Static CT scanning bed, motion control method and static CT system

Abstract

The invention discloses a static CT scanning bed, a motion control method and a static CT system. The static CT scanning bed comprises a base, an X-shaped supporting arm, a bed frame, a bed plate, a first driving part, a second driving part and a third driving part. Wherein the X-shaped support arm is arranged on the base, the bedstead is erected on the X-shaped support arm so as to adjust the height along with the movement of the X-shaped support arm, and the bed board is arranged on the bedstead; the first driving part is mounted on the bed frame and connected with the X-shaped supporting arm so as to drive the bed frame to reciprocate in the length direction of the base; the second driving part is mounted on the bed frame and connected with the bed plate to drive the bed plate to reciprocate in the length direction of the base; the third driving part is installed on one side of the X-shaped supporting arm so as to drive the X-shaped supporting arm to move in a reciprocating mode, and therefore the height of the X-shaped supporting arm is adjusted. Therefore, the X-shaped support arm, the bed frame and the bed plate are respectively driven to move through the three driving parts, the extension amount of the bed plate is reduced, the cantilever amount of the bed plate is further reduced, and the CT imaging quality is improved.

Description

Technical Field

[0001] The invention relates to a static CT scanning bed, also relates to a motion control method of the static CT scanning bed, and also relates to a static CT system comprising the static CT scanning bed, belonging to the technical field of medical devices. Background Art

[0002] When performing a CT scan on a patient, the height of the scanning bed needs to accommodate patients of different heights and ages. The height needs to be lowered for elderly people or children who cannot move properly, and the height needs to be raised to different positions when scanning different parts of the body.

[0003] At present, although the CT scanning bed that is lifted and lowered by an X-shaped lifting mechanism can achieve vertical lifting, the following problems still exist: 1. When the bed is lowered outside the scanning area, it is still lifted and lowered vertically and cannot be moved backwards, which easily causes interference between the patient and the frame. At the same time, the maintenance space is relatively small; 2. In order to increase the maintenance space and avoid interference between the lowered bed and the frame, the bed position is artificially moved backward as a whole, but this will shorten the scannable length, increase the overhang, increase the deformation, and affect the scanning and image quality.

[0004] Although the CT scanning bed that is raised and lowered by a parallelogram mechanism can move the bed frame backward when lowering the bed, it has the following problems: 1. When positioning the patient, it cannot be raised or lowered vertically, and the height adjustment affects the patient's horizontal position, making positioning difficult and time-consuming; 2. When the bed is raised or lowered to different heights and scanning different body positions, the patient's horizontal position changes and needs to be repositioned, which is cumbersome to control, time-consuming and affects the scan.

[0005] A Chinese patent application with publication number CN110403625A discloses a vertical lifting scanning bed that can increase the scanning range and maintenance space, including a base, an X-shaped support arm and a bed frame. A bed lowering limit, a scanning limit and a mounting seat are fixed on the bed frame from back to front in sequence, and a slider 2 is located between the bed lowering limit and the scanning limit, a slider 3 is located between the scanning limit and the mounting seat, and a spring is connected between the slider 3 and the mounting seat; thus, compared with the existing CT scanning bed, the bed can be vertically lifted and lowered within the scanning area to facilitate patient positioning. Outside the scanning area, the bed frame automatically moves backward when the bed is lowered to increase the maintenance space and avoid interference.

[0006] However, the scanning bed adjustment method in the above technical solution is relatively fixed, and the cantilever amount of the bed board cannot be adjusted according to different CT scanning scenes, and the overall applicability is poor. Summary of the invention

[0007] The primary technical problem to be solved by the present invention is to provide a static CT scanning bed.

[0008] Another technical problem to be solved by the present invention is to provide a motion control method for a static CT scanning bed.

[0009] Another technical problem to be solved by the present invention is to provide a static CT system including the static CT scanning bed.

