Medical system and medical system transportation method

Abstract

The present invention relates to a medical system and a method for transporting the medical system. The medical system includes an imaging body, a bed assembly, and a transport device. The imaging body has a scanning aperture and a patient side and a service side. The bed assembly includes an examination bed and a drive structure, the drive structure being used to drive the examination bed up and down and / or into and out of the scanning aperture. The transport device includes a transfer bed capable of entering and exiting the scanning aperture. When the transfer bed is on the service side, the transfer bed can be connected to the examination bed and enter and exit the scanning aperture with the examination bed. When the transfer bed is on the patient side, the drive structure drives the examination bed down to avoid the transfer bed. The medical system of the present invention can achieve intraoperative imaging and routine imaging.

Description

Technical Field

[0001] The present invention relates to the technical field of medical imaging equipment, and in particular to a medical system and a transport method for the medical system. Background Art

[0002] Intraoperative MRI (iMRI) refers to MRI scanning, image acquisition, and image processing performed before, during, and after surgery. It is a medical system capable of true real-time navigational surgery. iMRI navigation is widely used in neurosurgery, particularly for procedures such as gliomas, giant pituitary tumors, cerebral vascular bypass surgery, functional neurosurgery, and targeted brain biopsies, ensuring surgical safety.

[0003] The mainstream intraoperative MRI solution in the industry currently involves patient transport. Specifically, the existing medical equipment includes a pluggable bed, with the original bed surface design modified to a slide-type design. The patient lies on the transfer bed, which then transports the patient to the scanning room. By unifying the mechanical interface between the transfer bed and the slide-type MRI bed, patient transport and MRI examination can be achieved.

[0004] Patient transfer is accomplished through a transfer bed and a skull fixation system. Once transferred to the scanning room, the bed is plugged into a removable bed. This ensures that surgical workflows are not disrupted, requiring minimal manual intervention. When the scanning room is not performing intraoperative examinations, routine patient examinations can still be performed, significantly improving equipment utilization. However, the removable bed requires two connections for each transfer, which can easily wear out the connector and affect the bed's reliability. Summary of the Invention

[0005] Based on this, it is necessary to provide a medical system and a transfer method for the medical system that can reduce the wear of the plug-in interface to address the problem of easy wear at the socket caused by the plug-in connection between the current transfer bed and the pluggable bed.

[0006] A medical system includes an imaging body, a bed assembly, and a transport device. The imaging body has a scanning aperture, with opposite ends of the imaging body along the axial direction of the scanning aperture serving as a patient side and a service side. The inner wall of the scanning aperture has a guide rail assembly. The bed assembly includes an examination bed and a drive structure for driving the examination bed up and down and / or into and out of the scanning aperture.

[0007] The transport device includes a transport bed, which is capable of entering and exiting the scanning hole from the patient side or the service side and sliding along the guide rail assembly;

[0008] When the transfer bed is at the service side, the transfer bed is connected to the examination bed and moves in and out of the scanning hole along with the examination bed;

[0009] When the transfer bed is at the patient side, the driving structure drives the examination bed to descend to avoid the transfer bed.

[0010] In one embodiment, the transfer bed includes a support assembly and a bed board, and the bed board is disposed on the support assembly.

[0011] In one embodiment, the transfer device further includes a first guide structure for guiding the transfer bed to dock with the examination bed.

[0012] In one embodiment, the first guide structure includes a first guide protrusion and a first guide groove, one of the first guide protrusion and the first guide groove is arranged at the end of the examination bed, and the other is arranged at the end of the transfer bed, and the cooperation between the first guide protrusion and the first guide groove guides the transfer bed to approach the examination bed.

[0013] In one embodiment, the first guide structure further includes a shock-absorbing component, and the shock-absorbing component is disposed between the first guide protrusion and the connection between the transfer bed or the examination bed.

[0014] In one embodiment, the transfer bed includes a support assembly and a bed board, and the bed board is movably arranged on the support assembly. The transfer device also includes a second guide structure. When the transfer bed enters the scanning hole from the patient side, the second guide structure guides the connection between the support assembly and the examination bed so that the bed board is aligned with the guide rail assembly in the scanning hole.

[0015] In one embodiment, the transport device further includes a third guide structure, which guides the connection between the support assembly and the imaging body of the medical system on the patient side.

[0016] In one embodiment, the transfer device further includes a position detection component, which is used to detect whether the transfer bed approaches the examination bed from the patient side, and the medical system controls the lifting and lowering of the examination bed according to the signal of the position detection component.

[0017] A method for transporting a medical system, the medical system comprising an imaging body, a bed assembly, and a transport device, the imaging body having a scanning aperture, the imaging body having two opposite ends along the axial direction of the scanning aperture serving as a patient side and a service side, the bed assembly comprising an examination bed and a drive structure, the transport device comprising a transport bed, and the transport method comprising the following steps:

[0018] Obtaining the position of the transfer bed, and determining whether the transfer bed enters and exits the scanning aperture from the patient side or from the service side;

[0019] When the transfer bed moves in and out of the scanning hole from the service side, the bed plate of the transfer bed is connected to the examination bed, and the examination bed is driven to drive the transfer bed in and out of the scanning hole;

[0020] When the transfer bed enters and exits the scanning hole from the patient side, the control driving structure drives the examination bed to descend, so that the bed plate of the transfer bed is located on the top of the examination bed and moves along the examination bed, so that the bed plate enters and exits the scanning hole along the guide rail assembly in the scanning hole.

[0021] In one embodiment, the medical system includes a surgical system and an imaging system, and the transport method further includes:

[0022] Acquiring a path plan from the surgical system to the imaging system;

[0023] The transfer bed is moved according to the path planning.

