Suspension dr-ct imaging system and method of controlling the same

Abstract

A suspended DR-CT imaging system and its control method are disclosed. The suspended DR-CT imaging system includes a suspended X-ray tube gantry, a detector gantry, and a controller. The controller is wirelessly connected to both the suspended X-ray tube gantry and the detector gantry. The suspended X-ray tube gantry includes an X-ray tube assembly and an X-ray tube control assembly connected to the X-ray tube assembly. The gantry control assembly controls an arc-shaped slide rail to slide and / or rotate a detector support assembly according to a first command from the controller. The X-ray tube control assembly controls the spatial movement direction and radiation angle of the X-ray tube assembly according to a second command from the controller. The detector gantry includes an arc-shaped slide rail, the gantry control assembly, and a detector support assembly fixed on the arc-shaped slide rail. The above-described suspended DR-CT imaging system and its control method can improve imaging quality and efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a suspended DR-CT imaging system and its control method. Background Technology

[0002] In X-ray imaging systems, cone-beam computed tomography (CBCT) offers numerous advantages, including multiple imaging angles, three-dimensional imaging, and high detection accuracy. Currently, there is increasing research both domestically and internationally on the application of CBCT imaging technology in fields beyond dentistry, such as heavy-duty CT imaging.

[0003] Current negative CT imaging methods include large annular structures similar to conventional CT, where the patient stands inside the annular structure and the X-ray source and detector rotate within it to scan the body. Another method involves the patient standing on a motorized turntable, where the rotation of the turntable causes the patient to rotate as well. However, scanning via patient rotation is unsuitable for patients in poor health. The method of scanning while the patient stands within the annular structure suffers from low positioning efficiency and is limited by the structure's size, preventing the installation of large-field-of-view detectors. This results in a smaller source-image distance (SID) and field of view (FOV), reducing imaging quality and efficiency. Summary of the Invention

[0004] This application provides a suspended DR-CT imaging system and its control method, which realizes multi-pose scanning by rotating the X-ray source and detector, enabling CBCT scanning imaging in a supine position, and realizing a large-format detector to increase SID and FOV, thereby improving imaging quality and efficiency.

[0005] One embodiment of this application provides a suspended DR-CT imaging system, including:

[0006] Suspension tube hanger, detector scanning frame and controller;

[0007] The controller is wirelessly connected to the suspended X-ray tube hanger and the detector scanning frame, respectively.

[0008] The detector scanning frame includes an arc-shaped slide rail, a scanning frame control assembly, and a detector support assembly fixed on the arc-shaped slide rail. The scanning frame control assembly is used to control the arc-shaped slide rail to drive the detector support assembly to slide and / or rotate according to a first instruction from the controller.

[0009] The suspended X-ray tube hanger includes an X-ray tube assembly and an X-ray tube control assembly connected to the X-ray tube assembly. The X-ray tube control assembly is used to control the spatial movement direction and radiation angle of the X-ray tube assembly according to a second instruction from the controller.

[0010] This application also provides a control method for a suspended DR-CT imaging system, including:

[0011] According to the first instruction from the controller, the detector scanning frame is controlled to move to the starting position corresponding to the shooting posture;

[0012] According to the second instruction of the controller, the X-ray tube assembly in the suspended X-ray tube hanger is controlled to align the imaging focus with the detector support assembly of the detector scanning frame;

[0013] The X-ray tube assembly is controlled to emit X-rays for imaging. The suspended X-ray tube hanger and the detector scanning frame are controlled to move relative to each other around the axis on a preset imaging trajectory. The radiation angle of the X-ray tube assembly of the suspended X-ray tube hanger is adjusted so that the X-ray tube assembly and the detector support assembly are in focal alignment.

