Collimator mounting method, device, system and loading apparatus

Abstract

The application relates to a collimator mounting method, device, system and loading equipment. The method comprises the following steps: the loading equipment acquires a collimator mounting instruction; the loading equipment loads a first collimator according to the collimator mounting instruction, and moves to a specified position of a medical scanning equipment; and the loading equipment hangs the first collimator on the medical scanning equipment according to the collimator mounting instruction. The method can automatically mount a collimator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of collimator, in particular to a collimator installation method, device, system and loading equipment. BACKGROUND

[0002] Single-Photon Emission Computed Tomography (SPECT) is one of the most commonly used diagnostic imaging methods, and in the current burgeoning diagnosis and treatment integration technology, SPECT is also one of the most important tools.

[0003] The collimator is the core component of SPECT, and clinical SPECT and preclinical SPECT rely on different collimators for radio tracer positioning. A SPECT system usually has multiple collimators to adapt to different application scenarios, and since some collimators are heavy, a loading equipment is needed to assist installation. For example, the collimator is placed on a replacement trolley, and the trolley is manually moved to the SPECT probe, and then the collimator is manually slid into the probe slide rail or mounted on the probe.

[0004] However, the above installation method still requires a large amount of manual work, and therefore, how to automatically install the collimator has become a technical problem to be solved. SUMMARY

[0005] Therefore, it is necessary to provide a collimator installation method, device, system and loading equipment capable of automatically installing a collimator in view of the above technical problems.

[0006] In a first aspect, a collimator installation method is provided, which comprises:

[0007] The loading equipment obtains a collimator installation instruction;

[0008] The loading equipment loads a first collimator according to the collimator installation instruction and moves to a specified position of a medical scanning device;

[0009] The loading equipment mounts the first collimator to the medical scanning device according to the collimator installation instruction.

[0010] In one embodiment, the loading equipment mounts the first collimator to the medical scanning device according to the collimator installation instruction, which comprises:

[0011] The loading equipment aligns the first collimator and a probe of the medical scanning device using a pre-set positioning assembly;

[0012] The loading equipment mounts the first collimator to the probe of the medical scanning device.

[0013] In one of the embodiments, the collimator installation instruction carries a collimator identifier of the first collimator; the loading device loads the first collimator according to the collimator installation instruction, including:

[0014] The loading device acquires collimator identifiers of the plurality of candidate collimators according to the collimator installation instruction;

[0015] The loading device matches the collimator identifier of each candidate collimator with the collimator identifier of the first collimator, and identifies the first collimator according to the matching result;

[0016] The loading device loads the identified first collimator.

[0017] In one of the embodiments, the loading device acquires the collimator identifier of each candidate collimator, including:

[0018] The loading device acquires the collimator identifier of each candidate collimator through at least one of a mechanical switch, a photoelectric switch, an electromagnetic sensor, a radio frequency tag, and a graphic code arranged on each candidate collimator.

[0019] In one of the embodiments, the moving to the specified position of the medical scanning device includes:

[0020] The loading device acquires a pre-set moving path;

[0021] The loading device moves to the specified position of the medical scanning device according to the moving path;

[0022] The loading device performs alignment processing with the probe of the medical scanning device in a pre-set manner; the pre-set manner includes at least one of a laser navigation manner, a visual navigation manner, and an inertial navigation manner.

[0023] In one of the embodiments, the loading device mounts the first collimator to the medical scanning device according to the collimator installation instruction, including:

[0024] The loading device unmounts the second collimator from the probe of the medical scanning device according to the collimator installation instruction;

[0025] The loading device mounts the first collimator to the probe of the medical scanning device.

[0026] In one of the embodiments, the first collimator includes at least one of a pinhole collimator, a parallel hole collimator, a fan beam collimator, a cone beam collimator, and a slit collimator.

[0027] In a second aspect, a collimator installation method is provided, applied to an installation system including a loading device and a control terminal.

[0028] The control terminal acquires a target scanning protocol, determines a first collimator corresponding to the target scanning protocol, and sends a collimator installation instruction according to the first collimator.

[0029] The loading device performs the steps of the first aspect.

[0030] In one of the embodiments, the control terminal acquires the target scanning protocol, including:

[0031] The control terminal receives a scanning parameter input by a user and generates a target scanning protocol according to the scanning parameter.

[0032] In one of the embodiments, after using the first collimator, the control terminal determines a target reconstruction algorithm according to the first collimator and performs image reconstruction processing to obtain a target image according to the target reconstruction algorithm.

[0033] In a third aspect, a collimator installation device is provided, which is applied to a loading device and includes:

[0034] An installation instruction acquisition module is configured to acquire a collimator installation instruction.

[0035] A moving module is configured to load the first collimator according to the collimator installation instruction and move to a specified position of a medical scanning device.