[0024] After adopting the above technical solution, the present invention has at least the following technical effects:

[0025] The transfer device, medical system, and transfer method of the present invention, when performing an intraoperative examination on a subject, move the transfer bed carrying the subject into the scanning room, move the transfer bed to the service side of the medical system, align it with the examination bed, and establish a connection between the bed plate and the examination bed through the connection component and the mating part. During imaging, the examination bed can drive the bed plate and the subject on it into the scanning aperture of the medical system for scanning. After the scan is completed, the examination bed drives the bed plate and the subject on it out of the scanning aperture. The connection component and the mating part are then disengaged, separating the examination bed and the bed plate, and the transfer bed can carry the subject back to the operating room for continuation of the surgery. The transfer bed of the transfer device achieves docking with the examination bed through the connection component and the mating part of the connection structure, eliminating the need to occupy the plug-in interface of the examination bed. This effectively solves the problem of easy wear at the socket caused by the current plug-in connection between the transfer bed and the pluggable bed, reduces wear on the plug-in interface, and ensures the performance and reliability of the examination bed. Moreover, when the medical system is not imaging the intraoperative subject, conventional imaging can still be performed, ensuring the performance of the medical system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a front view of a transfer bed on the service side of an imaging system according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A partial enlarged view of the connection point A between the transfer bed and the examination bed is shown;

[0028] Figure 3 for Figure 1 A perspective view of a transport bed on the service side of the medical system is shown;

[0029] Figure 4 for Figure 3 A partial enlarged view of the connection point B between the transfer area and the examination bed is shown;

[0030] Figure 5 for Figure 1 A front view of the transport bed on the patient side of the medical system is shown;

[0031] Figure 6 for Figure 5 A perspective view of a medical system in which a transport bed is shown on the patient side;

[0032] Figure 7 for Figure 6 A partial enlarged view of point C shown;

[0033] Figure 8 for Figure 6 A partial enlarged view of point D shown;

[0034] Figure 9 for Figure 5 A front view of a transport bed on the patient side of the medical system is shown, wherein the bed plate is moved into the scanning bore;

[0035] Figure 10 for Figure 9 A perspective view of a transport bed in a medical system viewed from an angle on the patient side is shown;

[0036] Figure 11 for Figure 10 The illustrated diagram is a perspective view of a transport bed in a magnetic resonance imaging system viewed from another angle on the patient side.

[0037] Among them: 100, transfer device; 110, transfer bed; 111, bed board; 112, support assembly; 1121, support plate; 1122, support frame; 1123, casters; 120, connecting structure; 121, connecting component; 122, matching part; 130, first guide structure; 131, first guide protrusion; 133, shock-absorbing component; 140, second guide protrusion; 150, second guide structure; 151, guide member; 152, moving member; 200, imaging body; 210, scanning hole; 220, guide rail assembly; 300, bed assembly; 310, examination bed; 320, driving structure. DETAILED DESCRIPTION

[0038] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] Furthermore, 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0041] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0042] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0043] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0044] See also Figure 1 、 Figure 3 、 Figure 5 and Figure 6 The present invention provides a transfer device 100. This transfer device 100 is used in a medical system to transport a subject undergoing surgery to a scanning bore 210 of an imaging body 200 of the medical system, or to transfer a subject between different modalities of medical systems. The subject can be a patient or an animal. As will be appreciated, during surgery, i.e., intraoperatively, it is necessary to image the location of the lesion on the subject to obtain information about the lesion's location. The imaging body 200 of the medical system images the lesion site on the subject to guide surgery on the subject and ensure surgical safety.

[0045] It is worth noting that the medical system may be, for example, an imaging system such as a magnetic resonance (MR) device, a computed tomography (CT) device, a positron emission computed tomography (PET) device, a digital subtraction angiography (DSA) device, or an ultrasonic diagnostic (ultrasonic) device. The medical system may also be a treatment system such as a radiation therapy (RT) device, a proton therapy device, a dialysis device, or a surgical device.

[0046] When transferring an object to a scanning room for scanning during surgery, it is necessary to ensure that the position of the object's lesion on the operating bed and the examination bed remains unchanged, so as to ensure that the surgical operation can be accurately guided after imaging. At present, the pluggable bed drives the transfer bed to move synchronously by plugging and unplugging the transfer bed. However, each transfer requires plugging and unplugging twice, which can easily cause wear on the plug-in interface and affect the performance of the plug-in bed. To this end, the present invention provides a medical system with a transfer device 100. The medical system with the transfer device 100 can transfer the object to the scanning hole 210 of the imaging body 200 or realize the transfer from the surgical system to the imaging system without the need for plug-in connection, thereby avoiding wear on the plug-in interface. The specific structure of the transfer device 100 is introduced in detail below.

[0047] See also Figures 1 to 4 In one embodiment, the transport device 100 includes a transport bed 110 and a connecting structure 120. The transport bed 110 includes a support assembly 112 and a bed plate 111, which is movably mounted on the support assembly 112. The connecting structure 120 includes a connecting component 121 and a mating portion 122. One of the connecting component 121 and the mating portion 122 is mounted on the bed plate 111, and the other is mounted on the end of the examination bed 310 facing the service side. The connecting component 121 and the mating portion 122 are connected, allowing the bed plate 111 to move with the examination bed 310 into or out of the scanning bore 210 of the medical system.

[0048] The transfer couch 110 carries the patient and, for medical systems located in different spaces, moves the patient between the operating room and the scanning room. When imaging is required during surgery, the transfer couch 110 moves the patient from the operating room to the scanning room, where the imaging unit 200 of the medical system is used to image the patient. Once imaging is complete, the patient is returned to the operating room on the transfer couch 110 for surgery.

[0049] In the scanning room, the transfer bed 110 is required to directly transport the subject to the scanning bore 210 of the imaging body 200 for scanning and imaging, to prevent the subject's position from shifting and affecting the subsequent surgical results. To this end, the present invention provides a separate transfer bed 110, namely, the transfer bed 110 includes a bed plate 111 and a support assembly 112. The support assembly 112 can support the bed plate 111, and the bed plate 111 can move relative to the support assembly 112 to move the subject into or out of the scanning bore 210 of the imaging body 200, thereby achieving imaging of the subject's lesion during surgery.

[0050] As will be appreciated, the imaging body 200 of the medical system has a service side and a patient side positioned opposite each other. The patient side is where the patient is positioned within the imaging body 200 during routine examinations, such as routine imaging of lesions. Along the axial direction of the scanning aperture 210, one side of the imaging body 200 is the patient side, and the other side is the service side. The examination bed 310 of the medical system is coupled to the imaging body 200 on the patient side.

[0051] After the bed plate 111 carries the patient into the scanning room, the bed plate 111 of the transfer bed 110 can enter and exit the scanning aperture 210 from both the service side and the patient side. This avoids the need to adjust the transfer bed 110 in the operating room before entering the scanning aperture 210 for scanning. It also prevents the transfer bed 110 from colliding with equipment or walls during adjustment, making it easier for the bed plate 111 to carry the patient into the scanning aperture 210 for scanning.

