate a second sample delivery command based on the distance difference S between the distance K that the scanning chamber needs to move and the maximum stroke K2 of the secondary motion platform, where S = K - K2. That is, the second distance information S in the second sample delivery command is the distance difference between the distance K that the scanning chamber needs to move and the maximum stroke K2 of the secondary motion platform. Then, the primary motion platform is controlled to continue moving a displacement N = S, so that the overall displacement of the secondary sample delivery system is M1' + N = K, so as to move the scanning chamber to the preset scanning position.

[0097] It is evident that when the secondary motion platform alone cannot meet the sample delivery requirements, the primary motion platform can be used to continue sample delivery. By supplementing the secondary motion platform with the primary motion platform's sample delivery, the overall stroke of the scanning chamber can be extended, effectively shortening the overall structural dimensions of the sample delivery system and the cantilever distance between the primary and secondary motion platforms, resulting in a more stable structure. Furthermore, by dividing the sample delivery process into two stages, with the primary motion platform having higher motion accuracy than the secondary motion platform and the secondary motion platform having a higher motion speed than the primary motion platform, the overall motion speed is faster and the accuracy is higher.

[0098] Based on the above two-stage sample delivery system, the present invention also provides a two-stage sample delivery device for use in scanning imaging systems. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram of a two-stage sample delivery device provided in some embodiments of the present invention, including:

[0099] The system includes a base 1, a second control component 2, a first-stage motion platform 3, a second-stage motion platform 4, a second detection component 7, a first control component 8, and a second detection component 9. In addition, the two-stage sample delivery device is connected to the scanning chamber support arm 5 and the scanning chamber 6.

[0100] The first control component 8 is connected to the secondary motion platform 4 and is used to control the movement of the secondary motion platform 4;

[0101] The first detection component 9 is used to measure the first actual distance actually moved by the secondary motion platform 4.

[0102] The second detection component 7 is used to measure the second actual distance actually moved by the primary motion platform;

[0103] The second control component 2 is connected to the primary motion platform 3 and is used to control the primary motion platform 3 to move based on the feedback from the second detection component 7.

[0104] The motion accuracy of the first-level motion platform is higher than that of the second-level motion platform.

[0105] The scanning chamber support arm 5 is detachably connected to the scanning chamber 6 via a connector and is used to push the scanning chamber 6; the scanning chamber 6 is used to load the object to be scanned.

[0106] In some embodiments, the present invention also provides a structural schematic diagram of the primary motion platform 3 and the secondary motion platform 4.

[0107] like Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of a primary motion platform provided in some embodiments of the present invention. The primary motion platform 3 mainly includes a primary motor 31, a primary motor support 32, a coupling 33, a primary support platform 34, a primary lead screw 35, and a primary linear guide 36.

[0108] A primary motor support 32 supports a primary motor 31, which is fixed to a coupling 33. The movable end of the primary motor 31 is fixed to one end of a primary lead screw 35, and the other end of the lead screw 35 is rotatably connected to the coupling 33. The primary lead screw 35 is a high-precision ball screw. A primary support platform 34 is fitted onto the primary lead screw 35. The primary motor 31 drives the primary lead screw 35 to rotate, thereby driving the primary support platform 34 to move along the primary lead screw 35. Alternatively, a primary linear guide 36 is fixed to the coupling 33 and parallel to the primary lead screw 35. The primary support platform 34 is slidably connected to the primary linear guide 36, and the primary motor 31 and the primary support platform 34 slide along the primary linear guide 36.

[0109] like Figure 5 As shown, Figure 5 The following is a schematic diagram of the structure of the secondary motion platform provided in some embodiments of the present invention. The secondary motion platform 4 mainly includes the following parts: secondary support frame 41, secondary adapter 42, secondary motor 43, secondary motor support 44, secondary support platform 45, secondary moving frame 46, and secondary lead screw 47.