[0036] An installation module is configured to mount the first collimator to the medical scanning device according to the collimator installation instruction.

[0037] In one of the embodiments, the installation module includes:

[0038] An alignment sub-module is configured to perform alignment processing on the first collimator and a probe of the medical scanning device by using a pre-set positioning assembly.

[0039] A mounting sub-module is configured to mount the first collimator to the probe of the medical scanning device.

[0040] In one of the embodiments, the collimator installation instruction carries a collimator identifier of the first collimator, and the moving module includes:

[0041] An identifier acquisition sub-module is configured to acquire collimator identifiers of a plurality of candidate collimators according to the collimator installation instruction.

[0042] An identifier matching sub-module is configured to match the collimator identifiers of the candidate collimators with the collimator identifier of the first collimator and identify the first collimator according to a matching result.

[0043] A loading sub-module is configured to load the identified first collimator.

[0044] In one of the embodiments, the identifier obtaining submodule is specifically configured to obtain the collimator identifier of each candidate collimator by at least one of a mechanical switch, a photoelectric switch, an electromagnetic sensor, a radio frequency tag, and a graphic code arranged on each candidate collimator.

[0045] In one of the embodiments, the moving module comprises:

[0046] a path obtaining submodule configured to obtain a preset moving path;

[0047] a moving submodule configured to move to a specified position of the medical scanning device according to the moving path;

[0048] an aligning submodule configured to perform an aligning process with the probe of the medical scanning device in a preset manner, wherein the preset manner comprises at least one of a laser navigation manner, a visual navigation manner, and an inertial navigation manner.

[0049] In one of the embodiments, the installing module is specifically configured to unload the second collimator from the probe of the medical scanning device according to the collimator installation instruction, and mount the first collimator to the probe of the medical scanning device.

[0050] In one of the embodiments, the first collimator comprises at least one of a pinhole collimator, a parallel hole collimator, a fan beam collimator, a cone beam collimator, and a slit collimator.

[0051] In a fourth aspect, a collimator installation system is provided, which comprises a loading device and a control terminal.

[0052] The control terminal is configured to obtain a target scanning protocol, determine a first collimator corresponding to the target scanning protocol, and send a collimator installation instruction according to the first collimator.

[0053] The loading device is configured to perform the steps of the first aspect.

[0054] In a fifth aspect, a loading device is provided, which comprises a mechanical arm, a memory, a processor, and a vehicle body. The vehicle body is movable, the memory stores a computer program, and the processor executes the computer program to implement the following steps:

[0055] obtaining a collimator installation instruction;

[0056] grabbing the first collimator by the mechanical arm according to the collimator installation instruction, and loading the first collimator to the vehicle body;

[0057] controlling the vehicle body to move to a specified position of a medical scanning device; and

[0058] mounting the first collimator to the medical scanning device by the mechanical arm according to the collimator installation instruction.

[0059] In a sixth aspect, a computer readable storage medium is provided, and a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the steps of the first aspect.

[0060] The collimator mounting method, device, system and loading equipment described above, the loading equipment obtains a collimator mounting instruction; loads a first collimator according to the collimator mounting instruction, and moves to a specified position of a medical scanning device; and mounts the first collimator to the medical scanning device according to the collimator mounting instruction. Through the embodiments of the present disclosure, the collimator corresponding to a target scanning protocol used by the medical scanning device can be automatically mounted without human intervention, manpower is saved, and the installation efficiency of the collimator is improved. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 An application environment diagram of the collimator mounting method in an embodiment;

[0062] Figure 2 A flowchart of the collimator mounting method in an embodiment;

[0063] Figure 3a One of the layout diagrams in a scanning room in an embodiment;

[0064] Figure 3b The second of the layout diagrams in a scanning room in an embodiment;

[0065] Figure 4 One of the flowcharts of the step of mounting the first collimator to the probe of the medical scanning device in an embodiment;

[0066] Figure 5 The flowchart of the step of loading the first collimator according to the collimator mounting instruction in an embodiment;

[0067] Figure 6 The flowchart of the step of moving to the specified position of the medical scanning device in an embodiment;

[0068] Figure 7 The second of the flowcharts of the step of mounting the first collimator to the probe of the medical scanning device in an embodiment;

[0069] Figure 8 The flowchart of the collimator mounting method in another embodiment;

[0070] Figure 9 The structure block diagram of the collimator mounting device in an embodiment;

[0071] Figure 10 The internal structure diagram of the computer device in an embodiment. DETAILED DESCRIPTION

[0072] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0073] The collimator installation method provided by the present application can be applied to an application environment as shown in Figure 1 The application environment includes a medical scanning device 101, a loading device 102 and a control terminal 103. The control terminal 103 can communicate with the medical scanning device 101 and the loading device 102 through a network. The medical scanning device 101 can be, but is not limited to, a SPECT device. The loading device 102 is used for installing a collimator. The control terminal 103 can be, but is not limited to, various personal computers, notebook computers and tablet computers.