[0052] See also Figures 1 to 4 When the transfer bed 110 enters the scanning room and is located at the service side of the imaging body 200, the transfer bed 110 is aligned with the scanning hole 210 of the imaging body 200, so that the bed plate 111 moves onto the guide rail assembly 220 of the scanning hole 210, and then the bed plate 111 moves along the axial direction of the scanning hole 210, so that the object moves into the scanning hole 210 for imaging. Figures 5 to 11 When the transfer couch 110 enters the scanning room and is positioned on the patient side of the imaging unit 200, the transfer couch 110 is aligned with the scanning aperture 210 of the imaging unit 200, so that the bed plate 111 is moved onto the guide rail assembly 220 of the scanning aperture 210. The bed plate 111 then moves along the axial direction of the scanning aperture 210, allowing the subject to be moved into the scanning aperture 210 for imaging. This embodiment uses the movement of the transfer couch 110 on the service side as an example for description; the movement of the transfer couch 110 on the patient side will be discussed later.

[0053] To ensure that the bedplate 111 of the transfer bed 110 accurately enters the guide rail assembly 220 of the scanning bore 210, the transfer device 100 of the present invention further includes a connecting structure 120 that connects the examination bed 310 to the bedplate 111 of the transfer bed 110. When the transfer bed 110 moves to the service side, the bedplate 111 of the transfer bed 110 is moved so that it abuts the examination bed 310, and then the bedplate 111 and the examination bed 310 are connected via the connecting structure 120. Thus, when the driving structure 320 of the medical system drives the examination bed 310 along the axis of the scanning bore 210 toward the patient, the examination bed 310 simultaneously drives the bedplate 111 into the scanning bore 210, allowing the imaging body 200 to scan and image the patient's lesion. When the scan is completed, the driving structure 320 drives the examination bed 310 to move toward the service side, and then the examination bed 310 pushes the bed plate 111 out of the scanning hole 210, removes the connecting structure 120, disconnects the connection between the examination bed 310 and the bed plate 111, and then the object can be transported back to the operating room for surgery via the transfer bed 110.

[0054] See also Figures 1 to 4 Specifically, the connection structure 120 includes a connecting component 121 and a mating portion 122. One of the connecting component 121 and the mating portion 122 is located at the end of the examination bed 310 facing the service side, and the other is located at the end of the bed plate 111. The connecting component 121 and the mating portion 122 can be mated and connected. When the transfer bed 110 is aligned with the examination bed 310, the mating portion 122 is connected via the connecting component 121 to establish a connection between the examination bed 310 and the bed plate 111, allowing the bed plate 111 to move in and out of the scanning aperture 210 with the examination bed 310. When the scan is completed, the connecting component 121 is disengaged from the mating portion 122, disconnecting the examination bed 310 from the bed plate 111, and the transfer bed 110 can be moved out of the scanning room.

[0055] Optionally, the connecting component 121 is provided at the end of the bed board 111, and the matching portion 122 is provided at the end of the examination bed 310. In other embodiments of the present invention, the connecting component 121 may also be provided at the end of the examination bed 310, and the matching portion 122 may be provided at the end of the bed board 111. Of course, the connecting component 121 may also be provided independently, with the matching portions 122 provided on the bed board 111 and the examination bed 310, respectively. The connection between the examination bed 310 and the bed board 111 may also be achieved by simultaneously connecting the two matching portions 122 at both ends of the connecting component 121. In the present invention, only the example of the connecting component 121 being provided at the end of the bed board 111 and the matching portion 122 being provided at the end of the examination bed 310 is used for explanation. The principles and structures of other connection methods are substantially the same as those of the above-mentioned embodiments, and are not described in detail here.

[0056] After the transfer bed 110 is aligned with the examination bed 310, the connecting component 121 of the bed plate 111 is connected to the matching portion 122 of the examination bed 310 to establish a connection between the examination bed 310 and the bed plate 111. In this way, when the examination bed 310 moves, the matching portion 122 and the connecting component 121 can drive the bed plate 111 to move, so that the bed plate 111 can enter and exit the scanning hole 210 with the examination bed 310. When the scan is completed, the connecting component 121 of the bed plate 111 is separated from the matching portion 122 of the examination bed 310. At this time, the connection between the examination bed 310 and the bed plate 111 is disconnected, and the transfer bed 110 can be moved out of the scanning room.

[0057] The transfer device 100 of the above embodiment achieves docking between the transfer bed 110 and the examination bed 310 through the cooperation between the connecting member 121 and the mating portion 122 of the connecting structure 120, eliminating the need to occupy the plug-in interface of the examination bed 310. This effectively solves the problem of easy wear and tear at the plug-in interface caused by the current plug-in connection between the transfer bed and the pluggable bed, reduces wear and tear on the plug-in interface, and ensures the performance and reliability of the examination bed 310. Furthermore, when the medical system is not imaging the patient during surgery, it can still perform regular imaging, thus ensuring the performance of the medical system.

[0058] See also Figures 1 to 4 In one embodiment, one end of the connecting component 121 is rotatably arranged, and the other end of the connecting component 121 has a hook portion, which is hooked on the matching portion 122. One end of the connecting component 121 is rotatably arranged on the bed board 111, and the other end of the connecting component 121 is a free end, which has a hook portion. When the transfer bed 110 is docked with the examination bed 310, the connecting component 121 is pulled so that the hook portion of the connecting component 121 is hooked in the matching portion 122, and the matching portion 122 can accurately match with the hook portion at the end of the connecting component 121. In this way, when the driving structure 320 drives the examination bed 310 to move axially along the scanning hole 210, the examination bed 310 can drive the bed board 111 to move synchronously through the cooperation between the matching portion 122 and the hook portion of the connecting component 121.

[0059] Optionally, the mating portion 122 is a mating groove. Optionally, the mating portion 122 has a limiting groove, and the hook portion of the connecting component 121 is hooked in the limiting groove to achieve the limiting of the connecting component 121. Of course, in other embodiments of the present invention, the mating portion 122 can also be a hook or other structure that can mate with the hook portion of the connecting component 121.

[0060] In other embodiments, the connecting component 121 may be independent of the bedplate 111 of the transfer bed 110 and the examination bed 310, with two mating portions 122, one of which is provided on the bedplate 111 and the other on the examination bed 310. When the transfer bed 110 and the examination bed 310 are docked, the two ends of the connecting component 121 are respectively installed in the mating portions 122. The mating of the connecting component 121 with the two mating portions 122 connects the bedplate 111 and the examination bed 310, allowing the bedplate 111 to move with the examination bed 310. After the examination is completed, the connecting component 121 can be removed from the mating portions 122 to disconnect the bedplate 111 from the examination bed 310.