[0014] As can be seen from the above embodiments of this application, in the embodiments, the suspended DR-CT imaging system includes a suspended X-ray tube hanger, a detector scanning frame, and a controller. The detector scanning frame includes an arc-shaped slide rail, a scanning frame control component, and a detector support component fixed on the arc-shaped slide rail. The scanning frame control component controls the arc-shaped slide rail to drive the detector support component to slide and / or rotate according to a first instruction from the controller. The suspended X-ray tube hanger includes an X-ray tube assembly and an X-ray tube control component connected to the X-ray tube assembly. The X-ray tube control component controls the spatial movement direction and radiation angle of the X-ray tube assembly according to a second instruction from the controller, realizing multi-axis linkage of the detector scanning frame. This device enables multi-axis, multi-position imaging, accommodating situations where the patient's movement is limited or different angles are used within the same position. It is simple and efficient, allowing for multiple imaging postures by adjusting the position of the detector support assembly. Simultaneously, the spatial movement direction and radiation angle of the X-ray tube assembly can be adjusted. Combined with multi-axis linkage with the detector scanning frame, the radiation surface of the X-ray tube assembly aligns with the receiving surface of the detector, enabling CBCT scanning imaging along a preset trajectory between the X-ray tube and the detector. It can perform CBCT scanning imaging of the patient's entire body in both weight-bearing and supine positions. It features a large SID and FOV, is easy to use, and has high scanning efficiency, improving both imaging quality and efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0016] Figure 1 This is a schematic diagram of the structural relationship of a suspended DR-CT imaging system provided in one embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the structure of a suspended DR-CT imaging system provided in one embodiment of this application;

[0018] Figure 3 This is a schematic diagram showing the structural location of the gantry electrical control component in the suspended DR-CT imaging system provided in this application embodiment;

[0019] Figure 4 This is a schematic diagram of the controller in a suspended DR-CT imaging system provided in one embodiment of this application;

[0020] Figure 5 This is a schematic diagram of the structure of a suspended DR-CT imaging system provided in another embodiment of this application;

[0021] Figure 6 A schematic diagram of the X-ray tube emitting X-rays and the detector imaging focus position in a suspended DR-CT imaging system provided in another embodiment of this application;

[0022] Figure 7 A schematic diagram of the positional structure of a suspended DR-CT imaging system during user-borne scanning, provided in another embodiment of this application;

[0023] Figures 8(a)-(c) are schematic diagrams of the arc-shaped slide rail in three different positions when the suspended DR-CT imaging system provided in another embodiment of this application performs a user-bearing position scan;

[0024] Figure 9 A schematic diagram of the positional structure of a suspended DR-CT imaging system during a user supine position scan, provided in another embodiment of this application;

[0025] Figures 10(a)-(c) are schematic diagrams of the arc-shaped slide rail in three different positions when the suspended DR-CT imaging system provided in another embodiment of this application performs a user supine scan;

[0026] Figure 11 This is a schematic diagram showing the structural location of the electronic control components of the detector gantry in the suspended DR-CT imaging system provided in this application embodiment;

[0027] Figure 12 This is a schematic diagram illustrating the implementation flow of the control method for the suspended DR-CT imaging system provided in an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] See Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structural relationship of a suspended DR-CT imaging system provided in one embodiment of this application. Figure 2 This is a schematic diagram of a suspended DR-CT imaging system provided according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. The suspended DR-CT imaging system may include:

[0030] Suspension tube hanger 10, detector scanning frame 20 and controller 30;

[0031] The controller 30 is wirelessly connected to the suspended tube hanger 10 and the detector scanning frame 20, respectively, and the connection method can be Bluetooth or WIFI, etc.

[0032] The suspended X-ray tube hanger 10 and the detector scanning frame 20 are installed separately, which facilitates the user's entry, exit and positioning during shooting.

[0033] The detector scanning frame 20 includes an arc-shaped slide rail 21, a scanning frame control component 22, and a detector support component 23 fixed on the arc-shaped slide rail 21. The scanning frame control component 22 is used to control the arc-shaped slide rail 21 to drive the detector support component 23 to slide and / or rotate according to the first instruction of the controller 30.

[0034] The first instruction is used to control the scanning frame control component 22 to slide and / or rotate the arc-shaped slide rail 21 to a specified position according to the user's instructions, so as to complete the shooting of the user's indicated standing, weight-bearing or lying position or other postures.

[0035] The direction of spatial motion refers to the direction of motion along the X-axis, Y-axis, or Z-axis.

[0036] The radiation angle refers to the angle at which the X-ray tube assembly 11 emits X-rays, which is determined by the angle of the X-ray tube assembly 11 itself.

[0037] The X-ray tube assembly 11 includes a X-ray tube and a mounting component, the X-ray tube being mounted on the suspended X-ray tube hanger 10 via the mounting component.

[0038] The suspended X-ray tube hanger 10 includes an X-ray tube assembly 11 and an X-ray tube control assembly 12 connected to the X-ray tube assembly 11. The X-ray tube control assembly 12 is used to control the spatial movement direction and radiation angle of the X-ray tube assembly 12 according to the second command of the controller 30.