[0010] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0011] According to a first aspect of an embodiment of the present invention, a static CT scanning bed is provided, comprising:

[0012] A base having a first slide rail disposed along the length direction;

[0013] An X-shaped support arm, wherein the first end of the lower portion is hinged to the base, and the second end is hinged to a first slider, and the first slider is slidably connected to the first slide rail;

[0014] A bed frame is mounted on the upper part of the X-shaped support arm for mounting a bed board; a hollow portion is formed in the middle of the bed frame, and the inner wall of the hollow portion is slidably connected to the two ends of the upper part of the X-shaped support arm respectively;

[0015] A first driving unit, disposed on the bed frame and connected to the X-shaped support arm, for driving the bed frame to reciprocate relative to the base along the length direction of the base;

[0016] A second driving unit, disposed on the bed frame and connected to the bed board, for driving the bed board to reciprocate relative to the bed frame along the length direction of the base;

[0017] The third driving part is arranged on one side of the X-shaped support arm to provide driving force in the vertical direction and drive the first sliding block to reciprocate along the first sliding rail, thereby driving the bed frame to rise or fall in the vertical direction.

[0018] Preferably, the first driving unit comprises:

[0019] A first motor is fixed in the hollow portion of the bed frame through a first motor mounting plate;

[0020] A nut fixing seat, fixed to the first end of the upper portion of the X-shaped support arm, wherein the first end of the upper portion of the X-shaped support arm is located directly above the first end of the lower portion of the X-shaped support arm;

[0021] A first nut, fixed on the nut fixing seat;

[0022] A first screw rod is inserted into the first screw nut and matched with the first screw nut thread, and a first end of the first screw rod is connected to a power output end of the first motor; an axis of the first screw rod is parallel to a length direction of the base, and a length of the first screw rod is less than a length of the hollow portion;

[0023] Wherein, a second slide rail is provided on the inner wall of the hollow portion along the length direction of the base, and second sliders are installed at both ends of the upper portion of the X-shaped support arm, and the second sliders are slidably matched with the second slide rail;

[0024] When the first motor drives the first screw rod to rotate, the first screw rod and the first nut cooperate with each other to make the first screw rod reciprocate along the length direction of the base, and then the first motor mounting plate drives the bed frame to reciprocate along the length direction of the base relative to the X-shaped support arm.

[0025] Preferably, the second driving unit comprises:

[0026] A second motor is fixed in the hollow portion of the bed frame through a second motor mounting plate;

[0027] a second screw rod, wherein a first end of the second screw rod is connected to a power output end of the second motor, and a second end of the second screw rod is rotatably and immovably connected to an inner wall of the hollow portion; an axis of the second screw rod is parallel to a length direction of the base;

[0028] A second nut is sleeved on the second screw rod and is threadably matched with the second screw rod;

[0029] Wherein, a third slide rail is provided on the inner wall of the hollow portion along the length direction of the base, and a third slider is slidably matched on the third slide rail; the bed board is fixed on the third slider and fixedly connected to the second nut;

[0030] When the second motor drives the second screw rod to rotate, the second screw rod and the second nut cooperate with each other to make the second nut reciprocate along the length direction of the base, thereby driving the bed board to reciprocate relative to the bed frame along the length direction of the base.

[0031] Preferably, the static CT scanning bed further comprises:

[0032] A telescopic cover is sleeved on the outer side of the X-shaped support arm, the bottom of the telescopic cover is fixed on the base, and one end of the top of the telescopic cover is connected to the nut fixing seat;

[0033] The telescopic cover is formed by connecting a plurality of annular cover plates in sequence, and any two adjacent annular cover plates can move relative to each other in the vertical direction, so that the telescopic cover can move back and forth in the vertical direction.

[0034] Preferably, a fourth slide block is provided at the other end of the top of the telescopic cover, and the fourth slide block is slidably matched with the second slide rail.

[0035] Preferably, the third driving unit comprises:

[0036] A third motor, for providing rotational power;

[0037] A third screw rod is transmission-connected to the power output end of the third motor through a synchronous belt and is arranged in a vertical direction;

[0038] A third screw nut is fixed on the X-shaped support arm and is threadedly connected to the third screw rod; the third motor drives the third screw rod to rotate around the vertical direction to drive the third screw nut to rise and fall in the vertical direction;

[0039] The extension h of the third screw rod and the height H of the bed frame satisfy the following relationship:

[0040] H=√{2d 2 -2d 2 *[(b 2 +c 2 -h2) / 2bc*cosθ1+√[1-((b 2 +c 2 -h2)

[0041] / 2bc)2]*sinθ1]};

[0042] Among them, d represents the distance between the intersection of the X-shaped arm and the hinge point of the second end of the upper part of the X-shaped arm; b represents the distance between the intersection of the X-shaped arm and the third nut; c represents the distance between the intersection of the X-shaped arm and the bottom of the third screw rod; h represents the length of the third screw rod; θ1 represents the angle formed by the line formed by the intersection of the X-shaped arm and the hinge point of the first end of the lower part of the X-shaped arm, and the line formed by the intersection of the X-shaped arm and the bottom of the third screw rod.