[0061] See also Figure 1 、 Figure 3 、 Figure 5 and Figure 6 In one embodiment, the support assembly 112 includes casters 1123, a support frame 1122, and a support plate 1121 disposed on top of the support frame 1122. The casters 1123 are disposed at the bottom of the support frame 1122, and the bed plate 111 is movably disposed on top of the support plate 1121. When the transport bed 110 is transporting a patient, the support plate 1121 is pushed. The support frame 1122 drives the casters 1123 along the ground, thereby driving the bed plate 111 and the patient thereon to move synchronously, allowing the patient to enter and exit the scanning room or operating room.

[0062] See also Figures 1 to 4 In one embodiment, the transfer device 100 further includes a first guide structure 130 , which connects the examination bed 310 to the rotation support assembly 112 and is used to guide the transfer bed 110 to dock with the examination bed 310 . The first guide structure 130 can guide the transfer bed 110 from the service side, thereby guiding the bed plate 111 to align with the end of the examination bed 310 , facilitating alignment and engagement between the connecting member 121 and the mating portion 122 , ensuring accurate connection between the bed plate 111 and the examination bed 310 , and facilitating the examination bed 310 to move the bed plate 111 in and out of the scanning aperture 210 of the imaging body 200 .

[0063] A portion of the first guide structure 130 is disposed at the end of the examination bed 310, facing the service side. Another portion of the first guide structure 130 is disposed at the end of the support assembly 112 of the transfer bed 110, specifically, at the end of the support plate 1121. When the ends of the transfer bed 110 and the examination bed 310 are about to be docked, the end of the support plate 1121, through the first guide structure 130, aligns the transfer bed 110 with the examination bed 310 and abuts against the end of the examination bed 310, allowing the connecting member 121 to align with the mating portion 122. The bed plate 111 is then moved a certain distance apart, and the connecting member 121 is connected to the mating portion 122, establishing a connection between the bed plate 111 and the examination bed 310. Movement of the examination bed 310 drives the bed plate 111 to move synchronously.

[0064] See also Figure 2 and Figure 4 In one embodiment, the first guide structure 130 includes a first guide protrusion 131 and a first guide groove. One of the first guide protrusion 131 and the first guide groove is arranged at the end of the examination bed 310 facing the service side, and the other is arranged at the end of the support assembly 112. The cooperation between the first guide protrusion 131 and the first guide groove guides the transfer bed 110 close to the examination bed 310.

[0065] The first guide protrusion 131 and the first guide groove can be configured to correspond to each other. One of the first guide protrusions 131 is configured at the end of the examination bed 310, and the other is configured at the end of the support plate 1121 of the support assembly 112. As the transfer bed 110 gradually approaches the examination bed 310, the first guide protrusion 131 gradually approaches the first guide groove and moves into the first guide groove. As the transfer bed 110 continues to move toward the examination bed 310, the first guide protrusion 131 can guide the transfer bed 110 through the first guide groove, allowing the end surface of the support plate 1121 to contact the end surface of the examination bed 310, ensuring that the examination bed 310 and the bed plate 111 are securely connected. Subsequently, the connection between the examination bed 310 and the bed plate 111 can be established through the cooperation of the connecting component 121 and the mating portion 122, ensuring a secure connection between the examination bed 310 and the bed plate 111.

[0066] In the present invention, the first guide protrusion 131 is provided at the end of the examination bed 310 facing the service side, and a corresponding first guide groove is provided at the end of the support plate 1121 of the support assembly 112. Of course, in other embodiments of the present invention, the first guide groove may also be provided at the end of the examination bed 310 facing the service side, and the first guide protrusion 131 may be provided at the end of the support plate 1121. In the present invention, the first guide protrusion 131 is provided at the end of the examination bed 310 facing the service side, and the first guide groove is provided at the end of the support plate 1121 of the support assembly 112 as an example for description.

[0067] As the transfer bed 110 gradually approaches the examination bed 310, the first guide protrusion 131 of the examination bed 310 gradually approaches the first guide groove of the support plate 1121 and moves into the first guide groove. As the transfer bed 110 continues to move toward the examination bed 310, the first guide protrusion 131 of the examination bed 310 can guide the transfer bed 110's approach through the first guide groove, allowing the end surface of the support plate 1121 to contact the end surface of the examination bed 310, ensuring a secure connection between the examination bed 310 and the bed plate 111. Subsequently, the connection between the examination bed 310 and the bed plate 111 can be established through the engagement of the connecting component 121 and the mating portion 122, ensuring a secure connection between the examination bed 310 and the bed plate 111.

[0068] In one embodiment, the first guide protrusion 131 includes a connecting section and a guiding section. One end of the connecting section is connected to the guiding section, and the other end is connected to the bed plate 111 or the examination bed 310. The outer circumference of the guide section has a guiding surface. The guiding section serves as a guide, while the connecting section serves as a connection. The connecting section secures the guide section to the end of the examination bed 310. The end of the guide section away from the connecting section has a guiding surface. This surface guides the movement of the first guide protrusion 131 into the first guide groove, facilitating its entry into the first guide groove.

[0069] Specifically, when the transfer bed 110 approaches the examination bed 310, the first guide groove of the support plate 1121 can gradually approach the end of the guide section of the examination bed 310. When the guide section contacts the edge of the first guide groove, as the transfer bed 110 gradually approaches the examination bed 310, the guide surface of the guide section can enter the first guide groove along the edge of the first guide groove. As the transfer bed 110 continues to approach the examination bed 310, the connecting section also gradually enters the first guide groove. When the first guide protrusion 131 completely enters the first guide groove, the support plate 1121 can abut against the end of the examination bed 310, facilitating the connection between the connecting component 121 and the mating portion 122, allowing the examination bed 310 to drive the bed plate 111 in and out of the scanning aperture 210.

[0070] Optionally, the connecting section and the guide section are integrally formed, thereby ensuring the structural reliability of the first guide protrusion 131 and facilitating the guiding operation of the first guide protrusion 131. Of course, in other embodiments of the present invention, the connecting section and the guide section may also be separate structures. Optionally, the end of the guide section distal to the connecting section may be tapered. Of course, in other embodiments of the present invention, the end of the guide section distal to the connecting section may also be provided with an inclined surface serving as a guide surface.

[0071] Of course, in other embodiments of the present invention, the first guide protrusion 131 may be cylindrical, rod-shaped, or other structures capable of providing a guiding function. Optionally, there may be one first guide protrusion 131. Of course, in other embodiments of the present invention, there may be two first guide protrusions 131, with the two first guide protrusions 131 positioned at the ends of the shoulder-wiping window and corresponding to the two first guide grooves of the support plate 1121. In other embodiments of the present invention, there may be even more first guide protrusions 131.