[0039] The second instruction is used to control the spatial movement direction and radiation angle of the X-ray tube control assembly 12 according to the user's instructions, so as to cooperate with the detector scanning frame 20 to complete the shooting of the user's indicated standing position, weight-bearing position or lying position.

[0040] In this embodiment, the suspended DR-CT imaging system includes a suspended X-ray tube gantry, a detector gantry, and a controller. The detector gantry includes an arc-shaped slide rail, a gantry control component, and a detector support component fixed on the arc-shaped slide rail. The gantry control component controls the arc-shaped slide rail to slide and / or rotate the detector support component according to a first command from the controller. The suspended X-ray tube gantry includes an X-ray tube assembly and an X-ray tube control component connected to the X-ray tube assembly. The X-ray tube control component controls the spatial movement direction and radiation angle of the X-ray tube assembly according to a second command from the controller, realizing multi-axis linkage of the detector gantry and achieving multi-axis... Multi-axis positioning is simple and efficient for patients with limited mobility or those requiring different angles within the same body position. By adjusting the position of the detector support assembly, it can accommodate multiple patient postures. Simultaneously, the spatial movement direction and radiation angle of the X-ray tube assembly can be adjusted. Combined with multi-axis linkage of the detector scanning gantry, the radiation surface of the X-ray tube assembly aligns with the receiving surface of the detector, enabling CBCT scanning imaging along a preset trajectory. It can perform CBCT scanning imaging of the patient's entire body in both weight-bearing and supine positions. It features a large SID and FOV, is easy to use, and has high scanning efficiency, improving both imaging quality and efficiency.

[0041] Furthermore, the X-ray tube control assembly 12 includes a ceiling track assembly 13, a trolley hoist assembly 14, and a hanger electrical control assembly (not shown in the figure);

[0042] The ceiling track assembly 13 is installed on the ceiling and includes an X-axis track 131 and a Y-axis track 132. The X-tube assembly 11 is slidably driven connected to the X-axis track 131 and the Y-axis track 132.

[0043] The upper end of the trolley hoisting cylinder assembly 14 is connected to the ceiling rail assembly 13, and the lower end is connected to the ball tube assembly 11. The trolley hoisting cylinder assembly 14 has a telescopic structure in the Z-axis direction.

[0044] The hanger electrical control assembly is used to obtain the real-time position of the ceiling rail assembly 13, the trolley hoist assembly 14 and the X-ray tube assembly 11, and drive the ceiling rail assembly 13 and the trolley hoist assembly 14 to move the X-ray tube assembly 11 according to the second command and the real-time position.

[0045] Further, see Figure 3 , Figure 3 This is a schematic diagram of the electrical control assembly for the hanger, which includes a motor module, a position sensor module, and an electrical control signal processing module.

[0046] The motor module includes a ceiling track motor, a trolley hoist motor, and a PV tube assembly motor.

[0047] The overhead track motor includes an X-axis motor 41 and a Y-axis motor 42. The X-axis motor 41 is mounted on the top of the trolley hoist assembly 14 and is used to drive the trolley hoist assembly 14 to move along the X-axis track 131 of the overhead track assembly 13. The Y-axis motor 42 is mounted at the end of the X-axis track 131 of the overhead track assembly 13 and is used to drive the X-axis track 131 and the trolley hoist assembly 14 to move along the Y-axis track 132.

[0048] The trolley hoist motor 43 is installed in the trolley hoist assembly 14 and is used to drive the trolley hoist assembly 14 to move up and down along the Z-axis.

[0049] The X-ray tube assembly motor includes a horizontal rotary motor 44 and a vertical rotary motor 45 installed in the X-ray tube assembly 11. The horizontal rotary motor 45 is connected to the X-ray tube rotation drive in the X-ray tube assembly 11 and is used to adjust the horizontal radiation angle of the X-ray tube. The vertical rotary motor 45 is connected to the X-ray tube rotation drive and is used to adjust the vertical radiation angle of the X-ray tube.

[0050] The position sensor module includes: an X-axis position sensor 51, a Y-axis position sensor 52, a Z-axis position sensor 53, a horizontal position sensor 54, and a vertical position sensor 55;

[0051] The X-axis position sensor 51 is installed on the top of the trolley hoist assembly 14 and is used to collect the real-time position of the trolley hoist assembly 14 in the X-axis direction.

[0052] Y-axis position sensor 52 is installed at the end of X-axis track 131 of ceiling rail assembly 13 to collect the real-time position of X-axis track 131 and trolley suspension assembly 14 in the Y-axis direction.