[0043] Preferably, the surface of the bed frame is recessed downward to form a recessed portion, and the bed board is located in the recessed portion to limit the relative movement of the bed board and the bed frame in the width direction of the bed frame.

[0044] Preferably, a displacement sensor is further provided on one side of the bed frame for detecting the displacement of the bed board in the length direction of the base.

[0045] According to a second aspect of an embodiment of the present invention, a motion control method for a static CT scanning bed is provided, comprising the following steps:

[0046] Acquire a target state of a static CT scanning bed required for CT scanning, wherein the target state includes at least a target height of the bed frame in the vertical direction and a target position of the bed board in the horizontal direction;

[0047] Based on the initial state of the static CT scanning bed, calculating a height change value of the bed frame when changing from the initial state to the target state;

[0048] Based on the height change value, controlling the third driving unit to drive the bed frame to move in a vertical direction until the target height is reached;

[0049] Controlling the first driving unit to drive the bed frame to extend to the farthest position in the horizontal direction so as to be close to the CT scanner;

[0050] Based on the initial state of the static CT scanning bed, calculating the horizontal displacement change value of the bed plate when changing from the initial state to the target state;

[0051] Based on the horizontal displacement change value, the bed board is driven to move in the horizontal direction by a second driving unit to control the bed board to reach the target position;

[0052] After the scanning is finished, the static CT scanning bed is controlled to return to the initial state.

[0053] According to a third aspect of an embodiment of the present invention, a static CT system is provided, comprising a detector ring, a ray source ring and the above-mentioned static CT scanning bed.

[0054] Compared with the prior art, the present invention has the following technical effects: First, the static CT scanning bed adopts three independent driving parts to control the movement of the X-shaped arm, the bed frame and the bed board respectively. This design enables the bed frame to extend a certain distance in advance in the direction of the CT scanner, effectively reducing the extension of the bed board and reducing the cantilever amount of the bed board, thereby significantly improving the quality of CT imaging. Secondly, since the bed frame itself has a certain mobility, this allows the overall length of the bed board to be appropriately shortened during design, further reducing the deformation problem caused by the excessive length of the bed board. Thirdly, the overall structural design of the static CT scanning bed is simple and compact, and the movement operation of each driving part is independent of each other, so that the operator can flexibly control the movement of the X-shaped arm, the bed frame and the bed board according to actual needs, thereby improving the convenience and adaptability of use. Finally, the static CT scanning bed also includes a telescopic cover, which is designed to be easy to hang and will not be affected by the forward movement of the bed frame, thereby enhancing the stability and safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic structural diagram of a static CT scanning bed provided in the first embodiment of the present invention;

[0056] Figure 2 This is a schematic structural diagram of a static CT scanning bed after omitting the bed plate in the first embodiment of the present invention;

[0057] Figure 3A schematic cross-sectional structure diagram of a static CT scanning bed provided in the first embodiment of the present invention.

[0058] Figure 4 This is a flow chart of a motion control method for a static CT scanning bed provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0059] The technical content of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] The embodiment of the present invention provides a static CT scanning bed, which is provided with a plurality of driving parts to drive the bed frame to move relative to the base and to drive the bed board to move relative to the bed frame. Thus, by increasing the movement stroke of the bed frame, the extension length of the bed board (generally a carbon fiber board) can be reduced, thereby reducing the cantilever amount of the bed board, and avoiding the influence of the sagging of the bed board on the image quality.