[0074] In one embodiment, as shown in Figure 2 , a collimator installation method is provided. The collimator installation method is applied to the loading device in Figure 1 , and includes the following steps:

[0075] In step 201, the loading device obtains a collimator installation instruction.

[0076] The collimator installation instruction is obtained by the control terminal after obtaining a target scanning protocol, determining a first collimator corresponding to the target scanning protocol, and sending an instruction according to the first collimator.

[0077] A plurality of scanning protocols are pre-stored in the control terminal. When it is necessary to install a collimator, a target scanning protocol is selected from the plurality of scanning protocols, and a first collimator to be used is determined according to the target scanning protocol. Then, the control terminal generates a collimator installation instruction according to the first collimator, and sends the collimator installation instruction to the loading device through a wireless local area network or Bluetooth. The loading device receives the collimator installation instruction sent by the control terminal.

[0078] Optionally, the first collimator includes at least one of a pinhole collimator, a parallel hole collimator, a fan beam collimator, a cone beam collimator and a slit collimator. The type of the first collimator is not limited in the embodiments of the present disclosure.

[0079] Optionally, the target scan protocol can include a plurality of scan parameters such as a scan mode, a count scan mode, a bed time (a scan time for each bed), and / or a count number, and can further include a collimator model, a scan bed, and whether to record physiological parameters such as an electrocardiogram or respiration synchronously. The parameters of the target scan protocol are determined according to a kind and activity of a contrast agent / radioactive drug injected into the target scan object, an image quality requirement of the target scan object, a range selection of an operator, and the like. Optionally, the image quality requirement of the target scan object can be an image resolution and an image signal-to-noise ratio, and the range selection of the operator can include a scan time length and a scan field of view range. For example, the target scan protocol is a myocardial perfusion scan, and the parameters of the target scan protocol include a scan time of 20 minutes, a single bed, recording of an electrocardiogram signal synchronously, and information of a low-energy cone collimator.

[0080] The first collimator can be determined according to the target scan protocol. For example, a hole size of the first collimator determines an imaging resolution and a sensitivity, and the sensitivity determines a minimum scan time under a specific radioactive drug. A type of the first collimator (parallel holes, fan holes, cone holes, multi-pin holes, and the like) determines a scan field of view range. A kind of the radioactive drug determines a gamma ray energy, and further, based on the gamma ray energy, a model of the first collimator (high-energy, medium-energy, or low-energy, and the like) can be determined.

[0081] In step 202, the loading device loads the first collimator according to the collimator installation instruction and moves to a specified position of the medical scan device.

[0082] The first collimator is placed on a collimator platform in a scan room, and a plurality of collimator models are arranged on the collimator platform. After the loading device obtains the collimator installation instruction, the loading device loads the first collimator from the collimator platform, and then moves to the specified position of the medical scan device according to a moving path.

[0083] Optionally, the loading device identifies the position of the first collimator on the collimator platform based on machine vision. In an embodiment, the loading device can include a controller. Any of the foregoing positions, such as a position on the collimator platform, a position on the loading device, a position around the collimator platform, and a position around the loading device platform, can be provided with a camera. The camera can capture an image (including a picture or a video, and the like) of the collimator platform. The controller can receive the image of the collimator platform from the camera, and further detect the position of the first collimator loaded on the collimator platform by identifying information of the collimator contained in the image of the collimator platform.

[0084] Optionally, the loading device further comprises a vehicle body, a mechanical arm arranged on the vehicle body, and the vehicle body and the mechanical arm are respectively connected with the controller. The vehicle body comprises a bearing table and a driving mechanism arranged in the bearing table, the driving mechanism is connected with the controller and drives the bearing table to move according to the instruction of the controller, so as to change the position of the loading device relative to the collimator platform.

[0085] The mechanical arm comprises a telescopic arm and a conversion unit mounted at one end of the telescopic arm, and the telescopic arm and the conversion unit are controllably connected with the controller, and the controller can generate control instructions to change the state of the telescopic arm and the state of the conversion unit. In one embodiment, the controller can move the conversion unit to the position of the collimator platform loading the first collimator by controlling the state of the telescopic arm; or the controller can change the posture / orientation of the conversion unit relative to the first collimator by controlling the telescopic arm and the conversion unit, so as to be able to grasp the first collimator, and the conversion unit can be kept between the position of the collimator platform loading the first collimator and the bearing table, so as to be able to realize the transfer of the first collimator from the collimator platform to the bearing table. Optionally, the conversion unit can be provided with a pressure sensor, which can sense whether the mechanical arm grasps the first collimator.

[0086] The movement path can be stored in the loading device. After obtaining the collimator installation instruction, the loading device obtains the movement path from the storage space and moves to the specified position of the medical scanning device according to the movement path.