[0053] Z-axis position sensor 53 is installed in trolley hoist assembly 14 to collect the real-time position of trolley hoist assembly 14 in the X-axis direction;

[0054] The horizontal position sensor 54 and the vertical position sensor 55 are installed in the X-ray tube assembly 11 and are used to collect the horizontal radiation angle and vertical radiation angle of the X-ray tube, respectively.

[0055] The aforementioned position sensors can be either fixed position sensors or real-time position sensors. Fixed position sensors can be implemented as limit switches or photoelectric switches, enabling fixed position detection and facilitating system self-calibration and position sensing compensation. Real-time position sensors can be implemented as potentiometers or encoders, enabling real-time position sensing. The combination of fixed and real-time position sensors achieves system self-calibration, position sensing compensation, and real-time position detection. Figure 3 The position sensor in this example uses a limit switch as a fixed position sensor and a potentiometer as a real-time position sensor.

[0056] The electronic control signal processing module includes a rack attitude information acquisition module 61, a calibration module 62, and a user information processing module 63. Specifically, the electronic control signal processing module can be an MCU.

[0057] The rack attitude information acquisition module 61 is used to obtain the real-time position and attitude information of each component of the suspended ball tube hanger through the position sensor module;

[0058] The calibration module 62 is used to calibrate the position sensor and the motor module, and also to self-calibrate the electronic control signal processing module;

[0059] The user information processing module 63 is used to obtain the second instruction from the controller and control the motor module to drive the components of the suspended ball tube hanger to move according to the second instruction. The second instruction is generated according to the user's operation and drives the components of the suspended ball tube hanger to move to realize the user's operation.

[0060] Further, see Figure 4 The controller 30 includes a display module 31, a button module 32, and a communication module 33. The display module 31 displays the status information of the suspended X-ray tube hanger, the button module 32 scans and executes user input, and the communication module 33 connects the suspended X-ray tube hanger and the detector scanning frame, realizing the overall communication interaction of the suspended DR-CT imaging system through communication interaction with the suspended X-ray tube hanger and the detector scanning frame respectively.

[0061] Further, see Figure 2 , Figure 5 , Figure 6 , Figure 7 Figures 8(a)-(c) Figure 9 As shown in Figures 10(a)-(c), the scanning carriage control assembly 22 includes:

[0062] Slide rail sliding assembly 24, slide rail rotating assembly 25 and electronic control assembly ( Figure 2 (not shown in the image);

[0063] The detector support assembly 23 is fixedly installed on the arc-shaped slide rail 21. The arc-shaped slide rail 21 is slidably driven connected to the slide rail sliding assembly 24, and the slide rail sliding assembly 24 is rotatably driven connected to the slide rail rotating assembly 25.

[0064] The electronic control component is used to drive the arc-shaped slide rail 21 to slide along the limiting direction of the slide rail sliding component 24, and / or rotate along the limiting direction of the slide rail rotating component 25, according to the first instruction of the controller 30.

[0065] The slide rail sliding assembly 24 limits the arc-shaped slide rail 21 to slide in the horizontal direction, and the slide rail rotating assembly 25 limits the arc-shaped slide rail 21 to rotate in the horizontal and / or vertical directions.

[0066] The arc-shaped slide rail 21, the detector support assembly 23, the slide rail sliding assembly 24, the slide rail rotating assembly 25, and the electrical control assembly constitute a linkage unit. The electrical control assembly controls the movement of the slide rail sliding assembly 24, which in turn drives the arc-shaped slide rail 21 and the detector support assembly 23 to move together. It also controls the movement of the slide rail rotating assembly 25, which in turn drives the slide rail sliding assembly 24, the arc-shaped slide rail 21, and the detector support assembly 23 to move together, as well as the slide rail sliding assembly 24 and the slide rail rotating assembly 25.

[0067] Furthermore, the detector scanning frame includes: a vertical support 26;

[0068] The vertical support 26 has a height adjustment structure that changes the height of the arc-shaped slide rail 21, which allows the arc-shaped slide rail 21 to move along the height direction of the vertical support 26.

[0069] The vertical support 26 may also include a base 261, a column translation assembly 262, and a column assembly 263;

[0070] The column assembly 263 is slidably driven to the base 261 via the column translation assembly 262.

[0071] Height adjustment structures include sliding structures or telescopic structures.