[0110] A secondary motor support 44 supports a secondary motor 43, which is fixed to a secondary moving frame 46. The movable end of the secondary motor 43 is fixed to one end of a secondary lead screw 47, and the other end of the lead screw 47 is rotatably connected to the secondary moving frame 46. The secondary lead screw 47 is a low-precision lead screw, with a precision level lower than that of the primary lead screw 35 in the primary motion platform 3. The secondary support platform 45 is mounted on the secondary lead screw 47. The secondary motor 43 drives the secondary lead screw 47 to rotate, thereby driving the secondary support platform 45 to move along the secondary lead screw 47. Since there are no special precision requirements for the secondary motion platform 4, it can be driven not only by the lead screw 47 but also by other drive components such as gears, racks, or synchronous belts.

[0111] Combination Figure 3 , Figure 4 and Figure 5 The specific implementation process is as follows:

[0112] When a scanned object needs to be transported, the controller issues a first sample delivery command to the secondary motion platform based on a preset scanning position. The secondary motor in the secondary motion platform drives the secondary lead screw to rotate, thereby moving the secondary motion platform and the scanning chamber. During the movement of the secondary motion platform, the movement of the secondary motion platform is controlled by the first control component, namely the first motor encoder. Specifically, when the distance displayed on the first motor encoder is the first moving distance in the first sample delivery command, the secondary motion platform stops moving according to the feedback from the first motor encoder. At this time, the first detection component, namely the first magnetic scale, measures the first actual distance actually moved by the secondary motion platform.

[0113] If the first moving distance is the same as the first actual distance, it indicates that the secondary motion platform has moved the scanning cabin to the preset scanning position, and the secondary motion platform returns the end command to the controller.

[0114] If the first moving distance is different from the first actual distance, it indicates that the secondary motion platform has not moved the scanning cabin to the preset scanning position. The secondary motion platform returns a feedback command to the controller, which includes a compensation command.

[0115] The controller generates a second sampling instruction based on the compensation instruction and sends it to the primary motion platform. This second sampling instruction includes the direction and distance of movement for which the primary motion platform needs compensation. The primary motor in the primary motion platform drives the primary lead screw to rotate, thus moving the primary motion platform and subsequently the scanning chamber. During this movement, the second detection component (the second magnetic scale) measures the actual distance traveled by the primary motion platform. Then, the second distance control component (the second motor encoder) controls the movement of the primary motion platform based on this second actual distance feedback from the second magnetic scale. When the second actual distance equals the second movement distance, the primary motion platform stops moving, thus moving the scanning chamber to the preset scanning position.

[0116] Based on the above two-stage sample delivery system, the present invention also provides a two-stage sample delivery method applied to a scanning imaging system. For details, please refer to [link to relevant documentation]. Figure 6 , Figure 6 A flowchart illustrating a two-stage sample delivery method provided in some embodiments of the present invention includes:

[0117] Step S601: Generate a first sampling instruction based on a preset scanning position using the controller, and send the first sampling instruction to the secondary motion platform;

[0118] Step S602: Move the scanning chamber to the preset scanning area using the secondary motion platform based on the first sample delivery command;

[0119] Step S603: The controller generates a feedback command based on the distance information of the scanning chamber moving to the preset scanning area, generates a second sample delivery command according to the feedback command, and sends the second sample delivery command to the first-level motion platform;

[0120] Step S604: Move the scanning chamber to the preset scanning position using the first-level motion platform based on the second sample delivery command.

[0121] In some embodiments, the two-stage sampling method provided in the above embodiments can realize the technical solutions described in the embodiments of the above two-stage sampling system or two-stage sampling device, and will not be repeated here.

[0122] This invention also provides a scanning imaging system, such as... Figure 7 As shown, Figure 7 A scanning imaging system 700 provided for some embodiments of the present invention includes:

[0123] The two-stage sample delivery device 701 is used to connect to the scanning chamber and move the object to be scanned in the scanning chamber to the preset scanning position of the scanning device. The two-stage sample delivery device includes a primary motion platform and a secondary motion platform, and the motion accuracy of the primary motion platform is higher than that of the secondary motion platform.