[0061] First embodiment

[0062] like Figure 1 to Figure 3 As shown, a static CT scanning bed provided by the first embodiment of the present invention includes a base 1, an X-shaped arm 2, a bed frame 3, a bed board 4, a first driving unit 5, a second driving unit 6 and a third driving unit 7. Among them, the X-shaped arm 2 is arranged on the base 1, and the height of the X-shaped arm 2 is adjusted by the reciprocating movement of the X-shaped arm 2. The bed frame 3 is mounted on the X-shaped arm 2 to adjust the height with the movement of the X-shaped arm 2, and the bed board 4 is arranged on the bed frame 3. The first driving unit 5 is installed on the bed frame 3 and connected to the X-shaped arm 2 to drive the bed frame 3 to reciprocate along the length direction of the base 1 (in this embodiment, the X direction, and the following description uses the X direction). The second driving unit 6 is installed on the bed frame 3 and connected to the bed board 4 to drive the bed board 4 to reciprocate along the X direction. The third driving unit 7 is installed on one side of the X-shaped arm 2 to drive the X-shaped arm 2 to reciprocate, thereby adjusting the height of the X-shaped arm 2.

[0063] The following is a detailed description of the specific composition of each component:

[0064] like Figure 1 to Figure 3 As shown, the base 1 is provided with a first slide rail 11 in the horizontal direction. The first end of the lower part of the X-shaped support arm 2 (i.e. Figure 1 The left end of the X-shaped support arm 2 is hinged to the base 1, that is, the horizontal position of the first end of the lower part of the X-shaped support arm 2 is unchanged. Figure 1 The first slider 21 is hingedly connected to the first slide rail 11. It can be understood that when the first slider 21 moves to the right along the first slide rail 11, the entire X-shaped support arm 2 descends and the height decreases; conversely, the entire X-shaped support arm 2 rises and the height increases.

[0065] And, refer to Figure 2 As shown, the second sliders 22 are installed at both ends of the upper part of the X-shaped support arm 2. The second sliders 22 slide with the bed frame 3 through the second slide rails 31 provided on the bed frame 3, so that the bed frame 3 is mounted on the upper part of the X-shaped support arm 2.

[0066] Continue to refer to Figure 2 As shown, a hollow portion 301 is formed in the middle of the bed frame 3. Two parallel slide rails are respectively provided on the inner wall of the hollow portion 301, namely: a second slide rail 31 and a third slide rail 32, and the second slide rail 31 and the third slide rail 32 are both parallel to the horizontal direction. Among them, the second slide rail 31 is located at the bottom, and is used to slide with the second sliders 22 at both ends of the upper part of the X-shaped support arm, so that the bed frame 3 and the X-shaped support arm 2 can move relative to each other. The third slider 33 is slidably connected to the third slide rail 32, and the bed board 4 is connected to the third slider 33, so that the bed board 4 and the bed frame 3 can move relative to each other.

[0067] And, preferably, the upper surface of the bed frame 3 is recessed downward to form a recessed portion 302, and the bed board 4 is located in the recessed portion 302, so that when the bed board 4 and the bed frame 3 move in the X direction, they can be limited in the Y direction (i.e., the width direction of the bed frame 3), thereby improving the stability of the bed board 4 moving in the X direction.

[0068] like Figure 2 As shown, the first driving unit 5 includes a first motor 51, a nut fixing seat 52, a first nut 53 and a first screw rod 54. The first motor 51 is fixed to the hollow portion 301 of the bed frame 3 through a first motor mounting plate 511 to provide rotational power. The nut fixing seat 52 is fixed to the first end (i.e., the upper portion) of the X-shaped support arm 2. Figure 2 ), as shown in Figure 2 It can be understood that, since the first end of the lower portion of the X-shaped support arm 2 is fixed, the first end of the upper portion of the X-shaped support arm 2 only moves in the vertical direction, but does not move in the horizontal position. Therefore, after the nut fixing seat 52 is installed on the first end of the upper portion of the X-shaped support arm 2, the position of the nut fixing seat 52 in the horizontal direction remains unchanged, and the height will only be adjusted in the vertical direction along with the upper portion of the X-shaped support arm 2.

[0069] The first nut 53 is fixed on the nut fixing seat 52. Since the horizontal position of the nut fixing seat 52 remains unchanged, the horizontal position of the first nut 53 remains unchanged.

[0070] The first screw rod 54 is inserted into the first screw nut 53 and is threadedly engaged with the first screw nut 53. Figure 2 The left end of the first lead screw 54 is connected to the power output end of the first motor 51 through a bearing 512 and a coupling 513. Figure 2 In this embodiment, the axis of the first screw rod 54 is parallel to the X direction, and the length of the first screw rod 54 is less than the length of the hollow portion 301.