[0072] See also Figure 2 and Figure 4 In one embodiment, the first guide structure 130 further includes a shock absorbing component 133, and the shock absorbing component 133 is disposed between the first guide protrusion 131 and the connection between the bed board 111 or the examination bed 310. The shock absorbing component 133 can play a role in shock absorption and buffering. It can be understood that when the end of the support plate 1121 of the transfer bed 110 and the end of the examination bed 310 are docked after being guided by the cooperation of the first guide protrusion 131 and the first guide groove, a certain vibration will be generated, which will affect the object of the bed board 111. For this reason, the present invention further provides a shock absorbing component 133 at the end of the connecting section away from the guide section, and the shock absorbing component 133 reduces the vibration when the support plate 1121 contacts the examination bed 310, thereby avoiding affecting the object.

[0073] After the first guide protrusion 131 guides the support plate 1121 through the first guide groove, the end of the support plate 1121 can gradually approach the examination bed 310. When the support plate 1121 contacts the examination bed 310, a shock-absorbing component 133 is present between the support plate 1121 and the examination bed 310. The shock-absorbing component 133 reduces vibration when the support plate 1121 contacts the examination bed 310. Optionally, the shock-absorbing component 133 is a shock-absorbing pad or other component with shock-absorbing properties.

[0074] See also Figures 1 to 4 In summary, when the transfer couch 110 is located on the service side of the imaging body 200, the bedplate 111 of the transfer couch 110 is connected to the examination couch 310 via the connection structure 120 and moves in and out of the scanning aperture 210 along with the examination couch 310, enabling imaging of the object on the bedplate 111. In other words, when the transfer couch 110 is located on the service side, the object is imaged using the high-level intraoperative mode.

[0075] Specifically, this advanced intraoperative mode is automatically triggered by detecting a service-side presence signal when the subject's transfer bed 110 is connected from the service side of the imaging body 200. After the triggering, the bed surface of the examination bed 310 will automatically move to the service side and connect with the bed surface of the transfer bed 110. After confirmation by the doctor, the subject's head can be automatically moved to the center of the magnet of the imaging body 200 by traction of the bed surface of the examination bed 310 to start scanning.

[0076] See also Figures 5 to 11 When the transfer bed 110 is located on the patient side of the imaging body 200, the drive structure 320 drives the examination bed 310 downward, and the support plate 1121 above the examination bed 310, which can accommodate the transfer bed 110, and the bed board 111 move. At this time, the bed board 111 is pushed so that it can directly enter the scanning aperture 210 and move along the guide rail assembly 220 in the scanning aperture 210 to scan and image the object. After the scan is completed, the bed board 111 is dragged outward so that it can move out of the scanning aperture 210 along the guide rail assembly 220. When the transfer bed 110 is on the patient side, the basic intraoperative mode is used. When the transfer bed 110 is connected to the patient side of the imaging body 200, the in-position signal detection automatically triggers the vertical and horizontal movement of the examination bed 310 to ensure the safety of the object. At this time, the doctor must manually push the object in.

[0077] Specifically, the support frame 1122 supports the bed board 111 on both sides, and the support frame 1122 and the bed board 111 enclose a storage space. When the transfer bed 110 is located on the patient side of the imaging body 200, the storage space can accommodate the drive structure 320 and the examination bed 310. Specifically, when the transfer bed 110 is located on the patient side of the imaging body 200, the drive structure 320 can drive the examination bed 310 to descend, so that the examination bed 310 is no longer aligned with the guide rail assembly 220 of the scanning aperture 210. Subsequently, the transfer bed 110 is pushed so that it crosses the examination bed 310, that is, the support frame 1122 is located on both sides of the examination bed 310. When the examination bed 310 is pushed, the storage space enclosed by the support frame 1122 can accommodate the examination bed 310, and then moves to the end of the scanning aperture 210.

[0078] Pushing the bedplate 111 on the examination couch 310 allows it to move relative to the support plate 1121, extending into the scanning aperture 210 and sliding along the guide rail assembly 220, allowing the subject to enter the scanning aperture 210 along with the bedplate 111. After the scan is complete, the bedplate 111 is dragged and moved out of the scanning aperture 210 along the guide rail assembly 220. The transport couch 110 is moved away from the imaging unit 200, and the drive mechanism 320 then drives the examination couch 310 upward, allowing it to move in and out of the scanning aperture 210 along the guide rail assembly 220. In this case, the examination couch 310 can be used to image non-surgical subjects. Alternatively, the bedplate 111 of the transport couch 110 can be reattached from the service side. Of course, after the transport couch 110 is removed, the drive mechanism 320 can stop driving the examination couch 310 upward, allowing another transport couch 110 to be moved in and out of the scanning aperture 210 from the patient side.

[0079] See also Figures 5 to 7In one embodiment, the transfer device 100 further includes a second guide structure 150. When the transfer bed 110 enters the scanning aperture 210 from the patient side, the second guide structure 150 guides the connecting support assembly 112 and the examination bed 310, aligning the bed plate 111 with the guide rail assembly 220 in the scanning aperture 210. The second guide structure 150 serves as a guide, directing the movement of the transfer bed 110 on the patient side. Once the transfer bed 110 is aligned with the scanning aperture 210, the bed plate 111 can accurately move onto the guide rail assembly 220.

[0080] A portion of the second guide structure 150 is arranged on the side of the support frame 1122, and another portion of the second guide structure 150 is arranged on the side of the examination bed 310. When the driving structure 320 drives the examination bed 310 to descend, the transfer bed 110 is located outside the examination bed 310, and the transfer bed 110 moves along the examination bed 310 through the second guide structure 150 to ensure that the bed board 111 of the transfer bed 110 can move onto the guide rail assembly 220.

[0081] See also Figure 6 and Figure 7 In one embodiment, the second guide structure 150 includes a guide member 151 and a moving member 152. One of the guide member 151 and the moving member 152 is arranged on at least one side of the examination bed 310 along the length direction, and the other is arranged on the support assembly 112 along the length direction. The moving member 152 can move along the guide member 151.

[0082] In the present invention, the moving member 152 is disposed on the support frame 1122, and the guide member 151 is disposed on the side of the examination bed 310. Of course, in other embodiments of the present invention, the moving member 152 may also be disposed on the side of the examination bed 310, and the guide member 151 may be disposed on the support frame 1122. The present invention will be described using the example of the guide member 151 being disposed on the side of the examination bed 310 and the moving member 152 being disposed on the support frame 1122.