[0087] The movement path can also be carried by the collimator installation instruction. After obtaining the collimator installation instruction, the loading device parses the movement path of the loading device from the collimator installation instruction, and then moves to the specified position of the medical scanning device according to the movement path.

[0088] The specified position of the medical scanning device can be set according to actual conditions, such as shown in Figure 3a and Figure 3b .

[0089] In step 203, the loading device mounts the first collimator to the medical scanning device according to the collimator installation instruction.

[0090] After the loading device moves to the specified position of the medical scanning device, the first collimator is taken out according to the collimator installation instruction, and the first collimator is mounted to the medical scanning device.

[0091] In the collimator mounting method, the loading device obtains a collimator mounting instruction; loads a first collimator according to the collimator mounting instruction, and moves to a specified position of the medical scanning device; and mounts the first collimator to the medical scanning device according to the collimator mounting instruction. Through the embodiment of the present disclosure, the collimator corresponding to the target scanning protocol used by the medical scanning device can be automatically mounted without human intervention, manpower is saved, and the mounting efficiency of the collimator is improved.

[0092] In one embodiment, as shown in Figure 4 the loading device mounts the first collimator to the medical scanning device according to the collimator mounting instruction. The step of mounting the first collimator to the medical scanning device according to the collimator mounting instruction can include:

[0093] In step 301, the loading device aligns the first collimator and the probe of the medical scanning device by using a pre-set positioning assembly.

[0094] The positioning assembly can include a positioning pin and a positioning hole. The positioning pin is arranged on the first collimator, and the positioning hole is arranged at the probe of the medical scanning device. The embodiment of the present disclosure does not limit the positioning assembly.

[0095] After the loading device moves to the specified position of the medical scanning device, the first collimator and the probe of the medical scanning device can be aligned according to the positioning pin arranged on the first collimator and the positioning hole arranged at the probe of the medical scanning device.

[0096] In step 303, the loading device mounts the first collimator to the probe of the medical scanning device.

[0097] After alignment, the loading device mounts the first collimator to the probe of the medical scanning device.

[0098] In the above embodiment, the loading device aligns the first collimator and the probe of the medical scanning device by using a pre-set positioning assembly, and mounts the first collimator to the probe of the medical scanning device. Through the embodiment of the present disclosure, the loading device automatically mounts the collimator, and the mounting efficiency of the collimator is improved.

[0099] In one embodiment, the collimator mounting instruction carries a collimator identifier of the first collimator; as shown in Figure 5 the loading device loads the first collimator according to the collimator mounting instruction. The step of loading the first collimator according to the collimator mounting instruction can include:

[0100] In step 3011, the loading device obtains collimator identifiers of a plurality of candidate collimators according to the collimator mounting instruction.

[0101] The plurality of candidate collimators can be placed in the scanning room. Each candidate collimator is provided with a collimator identifier. The collimator identifier can include at least one of a mechanical switch, a photoelectric switch, an electromagnetic sensor, a radio frequency tag, and a graphic code. The loading device obtains the collimator identifier of each candidate collimator through at least one of the mechanical switch, the photoelectric switch, the electromagnetic sensor, the radio frequency tag, and the graphic code provided on each candidate collimator.

[0102] For example, each candidate collimator is provided with a graphic code, and the loading device obtains the collimator identifier by scanning the graphic code.

[0103] In actual application, each candidate collimator is placed at a fixed position in the scanning room. Therefore, the loading device can perform the collimator identifier obtaining operation once, and then, if the position of the candidate collimator is unchanged, there is no need to repeatedly obtain the collimator identifier, thereby saving the identifier obtaining time.

[0104] In step 3012, the loading device matches the collimator identifier of each candidate collimator with the collimator identifier of the first collimator, and identifies the first collimator according to the matching result.

[0105] After the loading device obtains the collimator identifier of each candidate collimator and the collimator identifier of the first collimator, the loading device matches the collimator identifier of the first collimator with the collimator identifier of each candidate collimator. If the collimator identifier of a candidate collimator matches the collimator identifier of the first collimator, the candidate collimator is determined as the first collimator.

[0106] If the collimator identifier of each candidate collimator does not match the collimator identifier of the first collimator, the loading device can output prompt information to prompt the user that the first collimator does not exist in the scanning room.

[0107] In step 3013, the loading device loads the identified first collimator.

[0108] The loading device performs the loading operation on the first collimator, for example, the loading device clamps the first collimator from the plurality of candidate collimators and places the first collimator on the bearing table of the loading device. The loading operation is not limited in the embodiments of the present disclosure.

[0109] In the above embodiments, the loading device obtains the collimator identifier of each candidate collimator according to the collimator installation instruction; matches the collimator identifier of each candidate collimator with the collimator identifier of the first collimator, and identifies the first collimator according to the matching result; and loads the identified first collimator. Through the embodiments of the present disclosure, the loading device can select the first collimator through the collimator identifier, thereby ensuring the correct installation of the collimator.