[0071] During specific adjustment, the first motor 51 drives the first screw rod 54 to rotate. Since the position of the first nut 53 in the horizontal direction remains unchanged, the first screw rod 54 is reciprocated along the X direction through the threaded cooperation between the first screw rod 54 and the first nut 53. Accordingly, the first screw rod 54 transmits the force to the first motor mounting plate 511, so as to drive the second slider 22 to reciprocate along the second slide rail 31 through the first motor mounting plate 511, thereby realizing the reciprocating movement of the bed frame 3 relative to the X-shaped support arm 2. In this embodiment, the bed frame 3 can move 600 to 700 mm, preferably 650 mm, along the X direction, so that the length of the bed board 4 can be shortened, effectively reducing the cantilever amount of the bed board 4.

[0072] like Figure 2 As shown, the second driving unit 6 includes a second motor 61, a second screw rod 62 and a second screw nut 63. The second motor 61 is fixed to the hollow portion 301 of the bed frame 3 through a second motor mounting plate 611 to provide rotational power. Figure 2 The right end of the second lead screw 62 is connected to the power output end of the second motor 61, and the second end of the second lead screw 62 (i.e. Figure 2 The left end in the middle) is rotatably and immovably connected to the inner wall of the hollow portion 301. In this embodiment, the axis of the second screw rod 62 is parallel to the X direction.

[0073] The second nut 63 is sleeved on the second screw rod 62 and is threadedly matched with the second screw rod 62. In addition, the bed board 4 is fixed on the third slider 33 and is fixedly connected with the second nut 63. Therefore, when the second motor 61 drives the second screw rod 62 to rotate, the second nut 63 is reciprocated along the X direction through the threaded match between the second screw rod 62 and the second nut 63, thereby driving the bed board 4 to reciprocate along the X direction relative to the bed frame 3. In addition, preferably, a displacement sensor 310 is also provided on one side of the bed frame 3 to detect the displacement of the bed board 4 in the X direction.

[0074] It is understandable that in this embodiment, the moving part of the first driving part 5 in the X direction is the first screw rod 54, and the moving part of the second driving part 6 in the X direction is the second nut 63. Due to the difference in moving parts, the setting of the screw rod and the nut is different.

[0075] like Figure 3As shown, the third driving unit 7 includes a third motor 71, a synchronous belt 72, a third screw rod 73 and a fourth nut 74. Among them, the third motor 71 is used to provide rotational power. The third screw rod 73 is transmission-connected to the power output end of the third motor 71 through the synchronous belt 72, and is arranged in the vertical direction. The fourth nut 74 is fixed on the X-shaped support arm 2 and is threadedly connected to the third screw rod 73. Therefore, when the third motor 71 rotates, the third screw rod 73 can be driven to rotate around the vertical direction through the synchronous belt 72, thereby driving the fourth nut 74 to rise and fall in the vertical direction, and then driving the lower right end of the X-shaped sub-support arm 21 to slide along the first slide rail 11 to realize the rise or fall of the bed frame 3.

[0076] Among them, refer to Figure 3 As shown, in an embodiment of the present invention, the bed height H is controlled by the extension amount of the screw rod, and the screw rod length h can be accurately controlled by a third motor (for example, a servo motor). Therefore, by establishing a mathematical model in which h is a function of the variable H, the lifting and lowering of the bed can be controlled.

[0077] Since 0<θ<180°, given the angle θ1, lengths b, c, d, we can get the following according to trigonometric functions:

[0078]

[0079] cosθ=(b 2 +c 2 -h2) / 2bc....② We can get sinθ=√(1-cos 2 θ) Launch:

[0080] sinθ=√[1-((b 2 +c 2 -h2) / 2bc)2]....③

[0081] Substituting equations ② and ③ into ① can eliminate the trigonometric functions and obtain a function with H0 as the dependent variable and h as the independent variable.

[0082] H=H0+M+N

[0083] H=√{2d 2 -2d 2 *[(b 2 +c 2 -h2) / 2bc*cosθ1+√[1-((b 2 +c 2 -h2) / 2bc)2]*sinθ1]};

[0084] Among them, d represents the distance between the intersection of the X-shaped arm and the hinge point of the second end of the upper part of the X-shaped arm; b represents the distance between the intersection of the X-shaped arm and the third nut; c represents the distance between the intersection of the X-shaped arm and the bottom of the screw rod; h represents the length of the third screw rod; θ1 represents the angle formed by the line formed by the intersection of the X-shaped arm and the hinge point of the first end of the lower part of the X-shaped arm, and the line formed by the intersection of the X-shaped arm and the bottom of the third screw rod.