[0083] When the transfer bed 110 is positioned outside the examination bed 310, the guide member 151 contacts the movable member 152 of the support frame 1122, pushing the transfer bed 110. The cooperation between the guide member 151 and the movable member 152 allows the transfer bed 110 to move in a predetermined direction, allowing it to move to the side of the scanning aperture 210. At this point, the bed plate 111 is pushed, entering the scanning aperture 210 and moving along the guide rail assembly 220. The cooperation between the guide member 151 and the movable member 152 ensures that the bed plate 111 accurately moves onto the guide rail assembly 220 of the scanning aperture 210.

[0084] Optionally, the guide member 151 is a slide, and the moving member 152 is a roller. Optionally, there are multiple rollers, spaced apart along the length of the support frame 1122. This ensures that the moving member 152 and the guide member 151 provide a consistent guiding effect when the transfer bed 110 moves along the examination bed 310. Of course, in other embodiments of the present invention, the guide member 151 is a slide rail, and the moving member 152 is a slider.

[0085] See also Figure 6 and Figure 8 In one embodiment, the transport device 100 further includes a third guide structure that guides the connection support frame 1122 and the imaging system 200 of the medical system on the patient side. The third guide structure serves as a guide, guiding the movement of the transport bed 110 on the patient side, enabling the transport bed 110 to accurately dock with the imaging system 200 on the patient side, thereby allowing the bed plate 111 to accurately extend into the scanning aperture 210 and move along the guide rail assembly 220.

[0086] The third guide structure is partially located at the end of the support plate 1121 and partially located on the patient-facing end of the imaging body 200. When the transfer couch 110 is positioned on the patient side, the drive structure 320 lowers the examination couch 310, dragging the transfer couch 110 until it crosses over and lies outside the examination couch 310. The transfer couch 310 is then pushed further forward, with the guide member 151 and the moving member 152 cooperating to limit the movement of the transfer couch 110. When the end of the transfer couch 110 is about to contact the imaging body 200, the end of the support plate 1121 abuts against the imaging body 200 via the third guide structure, ensuring that the bed plate 111 is accurately aligned with the scanning aperture 210 and accurately moves onto the guide rail assembly 220.

[0087] In one embodiment, the third guide structure includes a second guide protrusion 140 and a second guide groove. One side of the second guide protrusion 140 and the second guide groove is disposed on the surface of the imaging body 200 facing the patient, and the other side is disposed at the end of the support assembly 112. The cooperation between the second guide protrusion 140 and the second guide groove guides the transfer bed 110 toward the imaging body 200 on the patient side.

[0088] It is worth noting that the structure of the second guide protrusion 140 is substantially the same as that of the first guide protrusion 131, and the principle of guiding cooperation between the second guide protrusion 140 and the second guide groove is substantially the same as that between the first guide protrusion 131 and the first guide groove, which will not be elaborated here.

[0089] As will be appreciated, the transfer bed 110 has a first guide groove and a second guide groove at each end, each having the same structure. When the first guide groove at the end of the transfer bed 110 corresponds to the patient side, the first guide groove cooperates with the second guide protrusion 140 to guide the movement of the transfer bed 110. When the second guide groove at the end of the transfer bed 110 corresponds to the service side, the second guide groove cooperates with the first guide protrusion 131 to guide the movement of the transfer bed 110.

[0090] In one embodiment, the transport device 100 further includes a position detector for detecting whether the transport couch 110 enters or exits the scanning bore 210 from the patient side. When the transport couch 110 enters or exits the scanning bore 210 from the patient side, the position detector generates a detection signal. Based on the detection signal, the medical system controls the drive mechanism 320 to lower the examination couch 310, causing the examination couch 310 to clear the transport couch 110. Optionally, the position detector is a position sensor. Alternatively, the position detector can be located on the ceiling, the imaging unit 200, the floor, a wall, or the examination couch 310, as long as it can detect the position of the transport couch 110.

[0091] The position detection member is used to detect the position of the transport bed 110, specifically to detect whether the transport bed 110 is on the patient side or the service side of the imaging body 200. Figures 1 to 4 When the position detection component detects that the transfer bed 110 is on the service side, the position detection component feeds back the position information of the transfer bed 110 to the controller of the medical system. The controller does not control the movement of the drive structure 320, and the controller controls the imaging body 200 to operate in the high-level intraoperative mode. After the transfer bed 110 is docked with the examination bed 310 through the first guide structure 130, the bed plate 111 is connected to the examination bed 310 through the cooperation of the connecting component 121 and the matching portion 122, so that the bed plate 111 can move with the examination bed 310 into the scanning hole 210. Of course, in other embodiments of the present invention, a detection component such as a camera or sensor can also be set on the service side of the imaging body 200 to detect the position of the transfer bed 110, so as to feed back the position information of the transfer bed 110 to the controller, and the controller controls the imaging body 200 to operate in the high-level intraoperative mode.

[0092] See also Figures 5 to 11When the position detector detects that the transfer couch 110 is located next to the patient, it feeds the position information of the transfer couch 110 back to the controller, which then controls the imaging system 200 to operate in the basic intraoperative mode. Specifically, the controller controls the drive mechanism 320 to lower the examination couch 310 to clear the transfer couch 110 and provide space for its movement. Subsequently, the transfer couch 110 is moved to the position of the examination couch 310, and the outer side of the examination couch 310 is aligned with the imaging system 200, allowing the bed plate 111 to enter and exit the scanning aperture 210 and move along the guide rail assembly 220.

[0093] Furthermore, in basic intraoperative mode, the bedplate 111 of the transfer couch 110 is located on the rail assembly 220 and can move along it, while keeping the examination couch 310 fixed in position, effectively ensuring the patient's safety. In advanced intraoperative mode, the examination couch 310 is prohibited from lifting or lowering. The end of the examination couch 310 in the scanning aperture 210 can be connected to the bedplate 111 of the transfer couch 110, and the examination couch 310 drives the transfer couch 110 in and out of the scanning aperture 210.

