Intraoperative cone beam CT imaging equipment and imaging method

Abstract

The invention belongs to the field of CT imaging equipment, and particularly relates to intraoperative cone beam CT imaging equipment and an imaging method. A CT imaging equipment main body is fixedly connected to the top end of the base, and a buffer stabilizing mechanism is arranged at the bottom end of the base; the buffering and stabilizing mechanism comprises first bottom plates, the first bottom plates are also arranged on the left side and the right side of the front end and the rear end of the bottom end of the base, anti-sliding blocks are fixedly connected to the bottom ends of the first bottom plates, and dampers are fixedly connected to the top ends of the first bottom plates; through the design of the buffering stabilizing mechanism, the buffering function is achieved, and the problems that an existing CT imaging device is not provided with an assembly capable of being used for protection during moving, when a CT imaging device body moves, the device shakes easily due to fluctuation of the ground, the internal structure of the device collides, and the CT imaging device is damaged are solved. Therefore, the imaging effect of the device in use is affected, and the buffering effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of CT imaging devices, and more particularly to an intraoperative cone-beam CT imaging device and an imaging method. Background Art

[0002] An intraoperative cone-beam CT imaging device is an advanced medical imaging device that combines cone-beam CT technology and surgical navigation functions. It is mainly used for intraoperative real-time imaging and navigation to help doctors obtain high-resolution three-dimensional image information during surgery, thereby improving the accuracy and safety of surgery.

[0003] A conventional intraoperative cone-beam CT imaging device can specifically refer to a mobile flat-panel CT imaging system for brain soft tissue detection with an application number of CN201811152223.4, which includes an X-ray source and a flat-panel detector. The flat-panel detector is used to receive X-ray signals and convert the X-ray signals into corresponding electrical signals; a data acquisition module is connected to the detector and is used to convert the electrical signals output by the detector into projection data and convert the temperature information of the detector itself into a detector temperature value; a control module is used to control the detector temperature value within a target temperature range and start the X-ray source to work; an image reconstruction module is connected to the data acquisition module and is used to reconstruct tomographic images according to the projection data. The mobile flat-panel CT imaging system of the present invention effectively reduces image artifacts and ensures the quality of detection images through the optimization of the software and hardware structures of the imaging system, thereby effectively realizing the effective detection of brain soft tissue; The above CT imaging device is not provided with components that can be used for protection during movement. When moving the main body of the CT imaging device, it is easy to cause the device to shake due to the undulation of the ground, resulting in collisions within the device structure, thereby affecting the imaging effect when the device is in use. Therefore, an intraoperative cone-beam CT imaging device and an imaging method are proposed to address the above problems. Summary of the Invention

[0004] In order to make up for the deficiencies of the prior art, that is, the existing CT imaging device is not provided with components that can be used for protection during movement. When moving the main body of the CT imaging device, it is easy to cause the device to shake due to the undulation of the ground, resulting in collisions within the device structure, thereby affecting the imaging effect when the device is in use. The present invention proposes an intraoperative cone-beam CT imaging device and an imaging method.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: An intraoperative cone-beam CT imaging device of the present invention includes a base; a CT imaging device main body is fixedly connected to the top end of the base, and a buffer and stabilization mechanism is provided at the bottom end of the base; The buffer stabilizing mechanism includes a first bottom plate, which is also arranged on the left and right sides of the front and rear ends of the bottom end of the base. An anti-slip block is fixedly connected to the bottom end of the first bottom plate, and a damper is fixedly connected to the top end of the first bottom plate. A first fixing block is fixedly connected to the top end of the damper. A first return spring is sleeved outside the damper. The bottom end of the first return spring is fixedly connected to the first bottom plate, and the top end of the first return spring is fixedly connected to the first fixing block. The inner wall of the CT imaging device main body is fixedly connected with an outer ring of a bearing. The inner ring of the bearing is rotatably connected to the inner wall of the outer ring of the bearing. A ray source mounting seat is fixedly connected to the upper part near the rear end of the outer ring of the bearing. An X-ray source is fixedly connected to the top end of the ray source mounting seat. A beam former is fixedly connected to the bottom end of the ray source mounting seat. A flat panel detector mounting seat is fixedly connected to the rear end near the lower part of the inner ring of the bearing. A flat panel detector is fixedly connected to the top end of the flat panel detector mounting seat. A synchronous belt is drivingly connected to the outside of the inner ring of the bearing. The synchronous belt is drivingly connected to a synchronous pulley and a driving motor. A pinch roller is fixedly connected to the rear end of the CT imaging device main body. The pinch roller is slidably connected to the synchronous belt. The synchronous pulley and the driving motor are electrically connected to a battery through a wire. The battery is fixedly connected to the bottom end of the CT imaging device main body. Four sets of casters are fixedly connected to the bottom end of the CT imaging device main body, and electric steering wheels are also fixedly connected to the left and right sides of the bottom end of the CT imaging device main body. A steering wheel driving motor is fixedly connected to the inner wall of the CT imaging device main body. An inverter is fixedly connected to the left side of the top end of the CT imaging device main body. A control board is fixedly connected to the left side of the rear end of the CT imaging device main body. A lead screw motor and two sets of slide rails are fixedly connected to the connection between the flat panel detector mounting seat and the flat panel detector. An AC contactor and a filter are respectively fixedly connected to the rear end of the CT imaging device main body. A drag chain is connected inside the inner ring of the bearing. A driver and a driving motor are respectively fixedly connected to the left side near the rear end of the CT imaging device main body.