[0085] like Figure 2 As shown, preferably, the static CT scanning bed also includes a telescopic cover 8. The telescopic cover 8 is sleeved on the outside of the X-shaped support arm 2, and the bottom of the telescopic cover 8 is fixed on the base 1, and one end of the top of the telescopic cover 8 (i.e. Figure 2 The left end of the telescopic cover 8 is connected to the nut fixing seat 52. Specifically, the telescopic cover 8 is formed by connecting multiple sections of annular cover plates 81 in sequence, and any two adjacent sections of the annular cover plates 81 can move relative to each other in the vertical direction, so that the telescopic cover 8 can reciprocate in the vertical direction. It can be understood that the telescopic cover 8 can play a role in safety protection for the X-shaped support arm 2 to ensure the safety of operation.

[0086] Moreover, preferably, a fourth slider 82 is provided at the other end of the top of the telescopic cover 8, and the fourth slider 82 is slidably matched with the second slide rail 31. Therefore, when the bed frame 3 moves horizontally relative to the X-shaped support arm 2, the telescopic cover 8 will not be driven to move, thereby ensuring the stability of the installation of the telescopic cover 8.

[0087] The specific motion control process of the static CT scanning bed provided by the embodiment of the present invention is described below:

[0088] In the initial state, the height of the bed frame 3 is at the lowest position;

[0089] Subsequently, the third driving unit 7 is started, and the bed frame 3 is driven to rise to a suitable height through the X-shaped support arm 2. The suitable height is the height at which the bed board is located exactly at the central axis of the CT scanner during clinical CT scanning. In one embodiment of the present invention, based on clinical experience, it is generally 750mm. In other embodiments, the distance can be adaptively adjusted as needed. In addition, the third driving unit 7 can also drive the bed frame 3 to continue to rise to the maximum height through the X-shaped support arm 2. Therefore, in the range from the suitable height to the maximum height, CT scanning can be performed on different parts of the patient in the height direction.

[0090] When the height position adjustment of the bed frame 3 is completed, the third driving unit 7 stops and the first driving unit 5 starts, thereby driving the bed frame 3 to move in the X direction relative to the X-shaped support arm 2, so that the bed frame 3 gradually approaches the CT scanner until the bed frame 3 is extended to the maximum position.

[0091] When the bed frame 3 is moved into position, the first driving unit 5 stops and the second driving unit 6 starts, thereby driving the bed board 4 to move in the X direction relative to the bed frame 3, so that CT scanning can be performed on different parts of the patient in the horizontal direction.

[0092] After the CT scan is completed, the three driving parts respectively drive the X-shaped support arm 2, the bed frame 3 and the bed board 4 to return to their original positions to wait for the next CT scan.

[0093] In summary, the static CT scanning bed provided in the embodiment of the present invention drives the movement of the X-shaped support arm 2, the bed frame 3 and the bed board 4 respectively through three driving parts, so that the bed frame 3 can be extended toward the CT scanner in advance by a certain distance (in this embodiment, preferably 650mm), thereby reducing the extension amount of the bed board 4, and then reducing the cantilever amount of the bed board 4, thereby improving the CT imaging quality. In addition, since the bed frame 3 has a certain amount of movement, the overall length of the bed board can be appropriately shortened, further reducing the deformation of the bed board.

[0094] Second embodiment

[0095] like Figure 4 As shown, based on the above first embodiment, the second embodiment of the present invention provides a motion control method for a static CT scanning bed, which specifically includes the following steps:

[0096] S1: Acquire the target state of the static CT scanning bed required for CT scanning.

[0097] The target state at least includes a target height of the bed frame 3 in the vertical direction and a target position of the bed board 4 in the horizontal direction.

[0098] S2: Based on the initial state of the static CT scanning bed, calculate the height change value of the bed frame when changing from the initial state to the target state.

[0099] Generally, in the initial state of the static CT scanner bed, the bed frame 3 is at the lowest position. In the target state, the bed frame 3 is at the central axis position of the CT scanner. The height change value is the height change amount of the bed frame 3 from the lowest position to the target position.