[0124] Scanning device 702 is used to scan and image an object.

[0125] In some embodiments, the scanning device includes one or a combination of a CT device, an MRI device, a PET device, and a SPECT device. After the two-stage sample delivery device moves the scanning chamber to a preset scanning position, the scanning device can perform scanning imaging on the object to be scanned. For example, the scanning device can be one or a combination of a CT (Computed Tomography) device, an MR (Magnetic Resonance Imaging) device, a PET (Positron Emission Tomography) device, and a SPECT (Single-Photon Emission Computed Tomography) device to acquire CT images, MR images, PET images, SPECT images, or their multimodal fused images of the object to be scanned.

[0126] In some embodiments, the scanning device is a PET-CT device, which is a combination of a CT device and a PET device. Typically, PET-CT devices are relatively large, and the scanning cavities for both PET and CT scans extend axially, resulting in a large travel distance for the scanning chamber. The two-stage sample delivery system and / or two-stage sample delivery device in this embodiment, by dividing the sample delivery process into two stages, can achieve a greater travel distance for the scanning chamber through two-stage motion, and can simultaneously improve motion speed and accuracy, making it well-suited for use in PET-CT devices. In some embodiments, the PET-CT device is a microPET-CT device, which can be used for preclinical scientific research, such as animal experiments.

[0127] It is understood that the scanning imaging system of the above embodiments may include all or part of the technical features of the two-stage sample delivery device or the two-stage sample delivery system in any of the above embodiments.

[0128] It is understood that all or part of the product technical features of the methods in the above embodiments can be combined with the product embodiments of the above embodiments. Similarly, the two-stage sample delivery method of the above embodiments can be applied to a two-stage sample delivery device, a two-stage sample delivery system and / or a scanning imaging system in the embodiments of this application, and the two-stage sample delivery method of the above embodiments can also be performed using a two-stage sample delivery device, a two-stage sample delivery system and / or a scanning imaging system in the embodiments of this application.

[0129] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0130] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A two-stage sample delivery system, said two-stage sample delivery system being applied to a scanning imaging system for preclinical scientific research, characterized in that, include: Controller, primary motion platform and secondary motion platform; The controller is used to generate a first sample delivery instruction and send the first sample delivery instruction to the secondary motion platform; The secondary motion platform is used to receive the first sample delivery instruction and move the scanning chamber to the preset scanning area based on the first sample delivery instruction; The controller is also used to generate a feedback instruction based on the distance information of the scanning chamber moving to the preset scanning area, generate a second sample delivery instruction according to the feedback instruction, and send the second sample delivery instruction to the first-level motion platform; The primary motion platform is used to receive the second sample delivery command and move the scanning chamber to a preset scanning position based on the second sample delivery command; wherein, the movement speed of the secondary motion platform is greater than that of the primary motion platform, and the movement accuracy of the primary motion platform is higher than that of the secondary motion platform. The controller is used to control the movement of the secondary motion platform according to the first distance information included in the first sample delivery command, and to measure the first actual distance actually moved by the secondary motion platform under the first sample delivery command, wherein the first distance information includes the first movement distance; The controller is also used to determine whether the first moving distance is the same as the first actual distance, and to generate the feedback instruction when the first moving distance is not the same as the first actual distance.

2. The two-stage sample delivery system according to claim 1, characterized in that, The controller includes a first sample delivery instruction module; The first sample delivery instruction module is used to determine the first distance information that the scanning chamber needs to move based on the preset scanning position, and generate the first sample delivery instruction.

3. The two-stage sample delivery system according to claim 1, characterized in that, The feedback instruction includes a compensation instruction; the controller further includes a compensation instruction module; the compensation instruction module is used to generate a compensation instruction based on the distance difference between the first moving distance and the first actual distance; The controller further includes a second sample delivery instruction module; the second sample delivery instruction module is used to determine the second distance information that the scanning chamber needs to move based on the compensation instruction, and generate the second sample delivery instruction, wherein the second distance information includes the second movement distance.