[0110] In one embodiment, as Figure 6As shown in the above, the step that the loading device moves to the specified position of the medical scanning device can include:

[0111] In step 401, the loading device acquires a preset moving path.

[0112] In actual application, after the relative positions of the medical scanning device and the loading device are fixed, the moving path can be set in the loading device. In this way, the control terminal does not need to carry the moving path of the loading device in the collimator installation instruction each time the collimator installation instruction is sent, and the acquisition efficiency of the moving path can be improved.

[0113] In step 402, the loading device moves to the specified position of the medical scanning device according to the moving path.

[0114] After the loading device acquires the moving path, the loading device moves to the specified position of the medical scanning device according to the moving path.

[0115] In step 403, the loading device performs alignment processing with the probe of the medical scanning device in a preset manner.

[0116] The preset manner includes at least one of a laser navigation manner, a visual navigation manner, and an inertial navigation manner.

[0117] After the loading device moves to the specified position of the medical scanning device, there can be some deviation, and at this time, the laser navigation manner, the visual navigation manner, and the inertial navigation manner can be used to perform alignment processing with the probe of the medical scanning device. For example, an alignment pin is arranged on the loading device, an alignment slot is arranged on the probe, and the alignment pin and the alignment slot are aligned in the above manner to realize the alignment processing between the loading device and the probe of the medical scanning device.

[0118] Then, the loading device performs alignment processing on the first collimator and the probe of the medical scanning device by using the preset positioning assembly, so as to ensure that the first collimator can be accurately mounted to the probe of the medical scanning device.

[0119] In the above embodiment, the loading device acquires a preset moving path, moves to the specified position of the medical scanning device according to the moving path, and performs alignment processing with the probe of the medical scanning device in a preset manner. Through the embodiment of the present disclosure, the loading device can quickly and accurately move to the specified position of the medical scanning device, and ensure that the first collimator can be accurately mounted to the probe of the medical scanning device. The process does not need manual participation, and manpower is saved.

[0120] In one embodiment, as shown in the above, Figure 7 The step that the loading device mounts the first collimator to the probe of the medical scanning device according to the collimator installation instruction can include:

[0121] At step 501, the loading device unloads the second collimator from the probe of the medical scanning device according to the collimator installation instruction.

[0122] In actual application, the second collimator can have been installed at the probe of the medical scanning device, in which case, the loading device first unloads the second collimator from the probe of the medical scanning device according to the collimator installation instruction.

[0123] At step 502, the loading device mounts the first collimator at the probe of the medical scanning device.

[0124] After unloading the second collimator, the loading device mounts the first collimator at the probe of the medical scanning device. For example, the loading device extends the mechanical arms to hang the first collimator on the probe interface, and the weight of the first collimator is transferred to the probe, the load of the mechanical arms of the loading device becomes lighter, and it is determined that the first collimator has been successfully mounted.

[0125] In the above embodiment, the loading device unloads the second collimator from the probe of the medical scanning device according to the collimator installation instruction, and mounts the first collimator at the probe of the medical scanning device. Through the embodiment of the present disclosure, the problem that the collimator has been mounted at the probe of the medical scanning device is solved, manual intervention is not required, manpower is saved, and installation efficiency is improved.

[0126] In one embodiment, as shown in FIG. 1, a collimator installation method is provided, which is applied to an installation system including a loading device and a control terminal, and can include the following steps: Figure 8

[0127] At step 601, the control terminal obtains a target scanning protocol, determines a first collimator corresponding to the target scanning protocol, and sends a collimator installation instruction according to the first collimator.

[0128] The control terminal obtains a target scanning protocol, determines a first collimator to be used according to the target scanning protocol, and then generates a collimator installation instruction according to the first collimator and sends the collimator installation instruction to the loading device.

[0129] The process of obtaining the target scanning protocol by the control terminal can include: receiving scanning parameters input by a user, and generating the target scanning protocol according to the scanning parameters. The embodiment of the present disclosure does not limit the obtaining method of the target scanning protocol.

[0130] At step 602, the loading device obtains the collimator installation instruction; loads the first collimator according to the collimator installation instruction, and moves to a specified position of the medical scanning device; and mounts the first collimator at the medical scanning device according to the collimator installation instruction.

[0131] ​The movement and installation of the loading device are not described herein again, and can be referred to the above embodiments.

[0132] In one of the embodiments, the method further includes: after using the first collimator, the control terminal determines a target reconstruction algorithm according to the first collimator, and performs image reconstruction processing according to the target reconstruction algorithm to obtain a target image.