[0100] S3: Based on the height change value, the third driving unit 7 is controlled to drive the bed frame 3 to move in the vertical direction until the target height is reached.

[0101] S4: Control the first driving unit 5 to drive the bed frame 3 to extend to the farthest position in the horizontal direction so as to be close to the CT scanner.

[0102] S5: Based on the initial state of the static CT scanning bed, calculate the horizontal displacement change value of the bed board when changing from the initial state to the target state.

[0103] Specifically, first, the overall displacement of the bed board 4 in the horizontal direction is calculated according to the initial state and the target state of the static CT scanning bed; then, the horizontal displacement of the bed frame 3 is determined according to step S4; finally, the horizontal displacement change value of the bed board 4 in the horizontal direction is obtained by subtracting the horizontal displacement of the bed frame 3 from the overall displacement.

[0104] S6: Based on the horizontal displacement change value, the second driving unit 6 drives the bed board 4 to move in the horizontal direction, so as to control the bed board 4 to reach the target position.

[0105] S7: After the scan is completed, the static CT scanning bed is controlled to return to the initial state.

[0106] Third embodiment

[0107] Based on the above first embodiment, the third embodiment of the present invention provides a static CT system, comprising a detector ring, a radiation source ring and the above static CT scanning bed. The detector ring is used for X-ray detection. The radiation source ring is surrounded by a plurality of radiation sources in a circular ring shape and is arranged on one side of the radiation source ring so that each of the radiation sources can emit X-rays tilted toward the detector ring. The above static CT scanning bed is arranged on one side of the radiation source ring to adjust the CT scanning position of the patient.

[0108] It should be noted that the above embodiments are only examples, and the technical solutions of the various embodiments can be combined, all within the protection scope of the present invention.

[0109] It should be understood that the terms "upper", "lower", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0110] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0111] The above is a detailed description of the static CT scanning bed, motion control method and static CT system provided by the present invention. For those skilled in the art, any obvious changes made to it without departing from the essence of the present invention will constitute an infringement of the patent right of the present invention and will bear corresponding legal liabilities.

Claims

1. A static CT scanning bed, characterized in that include: A base, provided with a first slide rail along the length direction; An X-shaped support arm, wherein the first end of the lower portion is hinged to the base, and the second end is hinged to a first slider, and the first slider is slidably connected to the first slide rail; A bed frame is mounted on the upper part of the X-shaped support arm for mounting a bed board; a hollow portion is formed in the middle of the bed frame, and the inner wall of the hollow portion is slidably connected to the two ends of the upper part of the X-shaped support arm respectively; A first driving unit, disposed on the bed frame and connected to the X-shaped support arm, for driving the bed frame to reciprocate relative to the base along the length direction of the base; A second driving unit, disposed on the bed frame and connected to the bed board, for driving the bed board to reciprocate relative to the bed frame along the length direction of the base; The third driving part is arranged on one side of the X-shaped support arm to provide driving force in the vertical direction and drive the first sliding block to reciprocate along the first sliding rail, thereby driving the bed frame to rise or fall in the vertical direction.

2. The static CT scanning bed according to claim 1, characterized in that The first driving unit comprises: A first motor is fixed in the hollow portion of the bed frame through a first motor mounting plate; A nut fixing seat, fixed to the first end of the upper portion of the X-shaped support arm, wherein the first end of the upper portion of the X-shaped support arm is located directly above the first end of the lower portion of the X-shaped support arm; A first nut, fixed on the nut fixing seat; A first screw rod is inserted into the first nut and matched with the first nut thread, and a first end of the first screw rod is connected to a power output end of the first motor; an axis of the first screw rod is parallel to a length direction of the base, and a length of the first screw rod is less than a length of the hollow portion; Wherein, a second slide rail is provided on the inner wall of the hollow portion along the length direction of the base, and second sliders are installed at both ends of the upper portion of the X-shaped support arm, and the second sliders are slidably matched with the second slide rail; When the first motor drives the first screw rod to rotate, the first screw rod and the first nut cooperate with each other to make the first screw rod reciprocate along the length direction of the base, and then the first motor mounting plate drives the bed frame to reciprocate along the length direction of the base relative to the X-shaped support arm.