[0072] Sliding structure such as Figure 2 As shown, the sliding structure includes: an upper and lower slider structure 27;

[0073] One end of the slide rail rotation assembly 25 is fixedly connected to the upper and lower slider structure 27, and the upper and lower slider structure 27 is slidably driven connected to the column assembly 2 of the vertical support part 26.

[0074] Telescopic structures such as Figure 5 As shown. The telescopic structure includes multiple nested, telescopically driven arms 264.

[0075] The detector support assembly 24 is fixedly installed at the center of the inner side of the arc-shaped slide rail 21. The arc-shaped slide rail 21 has an opening at the position opposite to the detector support assembly 24. The size of the opening can be adapted to the size of detectors of different sizes.

[0076] The arc-shaped slide rail 21 is connected to the upper and lower slider structure 27 via the slide rail sliding assembly 24 and the slide rail sliding assembly 25.

[0077] Under the control of the electronic control components, the upper and lower slider structure 27 can slide up and down along the column assembly 263, driving the detector support assembly 24 and the detector to rise and fall along the column assembly 263.

[0078] The curved slide rail 21, through the slide rail sliding component 24, drives the detector support component 24 and the detector to move and adjust their position around the vertical axis along the curved slide rail 21, which facilitates the user's photography operation in standing and load-bearing positions.

[0079] The curved slide rail 21 moves along the sliding direction of the slide rail sliding component 23 by flipping the slide rail sliding component 25 downwards or upwards. At the same time, it can drive the detector support component 24 and the detector to adjust their positions, which is convenient for users to perform oblique or special position photography operations.

[0080] When the arc-shaped slide rail 21 is rotated 90 degrees upward through the slide rail sliding component 25, the arc-shaped slide rail 21 is perpendicular to the horizontal plane. At this time, the arc-shaped slide rail 21 moves along the slide rail sliding component 23 to realize the adjustment of the position of the detector support component 24 and the detector around the horizontal axis, which is convenient for users to take pictures when they are lying down, in bed or other positions with limited limbs.

[0081] See Figure 11 The electronic control component includes a motor module, a position sensing module, and an electronic control button module.

[0082] The motor module includes: slider up and down motor module 71, slide rail sliding motor module 72, slide rail horizontal rotation motor module 73, slide rail vertical rotation motor module 74, and column translation motor module 75.

[0083] All of the above modules include motors and motor accessories. The slider up and down motor module 71 is installed in the slider up and down structure 27, the slide rail sliding motor module 72 is installed in the slide rail sliding assembly 24, the slide rail horizontal rotation motor module 73 and the slide rail vertical rotation motor module 74 are both installed in the slide rail sliding assembly 25, and the column translation motor module 75 is installed in the column translation assembly 12.

[0084] The slider up and down motor module 71 is used to drive the up and down slider structure 27 to slide up and down along the column assembly 263, so as to realize the detector's lifting and lowering movement along the column assembly 263;

[0085] The slide rail sliding motor module 72 is used to drive the arc-shaped slide rail 21 to slide relative to the slide rail sliding component 24, thereby realizing the sliding motion of the slide rail;

[0086] The slide rail horizontal rotation motor module 73 is used to drive the arc-shaped slide rail 21 to rotate clockwise or counterclockwise relative to the slide rail rotation assembly 25 in the horizontal direction, thereby realizing the flipping motion of the arc-shaped slide rail 21, the detector support assembly 24, and the detector. Figure 9 The figure shows a 90° counterclockwise rotation in the horizontal direction.

[0087] The slide rail vertical rotation motor module 74 is used to drive the arc slide rail 21 to rotate vertically upward or downward relative to the slide rail rotation component 25, thereby realizing the pitch of the arc slide rail 21, the detector support component 24, and the detector.

[0088] The slide rail horizontal rotation motor module 73 and the slide rail vertical rotation motor module 74 can be driven independently. The rotation of the arc-shaped slide rail 21 relative to the slide rail rotation component 25 can be either horizontal rotation followed by vertical flipping, or vertical flipping followed by horizontal rotation.

[0089] The column translation motor module 75 is used to drive the column translation component 12 to drive the column component 263 to slide along the base 11, thereby realizing the translation movement of the column. The column translation drives the detector translation, which is convenient for common positions when installing on the left and right sides. Secondly, the translation component is similar to the up and down slider, which controls the detector to take multiple pictures continuously to realize full-body stitching.