[0133] After the medical scanning device uses the first collimator to perform scanning, the control terminal can determine a target reconstruction algorithm corresponding to the first collimator according to the performance of the first collimator, and then perform image reconstruction processing on the collected scanning data according to the target reconstruction algorithm to obtain a target image. It can be understood that the target reconstruction algorithm selected according to the first collimator can better reconstruct the image, thereby improving the imaging quality.

[0134] In the above embodiments, the control terminal obtains a target scanning protocol, determines a first collimator corresponding to the target scanning protocol, and sends a collimator installation instruction according to the first collimator; the loading device obtains the collimator installation instruction; the loading device loads the first collimator according to the collimator installation instruction, and moves to a specified position of the medical scanning device; and the loading device mounts the first collimator to the medical scanning device according to the collimator installation instruction. Through the embodiments of the present disclosure, the control terminal in the installation system can select a first collimator corresponding to a target scanning protocol, and the loading device can automatically install the first collimator. This process does not require human intervention, can save manpower, and improves installation efficiency.

[0135] It should be understood that, although Figures 2 to 8 The steps in the flowchart of the method are displayed in sequence according to the arrows, but these steps are not necessarily executed in sequence according to the arrows. Unless otherwise stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, Figures 2 to 8 At least part of the steps in the method can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times. The execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or steps or stages in other steps.

[0136] In one embodiment, as shown in Figure 9 A collimator installation device is provided, applied to a loading device, and includes:

[0137] The installation instruction acquisition module 701 is configured to acquire a collimator installation instruction.

[0138] The movement module 702 is configured to load the first collimator according to the collimator installation instruction, and move to a specified position of the medical scanning device.

[0139] The installation module 703 is configured to mount the first collimator to the medical scanning device according to the collimator installation instruction.

[0140] In one of the embodiments, the installation module 703 includes:

[0141] An alignment sub-module is configured to perform an alignment process on the first collimator and a probe of the medical scanning device by using a pre-set positioning assembly.

[0142] A mounting sub-module is configured to mount the first collimator to the probe of the medical scanning device.

[0143] In one of the embodiments, the collimator installation instruction carries a collimator identifier of the first collimator; and the moving module includes:

[0144] An identifier obtaining sub-module is configured to obtain collimator identifiers of a plurality of candidate collimators according to the collimator installation instruction.

[0145] An identifier matching sub-module is configured to match the collimator identifiers of the candidate collimators with the collimator identifier of the first collimator, and identify the first collimator according to a matching result.

[0146] A loading sub-module is configured to load the identified first collimator.

[0147] In one of the embodiments, the identifier obtaining sub-module is specifically configured to obtain the collimator identifiers of the candidate collimators by using at least one of a mechanical switch, a photoelectric switch, an electromagnetic sensor, a radio frequency tag, and a graphic code arranged on the candidate collimators.

[0148] In one of the embodiments, the moving module 702 includes:

[0149] A path obtaining sub-module is configured to obtain a pre-set moving path.

[0150] A moving sub-module is configured to move to a specified position of the medical scanning device according to the moving path.

[0151] An alignment sub-module is configured to perform an alignment process on the probe of the medical scanning device in a pre-set manner; the pre-set manner includes at least one of a laser navigation manner, a visual navigation manner, and an inertial navigation manner.

[0152] In one of the embodiments, the installation module 703 is specifically configured to unload a second collimator from the probe of the medical scanning device according to the collimator installation instruction; and mount the first collimator to the probe of the medical scanning device.

[0153] In one of the embodiments, the first collimator comprises at least one of a pinhole collimator, a parallel hole collimator, a fan beam collimator, a cone beam collimator and a slit collimator.

[0154] The specific definition of the collimator mounting device can refer to the definition of the collimator mounting method in the above, which will not be repeated here. Each module in the collimator mounting device described above can be implemented by software, hardware and a combination thereof in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each of the above modules.

[0155] In one embodiment, a collimator mounting system is provided, which comprises a loading device and a control terminal;

[0156] The control terminal is configured to obtain a target scanning protocol, determine a first collimator corresponding to the target scanning protocol, and send a collimator mounting instruction according to the first collimator;

[0157] The loading device is configured to perform the steps in the above embodiments.

[0158] In one embodiment, a loading device is provided, which comprises a mechanical arm, a memory, a processor and a vehicle body. The vehicle body is movable. The memory stores a computer program. When the processor executes the computer program, the loading device is configured to: obtain a collimator mounting instruction; according to the collimator mounting instruction, grab a first collimator by the mechanical arm and load the first collimator to the vehicle body; control the vehicle body to move to a specified position of a medical scanning device; and according to the collimator mounting instruction, mount the first collimator to the medical scanning device by the mechanical arm.

[0159] The internal structure diagram of the loading device can be as shown in Figure 10The loading device shown in the figure includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the loading device is used to provide computing and control capabilities. The memory of the loading device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the loading device is used for wired or wireless communication with external terminals. Wireless communication can be achieved through WIFI, operator network, NFC (Near Field Communication) or other technologies. The computer program is executed by the processor to implement a collimator installation method. The display screen of the loading device can be a liquid crystal display screen or an electronic ink display screen. The input device of the loading device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the housing of the loading device, or an external keyboard, touchpad or mouse, etc.