[0094] See also Figure 1 、 Figure 3 、 Figure 5 and Figure 6 、 Figures 9 to 11 The present invention also provides a medical system, including an imaging body 200, a bed assembly 300 and a transfer device 100. The imaging body 200 has a scanning hole 210. The two opposite ends along the axial direction of the scanning hole 210 are the patient side and the service side. The inner wall of the scanning hole 210 has a guide rail assembly 220. The bed assembly 300 includes an examination bed 310 and a driving structure 320. The driving structure 320 is arranged on the patient side. A detection window is installed on the top of the driving structure 320, and drives the examination bed 310 to rise and fall and / or enter and exit the scanning position. Scanning hole 210; the transfer device 100 includes a transfer bed 110, which can enter and exit the scanning hole 210 from the patient side or the service side and slide along the guide rail assembly 220; when the transfer bed 110 is on the service side, the transfer bed 110 is connected to the examination bed 310, and the examination bed 310 can enter and exit the scanning hole 210 at any time; when the transfer bed 110 is on the patient side, the driving structure 320 drives the examination bed 310 to descend to avoid the transfer bed 110, so that the bed plate 111 of the transfer bed 110 can enter and exit the scanning hole 210 along the guide rail assembly 220.

[0095] The guide rail assembly 220 is coupled to the scanning aperture 210 of the imaging body 200 and can be operated to control the movement of the examination bed 310 into and out of the scanning aperture 210. The specific structure of the guide rail assembly 220 is not limited, as long as it can be operated to control the movement of the examination bed 310 into and out of the scanning aperture 210. In one embodiment, the guide rail assembly 220 may include guide rails, a support structure, and a power mechanism. The power mechanism may be a motor, for example. In one embodiment, the guide rail assembly 220 may also include a slide rail, a support structure, and a motor. The guide rail assembly 220 controls the examination bed 300 so that it can move into and out of the scanning aperture, thereby facilitating the imaging body 200 to image and scan the object on the examination bed 310, thereby improving scanning efficiency. Optionally, a portion of the first guide structure 130 may be disposed at the end of the examination bed 310 facing the service side, or at the end of the guide rail assembly 220 facing the service side.

[0096] The drive structure 320 is disposed on the floor on the patient side of the imaging unit 200. An examination couch 310 is mounted on top of the drive structure 320. The drive structure 320 can drive the examination couch 310 upward or downward, and can also drive the examination couch 310 to move into or out of the scanning bore 210. The transfer device 100 employed in the medical system of the present invention is the same as the transfer device 100 described in the aforementioned embodiment and will not be described in detail here. When performing imaging using the medical system of the present invention, the transfer couch 110 can enter and exit the scanning bore 210 on either the patient side of the imaging unit 200 or the service side of the imaging unit 200.

[0097] When the transfer couch 110 enters or exits the scanning bore 210 on the service side of the imaging body 200, the transfer couch 110 is aligned with the scanning bore 210 of the imaging body 200, and the support plate 1121 of the transfer couch 110 is brought into contact with the examination couch 310. The examination couch 310 and the bed plate 111 are connected by the coupling member 121 and the mating portion 122, allowing the bed plate 111 to move synchronously with the examination couch 310. When the transfer couch 110 enters or exits the scanning bore 210 on the patient side of the imaging body 200, the drive mechanism 320 drives the examination couch 310 downward to clear the transfer couch 110, allowing the bed plate 111 of the transfer couch 110 to enter or exit the scanning bore 210 along the guide rail assembly 220.

[0098] See also Figure 1 、 Figure 3 、 Figure 5 and Figure 6 、 Figures 9 to 11In one embodiment, the imaging body 200 is capable of sequentially examining subjects in multiple transfer devices 100. In other words, a single medical system can accommodate intraoperative examinations in multiple operating rooms. Specifically, during operation, while the transfer bed 110 in operating room one pushes a subject into the scanning room for imaging, the transfer beds 110 in other operating rooms do not push subjects into the operating room. After imaging the subject in the scanning room, the transfer bed 110 moves the subject out of the scanning room and back into operating room one for surgical procedures. The subject in operating room two can then be pushed into the scanning room, and so on.

[0099] It is worth noting that the descriptions of operating room 1, operating room 2, etc., are for ease of description only and do not represent the order in which patients enter the scanning room. Each operating room can move patients into the scanning room based on the specific surgical procedure. Alternatively, one transport bed 110 can enter the scanning room from the service side for imaging. After imaging is complete, that transport bed 110 can be removed from the service side, and another transport bed 110 can enter the scanning room from the patient side for imaging.

[0100] See also Figure 1 、 Figure 3 、 Figure 5 and Figure 6 、 Figures 9 to 11 The present invention also provides a transport method, which is applied to the medical system in the above embodiment.

[0101] The transfer method includes the following steps:

[0102] Obtaining the position of the transfer bed 110 and determining whether the transfer bed 110 enters or exits the scanning hole 210 from the patient side or from the service side;

[0103] When the transfer bed 110 enters and exits the scanning hole 210 from the service side, the bed plate 111 of the transfer bed 110 is connected to the inspection bed 310, and the inspection bed 310 is driven to drive the transfer bed 110 to enter and exit the scanning hole 210;

[0104] When the transfer bed 110 enters or exits the scanning bore 210 from the patient side, the control driving structure 320 drives the examination bed 310 to descend, so that the bed plate 111 of the transfer bed 110 is located on the top of the examination bed 310 and moves along the examination bed 310, so that the bed plate 111 enters or exits the scanning bore 210 along the guide rail assembly 220 in the scanning bore 210.

[0105] The position detector determines the position of the transfer couch 110 and feeds it back to the controller, which then controls the medical system to operate in either the basic intraoperative mode or the advanced intraoperative mode. When the transfer couch 110 enters or exits the scanning aperture 210 on the service side of the imaging body 200, the transfer couch 110 is aligned with the scanning aperture 210 of the imaging body 200, and the support plate 1121 of the transfer couch 110 is brought into contact with the examination couch 310. The examination couch 310 and the bed plate 111 are connected by the coupling member 121 and the mating portion 122, allowing the bed plate 111 to move synchronously with the examination couch 310. When the transfer couch 110 enters or exits the scanning aperture 210 on the patient side of the imaging body 200, the drive mechanism 320 drives the examination couch 310 downward, clearing the transfer couch 110, allowing the bed plate 111 of the transfer couch 110 to enter and exit the scanning aperture 210 along the guide rail assembly 220.

[0106] The transfer bed 110 has a front end and a rear end. The front end is defined as the direction of forward movement of the transfer bed 110, and the rear end is defined as the side opposite the front end of the transfer bed 110. A camera disposed at the front end of the transfer bed 110 serves as a position detector. The position detector can acquire information about the environment in which the transfer bed 110 is located. This information can be, for example, two-dimensional or three-dimensional image information.

[0107] The controller can obtain the path planning from the surgical system to the imaging system based on the information of the environment in which the transfer bed 110 is located, wherein the surgical system is located in the operating room and the imaging system is located in the scanning room; and move the transfer bed 110 according to the path planning.