[0090] The position sensing module includes: slider up / down sensor 81, slide rail sliding sensor 82, slide rail horizontal sensor 83, slide rail vertical sensor 84, and column translation sensor 85; which respectively realize the accurate acquisition of detector position, horizontal angle, vertical angle, and slide rail translation position.

[0091] Figure 11 In the examples above, each sensor uses two limit switches and one potentiometer.

[0092] Among them, the slider up and down sensor 81 is installed in the slider up and down structure 27, the slide rail sliding sensor 82 is installed in the slide rail sliding assembly 24, the slide rail horizontal sensor 83 and the slide rail vertical sensor 84 are both installed in the slide rail sliding assembly 25, and the column translation sensor 85 is installed in the column translation assembly 262.

[0093] The slider up / down sensor 81 is used to collect position data of the slider structure 27.

[0094] The slide rail sliding sensor 82 is used to collect the position data of the slide rail sliding assembly 24;

[0095] Both the horizontal sensor 83 and the vertical sensor 84 are used to collect position data of the sliding component 25 of the slide rail;

[0096] The column translation sensor 85 is used to collect the position data of the column translation component 262.

[0097] The electronically controlled button module includes a button assembly 91, an electronically controlled signal processing section 92, and a control interface section 93. The button assembly 91 is used to scan user operations. The electronically controlled signal processing section 92 integrates the position sensing signals from the corresponding position sensors and the user operation signals, performs control algorithm processing, and outputs the processing results to the control interface section 93. The control interface section 93 then controls the entire system of the historical circular camera stand.

[0098] See Figure 12 This application also provides a control method for a suspended DR-CT imaging system, which can be applied to the suspended DR-CT imaging system in the above embodiments. The method includes the following steps:

[0099] S601. According to the first instruction of the controller, control the detector scanning frame to move to the starting position corresponding to the shooting posture;

[0100] The position sensor module collects position data of each component of the detector scanning frame. The controller collects position data of each component of the detector scanning frame through the position sensor module, aligns each component, and adjusts the initial attitude of the detector scanning frame to the starting position corresponding to the shooting attitude.

[0101] During supine scanning, the slide rail rotation assembly flips, causing the detector to flip as well, with the detector's receiving surface perpendicular to the column assembly.

[0102] S602. According to the second instruction of the controller, control the X-ray tube assembly in the suspended X-ray tube hanger to align the imaging focus with the detector support assembly of the detector scanning frame;

[0103] S603, Control the X-ray tube assembly to emit X-rays for imaging, and maintain the focal alignment of the X-ray tube assembly with the detector support assembly.

[0104] The suspended X-ray tube mount and the detector scanning mount are controlled to move relative to each other around the axis on the circumference of the preset shooting trajectory, and the radiation angle of the X-ray tube assembly of the suspended X-ray tube mount is adjusted so that the X-ray tube assembly and the detector support assembly remain in focus during the shooting process.

[0105] Specifically, when the shooting posture is in a loaded position, the X-axis and Y-axis tracks of the control sky track assembly are interpolated and fitted according to the preset shooting trajectory, so that the position of the trolley cylinder assembly of the suspended X-ray tube hanger is always on the circumference, and the suspension X-ray tube hanger and the detector scanning frame are controlled to move relative to each other around the axis on the circumference, and the horizontal radiation angle of the X-ray tube assembly of the suspension X-ray tube hanger is adjusted so that the X-ray tube assembly and the detector support assembly are kept in focus alignment;

[0106] The preset shooting trajectory is obtained in advance based on the structure and parameters of the suspended DR-CT imaging system.

[0107] Alternatively, when the shooting posture is supine, the X-axis and Y-axis tracks of the control ceiling track assembly are interpolated and fitted according to the preset shooting trajectory, so that the position of the trolley cylinder assembly of the suspended X-ray tube hanger is always on the circumference, and the suspended X-ray tube hanger and the detector scanning frame are controlled to move relative to each other around the axis on the circumference, adjusting the vertical radiation angle of the X-ray tube assembly of the suspended X-ray tube hanger so that the X-ray tube assembly and the detector support assembly are in focal alignment.

[0108] For specific details of the embodiments in this application, please refer to the description of the foregoing embodiments.