[0160] Those skilled in the art can understand that, Figure 10 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the loading device to which the scheme of the present application is applied. The specific loading device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0161] In one embodiment, a loading device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0162] Obtaining a collimator installation instruction;

[0163] Loading the first collimator according to the collimator installation instruction and moving to a specified position of the medical scanning device;

[0164] According to the collimator installation instruction, the first collimator is mounted to the medical scanning device.

[0165] In one embodiment, the processor executes the computer program to implement the following steps:

[0166] Aligning the first collimator and the probe of the medical scanning device using a pre-set positioning assembly;

[0167] Mounting the first collimator to the probe of the medical scanning device.

[0168] In one embodiment, the collimator installation instruction carries a collimator identifier of the first collimator; the processor executes the computer program to implement the following steps:

[0169] According to the collimator installation instruction, collimator identifiers of a plurality of candidate collimators are acquired;

[0170] The collimator identifier of each candidate collimator is matched with the collimator identifier of the first collimator, and the first collimator is identified according to the matching result;

[0171] The identified first collimator is loaded.

[0172] In one embodiment, when the processor executes the computer program, the loading device implements the following steps:

[0173] The collimator identifier of each candidate collimator is acquired through at least one of a mechanical switch, a photoelectric switch, an electromagnetic sensor, a radio frequency tag, and a graphic code arranged on each candidate collimator.

[0174] In one embodiment, when the processor executes the computer program, the loading device implements the following steps:

[0175] A preset moving path is acquired;

[0176] According to the moving path, the device is moved to a specified position of the medical scanning device;

[0177] The probe of the medical scanning device is aligned in a preset manner; the preset manner includes at least one of a laser navigation mode, a visual navigation mode, and an inertial navigation mode.

[0178] In one embodiment, when the processor executes the computer program, the loading device implements the following steps:

[0179] According to the collimator installation instruction, the second collimator is unloaded from the probe of the medical scanning device;

[0180] The first collimator is mounted to the probe of the medical scanning device.

[0181] In one embodiment, the first collimator includes at least one of a pinhole collimator, a parallel hole collimator, a fan beam collimator, a cone beam collimator, and a slit collimator.

[0182] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. When the computer program is executed by a processor, the loading device implements the following steps:

[0183] The collimator installation instruction is acquired;

[0184] According to the collimator installation instruction, the first collimator is loaded, and the device is moved to a specified position of the medical scanning device;

[0185] According to the collimator installation instruction, the first collimator is mounted to the medical scanning device.

[0186] In one embodiment, the computer program, when executed by the processor, causes the loading device to further implement the following steps:

[0187] aligning the first collimator and the probe of the medical scanning device by using the pre-set positioning assembly;

[0188] mounting the first collimator to the probe of the medical scanning device.

[0189] In one embodiment, the collimator installation instruction carries a collimator identifier of the first collimator; and the computer program, when executed by the processor, causes the loading device to further implement the following steps:

[0190] obtaining collimator identifiers of a plurality of candidate collimators according to the collimator installation instruction;

[0191] matching the collimator identifier of each candidate collimator with the collimator identifier of the first collimator, and identifying the first collimator according to a matching result;

[0192] loading the identified first collimator.

[0193] In one embodiment, the computer program, when executed by the processor, causes the loading device to further implement the following steps:

[0194] obtaining the collimator identifier of each candidate collimator by using at least one of a mechanical switch, a photoelectric switch, an electromagnetic sensor, a radio frequency tag and a graphic code arranged on each candidate collimator.

[0195] In one embodiment, the computer program, when executed by the processor, causes the loading device to further implement the following steps:

[0196] obtaining a pre-set movement path;

[0197] moving to a specified position of the medical scanning device according to the movement path;

[0198] aligning the first collimator and the probe of the medical scanning device by using a pre-set manner; wherein the pre-set manner comprises at least one of a laser navigation manner, a visual navigation manner and an inertial navigation manner.

[0199] In one embodiment, the computer program, when executed by the processor, causes the loading device to further implement the following steps:

[0200] unloading a second collimator from the probe of the medical scanning device according to the collimator installation instruction;

[0201] mounting the first collimator to the probe of the medical scanning device.

[0202] In one embodiment, the first collimator comprises at least one of a pinhole collimator, a parallel hole collimator, a fan beam collimator, a cone beam collimator and a slit collimator.