4. The two-stage sample delivery system according to claim 3, characterized in that, The controller also includes a second distance detection module and a second distance control module; The second distance detection module is used to detect the second actual distance that the primary motion platform actually moves under the second sampling command; The second distance control module is used to control the movement of the primary motion platform based on the feedback from the second distance detection module, so that the second actual distance is equal to the second movement distance.

5. The two-stage sample delivery system according to claim 4, characterized in that, The second distance control module includes a motor encoder; The second distance detection module includes a straight-line distance detection sensor.

6. A two-stage sample delivery device, characterized in that, The two-stage sample delivery device is applied to the scanning imaging system for preclinical scientific research, including: The system comprises a base, a first control component, a first detection component, a second detection component, a second control component, a primary motion platform, and a secondary motion platform; the primary motion platform is connected to the base, the secondary motion platform is connected to the primary motion platform, and the secondary motion platform is used to connect to the scanning chamber of the scanning imaging system. The first control component is connected to the secondary motion platform and is used to control the movement of the secondary motion platform; The first detection component is used to measure the first actual distance actually moved by the secondary motion platform; The second detection component is used to measure the second actual distance actually moved by the primary motion platform; The second control component is connected to the primary motion platform and is used to control the primary motion platform to move based on feedback from the second detection component; The motion accuracy of the primary motion platform is higher than that of the secondary motion platform; the motion speed of the secondary motion platform is greater than that of the primary motion platform. The first control component is used to control the movement of the secondary motion platform according to the first distance information included in the first sample delivery command, and to measure the first actual distance actually moved by the secondary motion platform under the first sample delivery command, wherein the first distance information includes the first movement distance; The first control component is also used to determine whether the first moving distance is the same as the first actual distance, and to generate a feedback command when the first moving distance is not the same as the first actual distance; The second control component is further configured to generate a second sampling instruction based on the feedback instruction, and send the second sampling instruction to the first-level motion platform; The primary motion platform is used to receive the second sample delivery command and move the scanning chamber to a preset scanning position based on the second sample delivery command.

7. A two-stage sample delivery method applied to a scanning imaging system, characterized in that, Used for preclinical scientific research, including: The controller generates a first sampling instruction based on a preset scanning position and sends the first sampling instruction to the secondary motion platform; The scanning chamber is moved to the preset scanning area by the secondary motion platform based on the first sample delivery command; The controller generates a feedback command based on the distance information of the scanning chamber moving to the preset scanning area, generates a second sample delivery command based on the feedback command, and sends the second sample delivery command to the primary motion platform. The primary motion platform moves the scanning chamber to a preset scanning position based on the second sample delivery command; the movement speed of the secondary motion platform is greater than that of the primary motion platform, and the movement accuracy of the primary motion platform is higher than that of the secondary motion platform. The controller controls the movement of the secondary motion platform according to the first distance information included in the first sampling instruction, and measures the first actual distance actually moved by the secondary motion platform under the first sampling instruction, wherein the first distance information includes the first movement distance; The controller determines whether the first moving distance is the same as the first actual distance, and generates the feedback command when the first moving distance is not the same as the first actual distance.

8. A scanning imaging system, characterized in that, Used for preclinical scientific research, including: The two-stage sample delivery device according to claim 6 is used to connect to the scanning chamber and move the object to be scanned in the scanning chamber to a preset scanning position of the scanning device; the two-stage sample delivery device includes a primary motion platform and a secondary motion platform; wherein, the motion speed of the secondary motion platform is greater than the motion speed of the primary motion platform, and the motion accuracy of the primary motion platform is higher than the motion accuracy of the secondary motion platform; A scanning device used to scan and image an object.

9. The scanning imaging system according to claim 8, characterized in that, The scanning equipment includes one or a combination of CT, MRI, PET, and SPECT equipment.

10. The scanning imaging system according to claim 8, characterized in that, The scanning device is a PET-CT device.

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