[0109] In this embodiment, according to the first instruction of the controller, the detector scanning frame is controlled to move to the starting position corresponding to the shooting posture. According to the second instruction of the controller, the X-ray tube assembly in the suspended X-ray tube hanger is controlled to align with the detector support assembly of the detector scanning frame for shooting focus. The X-ray tube assembly is controlled to emit X-rays for shooting. The suspended X-ray tube hanger and the detector scanning frame are controlled to move relative to each other around the axis on the circumference of the preset shooting trajectory. The radiation angle of the X-ray tube assembly of the suspended X-ray tube hanger is adjusted so that the X-ray tube assembly and the detector support assembly are kept in focus alignment. This system enables multi-axis linkage of the detector scanning gantry, allowing for multi-axis, multi-position imaging in situations where the patient's movement is inconvenient or at different angles within the same position. It is simple and efficient, and the position of the detector support component can be adjusted to accommodate multiple user postures. Simultaneously, the spatial movement direction and radiation angle of the X-ray tube assembly can be adjusted. Combined with the multi-axis linkage of the detector scanning gantry, the radiation surface of the X-ray tube assembly is aligned with the receiving surface of the detector, enabling CBCT scanning imaging along a preset trajectory between the X-ray tube and the detector. It can achieve CBCT scanning imaging of the patient's entire body in both weight-bearing and supine positions, featuring a large SID and FOV. It is easy to use, highly efficient, and improves both imaging quality and efficiency.

[0110] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0111] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0112] The above is a description of the suspended DR-CT imaging system and its control method provided by the present invention. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A suspended DR-CT imaging system, characterized in that, include: Suspension tube hanger, detector scanning frame and controller; The controller is wirelessly connected to the suspended X-ray tube hanger and the detector scanning frame, respectively. The detector scanning frame includes a vertical support, an arc-shaped slide rail, a scanning frame control assembly, and a detector support assembly fixed on the arc-shaped slide rail. The scanning frame control assembly is mounted on the vertical support and includes a slide rail sliding assembly, a slide rail rotating assembly, and an electronic control assembly. The arc-shaped slide rail is slidably driven connected to the slide rail sliding assembly, and the slide rail sliding assembly is rotatably driven connected to the slide rail rotating assembly. The vertical support has a height adjustment structure, which is driven connected to the scanning frame control assembly to adjust the vertical height of the arc-shaped slide rail. The electronic control assembly drives the arc-shaped slide rail to slide along the limiting direction of the slide rail sliding assembly and / or rotate along the limiting direction of the slide rail rotating assembly according to a first command from the controller. When the arc-shaped slide rail is rotated 90 degrees upwards via the slide rail rotating assembly, the arc-shaped slide rail is perpendicular to the horizontal plane, thereby enabling the position adjustment of the detector support assembly around the horizontal axis, facilitating supine radiography operations for the user. The suspended X-ray tube hanger includes an X-ray tube assembly and an X-ray tube control assembly connected to the X-ray tube assembly. The X-ray tube control assembly includes a hanger electrical control assembly. The hanger electrical control assembly includes a position sensor module and a calibration module. The position sensor module is used to acquire the real-time spatial position and real-time radiation angle of the X-ray tube assembly, and the calibration module is used to calibrate the position sensor module. The X-ray tube control assembly is used to control the spatial movement direction and radiation angle of the X-ray tube assembly according to a second command from the controller and the real-time position and real-time radiation angle acquired by the position sensor module.

2. The suspended DR-CT imaging system according to claim 1, characterized in that, The X-ray tube control assembly also includes a ceiling track assembly and a trolley hoist assembly; The ceiling track assembly is installed on the ceiling and includes an X-axis track and a Y-axis track. The X-ray tube assembly is slidably driven connected to the X-axis track and the Y-axis track. The upper end of the trolley hoisting cylinder assembly is connected to the ceiling rail assembly, and the lower end is connected to the ball tube assembly. The trolley hoisting cylinder assembly has a telescopic structure in the Z-axis direction. The hanger electrical control component is used to acquire the real-time positions of the ceiling track assembly, the trolley hoist assembly, and the X-ray tube assembly, and drive the ceiling track assembly and the trolley hoist assembly to move the X-ray tube assembly according to the second command and the real-time positions.