[0203] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0204] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0205] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A collimator installation method, characterized in that, Applied to a loading device, the method includes: The loading device obtains the collimator installation command. The loading device includes a camera, a vehicle body, and a robotic arm mounted on the vehicle body. The vehicle body includes a support platform and a drive mechanism mounted on the support platform. The loading device captures an image of the collimator platform using the camera, and detects the position of the first collimator placed on the collimator platform based on the image of the collimator platform. The driving mechanism drives the support platform to move based on the position of the first collimator, so as to change the position of the loading device relative to the collimator platform. The loading device, according to the collimator installation command, uses the robotic arm to transfer the first collimator from the collimator platform to the support platform, and moves it to the designated position of the medical scanning device according to a pre-set movement path; it then aligns the collimator with the probe of the medical scanning device using a preset method; wherein, the preset method includes at least one of laser navigation, visual navigation, and inertial navigation. According to the collimator installation instructions, the loading device uses the robotic arm to mount the first collimator onto the medical scanning device.

2. The method according to claim 1, characterized in that, The loading device, according to the collimator installation command, uses the robotic arm to mount the first collimator onto the medical scanning device, including: The loading device uses a pre-set positioning component to align the first collimator and the probe of the medical scanning device; The loading device uses the robotic arm to attach the first collimator to the probe of the medical scanning device.

3. The method according to claim 1, characterized in that, The collimator installation instruction carries the collimator identifier of the first collimator; The loading device, according to the collimator installation command, uses the robotic arm to transfer the first collimator from the collimator platform to the support platform, including: The loading device obtains the collimator identifiers of multiple candidate collimators according to the collimator installation instructions; The loading device matches the collimator identifiers of each of the candidate collimators with the collimator identifier of the first collimator, and identifies the first collimator based on the matching result; The loading device uses the robotic arm to transfer the first collimator from the collimator platform to the bearing platform.

4. The method according to claim 3, characterized in that, The loading device obtains the collimator identifiers of multiple candidate collimators according to the collimator installation instructions, including: The loading device obtains the collimator identifier of each candidate collimator by means of at least one of the mechanical switch, photoelectric switch, electromagnetic sensor, radio frequency tag and graphic code provided on each candidate collimator.

5. The method according to claim 1, characterized in that, The loading device, according to the collimator installation command, uses the robotic arm to mount the first collimator onto the medical scanning device, including: The loading device unloads the second collimator from the probe of the medical scanning device according to the collimator installation command; The loading device uses the robotic arm to attach the first collimator to the probe of the medical scanning device.

6. The method according to claim 1, characterized in that, The first collimator includes at least one of a pinhole collimator, a parallel hole collimator, a fan-shaped beam collimator, a tapered beam collimator, and a slit collimator.

7. A collimator mounting device, characterized in that, Applied to loading equipment, the device includes: The installation instruction acquisition module is used to acquire collimator installation instructions. The loading device includes a camera, a vehicle body, and a robotic arm mounted on the vehicle body. The vehicle body includes a support platform and a drive mechanism mounted on the support platform. The loading device captures an image of the collimator platform through the camera and detects the position of the first collimator placed on the collimator platform based on the image of the collimator platform. The drive mechanism drives the support platform to move based on the position of the first collimator to change the position of the loading device relative to the collimator platform. The moving module is used to transfer the first collimator from the collimator platform to the support platform via the robotic arm according to the collimator installation command, and move it to a designated position of the medical scanning device according to a preset moving path; and perform alignment processing with the probe of the medical scanning device using a preset method; wherein, the preset method includes at least one of laser navigation method, visual navigation method and inertial navigation method; The mounting module is used to mount the first collimator to the medical scanning device via the robotic arm according to the collimator mounting instructions.

8. A collimator mounting system, characterized in that, The installation system includes loading equipment and a control terminal; The control terminal is used to acquire the target scanning protocol, determine the first collimator corresponding to the target scanning protocol, and send a collimator installation command according to the first collimator; The loading device is used to perform the steps of the collimator installation method as described in any one of claims 1-6.

9. A loading device, comprising a memory, a processor, a vehicle body, and a robotic arm mounted on the vehicle body, the vehicle body being movable, the memory storing a computer program, characterized in that, The loading equipment also includes a camera, and the vehicle body includes a platform and a drive mechanism disposed on the platform; When the processor executes the computer program, the loading device performs the following: Obtain the collimator installation instructions; The camera captures an image of the collimator platform, and the position of the first collimator placed on the collimator platform is detected based on the image of the collimator platform. The drive mechanism drives the support platform to move based on the position of the first collimator to change the position of the loading device relative to the collimator platform. According to the collimator installation instruction, the robotic arm grabs the first collimator and loads the first collimator onto the vehicle body; The vehicle body is controlled to move to a designated position of the medical scanning device according to a pre-set movement path; and the vehicle body is aligned with the probe of the medical scanning device using a preset method; wherein the preset method includes at least one of laser navigation, visual navigation and inertial navigation. According to the collimator installation instructions, the first collimator is mounted onto the medical scanning device by the robotic arm.

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