[0108] In one embodiment, the path planning acquisition process includes: capturing an image of the environment in which the transfer bed 110 is located by a position detection device; determining multiple objects in the environment in which the transfer bed 110 is located from the image; and determining a target path based on the spacing between the objects. In this embodiment, the target path is determined based on the lateral width and longitudinal length of the transfer bed 110, as well as the spacing between objects, so that the transfer bed 110 does not collide with any objects when moving along the target path. Optionally, at least one of the multiple objects is stationary. Determining whether the object is a stationary object can be performed by: determining two two-dimensional images of the environment in which the transfer bed 110 is located at a first time point and a second time point, respectively; determining the coordinates of the object at the first time point and the coordinates of the object at the second time point from the two two-dimensional images; and calculating the difference between the coordinates of the object at the two time points. When the calculated coordinate difference is equal to or less than a predetermined threshold (substantially close to "0"), the object is determined to be a stationary object.

[0109] In one embodiment, the movement of the transfer bed 110 may also include: acquiring a depth image using a position detector; identifying moving objects in the environment of the transfer bed 110 based on the depth image; calculating the moving object's velocity vector, and determining a potential collision zone between the moving object and the transfer bed 110 based on the moving object's velocity vector and the target path; and performing obstacle avoidance before the transfer bed 110 reaches the potential collision zone. Alternatively, two cameras on the transfer bed 110, spaced a predetermined distance apart, simultaneously capture two images of the same scene, and process the two images using a three-dimensional matching algorithm to generate a depth image. Moving objects are identified based on the optical flow vectors of target feature points in the depth image. Optionally, obstacle avoidance may include pausing the movement of the transfer bed 110 to ensure that there are no potential collision zones along the target path, or reducing the speed of the transfer bed 110 to allow the moving object to pass through without hindering the forward movement of the transfer bed 110.

[0110] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A medical system, characterized in that: The invention comprises an imaging body (200), a hospital bed assembly (300), and a transfer device (100), wherein the imaging body (200) has a scanning hole (210), and two opposite ends of the imaging body (200) along the axial direction of the scanning hole (210) are a patient side and a service side, and the inner wall of the scanning hole (210) has a guide rail assembly (220), and the hospital bed assembly (300) comprises an examination bed (310) and a driving structure (320), wherein the driving structure (320) is used to drive the examination bed (310) to rise and fall and / or enter and exit the scanning hole (210); The transfer device (100) includes a transfer bed (110) and a connecting structure (120), wherein the transfer bed (110) can enter and exit the scanning hole (210) from the patient side or the service side and slide along the guide rail assembly (220); the connecting structure (120) includes a connecting component (121) and a matching portion (122), wherein one of the connecting component (121) and the matching portion (122) is arranged at the end of the examination bed (310) facing the service side, and the other is arranged at the end of the bed board (111) of the transfer bed (110), and the connecting component (121) and the matching portion (122) are connected to connect or disconnect the examination bed (310) and the bed board (111) of the transfer bed (110); when the transfer bed (110) is on the service side, the transfer bed (110) is connected to the examination bed (310) and enters and exits the scanning hole (210) along with the examination bed (310); When the transfer bed (110) is on the patient's side, the driving structure (320) drives the examination bed (310) to descend to avoid the transfer bed (110).

2. The medical system according to claim 1, wherein: The transfer bed (110) comprises a support assembly (112) and a bed board (111), wherein the bed board (111) is arranged on the support assembly (112).

3. The medical system according to claim 1, wherein: The transfer device (100) further includes a first guide structure (130) for guiding the transfer bed (110) to dock with the examination bed (310).

4. The medical system according to claim 3, wherein: The first guide structure (130) includes a first guide protrusion (131) and a first guide groove, wherein one of the first guide protrusion (131) and the first guide groove is arranged at the end of the examination bed (310), and the other is arranged at the end of the transfer bed (110), and the first guide protrusion (131) cooperates with the first guide groove to guide the transfer bed (110) toward the examination bed (310).

5. The medical system according to claim 4, characterized in that The first guide structure (130) further includes a shock-absorbing component (133), and the shock-absorbing component (133) is arranged between the first guide protrusion (131) and the connection between the transfer bed (110) or the examination bed (310).

6. The medical system according to any one of claims 1 to 5, characterized in that: The transfer bed (110) includes a support assembly (112) and a bed board (111), wherein the bed board (111) is movably arranged on the support assembly (112). The transfer device (100) further includes a second guide structure (150). When the transfer bed (110) enters the scanning hole (210) from the patient side, the second guide structure (150) guides and connects the support assembly (112) and the examination bed (310), so that the bed board (111) is aligned with the guide rail assembly (220) in the scanning hole (210).

7. The medical system according to claim 6, characterized in that The transport device (100) further comprises a third guide structure, wherein the third guide structure guides and connects the support assembly (112) and the imaging body (200) of the medical system on the patient side.

8. The medical system according to claim 6, wherein: The transfer device (100) further comprises a position detection component, the position detection component being used to detect whether the transfer bed (110) is approaching the examination bed (310) from the patient side, and the medical system controls the lifting and lowering of the examination bed (310) according to a signal from the position detection component.

9. A method for transporting a medical system according to any one of claims 1 to 8, the medical system comprising an imaging body (200), a bed assembly (300), and a transport device (100), the imaging body (200) having a scanning hole (210), two opposite ends of the imaging body (200) along the axial direction of the scanning hole (210) being a patient side and a service side, the bed assembly (300) comprising an examination bed (310) and a driving structure (320), and the transport device (100) comprising a transport bed (110); It is characterized by: The transport method comprises the following steps: Obtaining the position of the transfer bed (110), and determining whether the transfer bed (110) enters and exits the scanning hole (210) from the patient side or from the service side; When the transfer bed (110) enters and exits the scanning hole (210) from the service side, the bed board (111) of the transfer bed (110) is connected to the inspection bed (310), and the inspection bed (310) is driven to drive the transfer bed (110) to enter and exit the scanning hole (210); When the transfer bed (110) enters and exits the scanning hole (210) from the patient side, the control driving structure (320) drives the examination bed (310) to descend, so that the bed board (111) enters and exits the scanning hole (210).

10. The transport method according to claim 9, characterized in that: The medical system includes a surgical system and an imaging system, and the transport method further includes: Acquiring a path plan from the surgical system to the imaging system; The transfer bed (110) is moved according to the path planning.

Images