3. The suspended DR-CT imaging system according to claim 2, characterized in that, The electrical control assembly of the hanger includes a motor module; The motor module includes a ceiling track motor, a trolley hoist motor, and a tube assembly motor; The overhead track motor includes an X-axis motor and a Y-axis motor. The X-axis motor is installed on the top of the trolley hoisting cylinder assembly and is used to drive the trolley hoisting cylinder assembly to move along the X-axis track of the overhead track assembly. The Y-axis motor is installed at the end of the X-axis track of the overhead track assembly and is used to drive the X-axis track and the trolley hoisting cylinder assembly to move along the Y-axis track. The trolley hoisting cylinder motor is installed in the trolley hoisting cylinder assembly and is used to drive the trolley hoisting cylinder assembly to move up and down along the Z-axis; The X-ray tube assembly motor includes a horizontal rotary motor and a vertical rotary motor installed in the X-ray tube assembly. The horizontal rotary motor is connected to the X-ray tube rotation drive of the X-ray tube assembly and is used to adjust the horizontal radiation angle of the X-ray tube. The vertical rotary motor is connected to the X-ray tube rotation drive and is used to adjust the vertical radiation angle of the X-ray tube.

4. The suspended DR-CT imaging system according to claim 3, characterized in that, The position sensor module includes: an X-axis position sensor, a Y-axis position sensor, a Z-axis position sensor, a horizontal position sensor, and a vertical position sensor; The X-axis position sensor is located on the top of the trolley hoist assembly and is used to collect the real-time position of the trolley hoist assembly in the X-axis direction. The Y-axis position sensor is installed at the end of the X-axis track of the ceiling rail assembly and is used to collect the real-time position of the X-axis track and the trolley suspension assembly in the Y-axis direction. The Z-axis position sensor is installed in the trolley hoisting cylinder assembly to collect the real-time position of the trolley hoisting cylinder assembly in the X-axis direction; The horizontal position sensor and the vertical position sensor are installed in the X-ray tube assembly and are used to collect the horizontal radiation angle and the vertical radiation angle of the X-ray tube, respectively.

5. The suspended DR-CT imaging system according to claim 4, characterized in that, The hanger electronic control assembly also includes: a frame attitude information acquisition module and a user information processing module; The frame attitude information acquisition module is used to obtain the real-time position and attitude information of each component of the suspended ball tube hanger through the position sensor module; The calibration module is also used to calibrate the motor module; The user information processing module is used to obtain the second instruction from the controller and control the motor module to drive the components of the suspended ball tube hanger to move according to the first instruction.

6. The suspended DR-CT imaging system according to claim 1, characterized in that, The detector support assembly is fixedly installed at the center of the inner side of the arc-shaped slide rail, and the arc-shaped slide rail has an opening at the position opposite to the detector support assembly.

7. A control method for a suspended DR-CT imaging system as described in any one of claims 1-6, characterized in that, include: According to the first instruction from the controller, the detector scanning frame is controlled to move to the starting position corresponding to the shooting posture; According to the second instruction of the controller, the X-ray tube assembly in the suspended X-ray tube hanger is controlled to align the imaging focus with the detector support assembly of the detector scanning frame; The X-ray tube assembly is controlled to emit X-rays for imaging. The suspended X-ray tube hanger and the detector scanning frame are controlled to move relative to each other around the axis on a preset imaging trajectory. The radiation angle of the X-ray tube assembly of the suspended X-ray tube hanger is adjusted so that the X-ray tube assembly and the detector support assembly are in focal alignment.

8. The method according to claim 7, characterized in that, The control of the suspended X-ray tube mount and the detector scanning frame to move relative to each other around an axis on a circle of a preset imaging trajectory, and the adjustment of the radiation angle of the X-ray tube assembly of the suspended X-ray tube mount to keep the X-ray tube assembly and the detector support assembly in focal alignment, includes: When the shooting posture is in the loaded position, the X-axis and Y-axis tracks of the control sky track assembly are interpolated and fitted according to the preset shooting trajectory, so that the position of the trolley cylinder assembly of the suspended X-ray tube hanger is always on the circumference, and the control of the suspended X-ray tube hanger and the detector scanning frame to move relative to each other around the axis on the circumference, and adjusting the horizontal radiation angle of the X-ray tube assembly of the suspended X-ray tube hanger so that the X-ray tube assembly and the detector support assembly are in focal alignment; Alternatively, when the shooting posture is supine, the X-axis and Y-axis tracks of the ceiling track assembly are controlled to perform interpolation and fitting trajectory movements according to a preset shooting trajectory, thereby driving the position of the trolley cylinder assembly of the suspended X-ray tube hanger to always be on the circumference, and controlling the suspended X-ray tube hanger and the detector scanning frame to move relative to each other around the axis on the circumference, adjusting the vertical radiation angle of the X-ray tube assembly of the suspended X-ray tube hanger so that the X-ray tube assembly and the detector support assembly are kept in focal alignment.

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