3. The static CT scanning bed according to claim 1, characterized in that The second driving unit comprises: A second motor is fixed in the hollow portion of the bed frame through a second motor mounting plate; a second screw rod, wherein a first end of the second screw rod is connected to a power output end of the second motor, and a second end of the second screw rod is rotatably and immovably connected to an inner wall of the hollow portion; an axis of the second screw rod is parallel to a length direction of the base; A second nut is sleeved on the second screw rod and is threadably matched with the second screw rod; Wherein, a third slide rail is provided on the inner wall of the hollow portion along the length direction of the base, and a third slider is slidably matched on the third slide rail; the bed board is fixed on the third slider and fixedly connected to the second nut; When the second motor drives the second screw rod to rotate, the second screw rod and the second nut cooperate with each other to make the second nut reciprocate along the length direction of the base, thereby driving the bed board to reciprocate relative to the bed frame along the length direction of the base.

4. The static CT scanning bed according to claim 2, characterized in that Also includes: A telescopic cover is sleeved on the outer side of the X-shaped support arm, the bottom of the telescopic cover is fixed on the base, and one end of the top of the telescopic cover is connected to the nut fixing seat; The telescopic cover is formed by connecting a plurality of annular cover plates in sequence, and any two adjacent annular cover plates can move relative to each other in the vertical direction, so that the telescopic cover can move back and forth in the vertical direction.

5. The static CT scanning bed according to claim 4, characterized in that: A fourth sliding block is provided at the other end of the top of the telescopic cover, and the fourth sliding block is slidably matched with the second sliding rail.

6. The static CT scanning bed according to claim 1, characterized in that The third driving unit comprises: A third motor, for providing rotational power; A third screw rod is transmission-connected to the power output end of the third motor through a synchronous belt and is arranged in a vertical direction; A third screw nut is fixed on the X-shaped support arm and is threadedly connected to the third screw rod; the third motor drives the third screw rod to rotate around the vertical direction to drive the third screw nut to rise and fall in the vertical direction; The extension h of the third screw rod and the height H of the bed frame satisfy the following relationship: H=√{2d 2 -2d 2 *[(b 2 +c 2 -h2) / 2bc*cosθ1+√[1-((b 2 +c 2 -h2) / 2bc)2]*sinθ1]}; Among them, d represents the distance between the intersection of the X-shaped arm and the hinge point of the second end of the upper part of the X-shaped arm; b represents the distance between the intersection of the X-shaped arm and the third nut; c represents the distance between the intersection of the X-shaped arm and the bottom of the third screw rod; h represents the length of the third screw rod; θ1 represents the angle formed by the line formed by the intersection of the X-shaped arm and the hinge point of the first end of the lower part of the X-shaped arm, and the line formed by the intersection of the X-shaped arm and the bottom of the third screw rod.

7. The static CT scanning bed according to claim 1, characterized in that: The surface of the bed frame is recessed downward to form a recessed portion, and the bed board is located in the recessed portion to limit the relative movement of the bed board and the bed frame in the width direction of the bed frame.

8. The static CT scanning bed according to claim 1, characterized in that: A displacement sensor is also provided on one side of the bed frame for detecting the displacement of the bed board in the length direction of the base.

9. A motion control method for a static CT scanning bed as claimed in any one of claims 1 to 8, characterized in that The steps include: Acquire a target state of a static CT scanning bed required for CT scanning, wherein the target state includes at least a target height of the bed frame in the vertical direction and a target position of the bed board in the horizontal direction; Based on the initial state of the static CT scanning bed, calculating a height change value of the bed frame when changing from the initial state to the target state; Based on the height change value, controlling the third driving unit to drive the bed frame to move in a vertical direction until the target height is reached; Controlling the first driving unit to drive the bed frame to extend to the farthest position in the horizontal direction so as to be close to the CT scanner; Based on the initial state of the static CT scanning bed, calculating the horizontal displacement change value of the bed plate when changing from the initial state to the target state; Based on the horizontal displacement change value, the bed board is driven to move in the horizontal direction by a second driving unit to control the bed board to reach the target position; After the scanning is finished, the static CT scanning bed is controlled to return to the initial state.

10. A static CT system, characterized in that It comprises a detector ring, a ray source ring and the static CT scanning bed as claimed in any one of claims 1 to 8.

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