[0006] Preferably, a fixing plate is fixedly connected to the top end of the first fixing block. A first moving block is fixedly connected to the side end of the fixing plate. The first moving block is sleeved outside the first guiding rod, and the first moving block is slidably connected to the first guiding rod. Second fixing blocks are also fixedly connected to the left and right sides of the first guiding rod. The top ends of the second fixing blocks are fixedly connected to the bottom end of the base.

[0007] Preferably, the first moving block is sleeved outside a bidirectional threaded rod, and the first moving block is threadedly connected to the bidirectional threaded rod. Rotating blocks are also fixedly connected to the left and right ends of the bidirectional threaded rod. The rotating blocks are sleeved outside first sleeve blocks, and the rotating blocks are rotatably connected to the first sleeve blocks. A third fixing block is fixedly connected to the side end of the first sleeve block. The top end of the third fixing block is fixedly connected to the bottom end of the base.

[0008] Preferably, a fourth fixing block is fixedly connected to the bottom end of the base, a motor is fixedly connected to the right side end of the fourth fixing block, a first bevel gear is fixedly connected to the right side end of the motor, the first bevel gear is meshed with a second bevel gear, and the inner wall of the second bevel gear is fixedly connected to the outside of the transmission rod.

[0009] Preferably, second sleeve blocks are also sleeved on the outside of the transmission rod near the front and rear ends, and the transmission rod is rotatably connected to the second sleeve blocks. The top end of the second sleeve block is fixedly connected to the bottom end of the fixing rod, and the top end of the fixing rod is fixedly connected to the base. Limiting blocks are also fixedly connected to the outside of the transmission rod near the front and rear ends of the second sleeve block.

[0010] Preferably, third bevel gears are also fixedly connected to the front and rear ends of the transmission rod, the third bevel gears are meshed with fourth bevel gears, and the inner wall of the fourth bevel gear is fixedly connected to the outside of the bidirectional threaded rod.

[0011] Preferably, second bottom plates are also arranged on the left and right sides of the bottom end of the base. Fifth fixing blocks are fixedly connected to the left and right sides of the top ends of the second bottom plates. Second guide rods are fixedly connected to the inner walls of the fifth fixing blocks. Second moving blocks are sleeved on the outside of the second guide rods, and the second guide rods are slidably connected to the second moving blocks.

[0012] Preferably, second return springs are also sleeved on the left and right ends of the outside of the second guide rods. One end of the second return spring is fixedly connected to the fifth fixing block, and the other end of the second return spring is fixedly connected to the second moving block.

[0013] Preferably, the top end of the second moving block is fixedly connected to one end of a push rod, and the outside of the second fixing seat is sleeved with the push rod, and the second fixing seat is rotatably connected to the push rod.

[0014] Preferably, the other end of the push rod is sleeved on the outside of the first fixing seat, and the push rod is rotatably connected to the first fixing seat. The top end of the first fixing seat is fixedly connected to the bottom end of the base.

[0015] Preferably, an intraoperative cone-beam CT imaging method includes the following steps: S1: Move the base and the CT imaging device main body to the position to be photographed through the casters, and then lock the fixed casters; S2: Start the lead screw motor according to the patient's body position to linearly displace the flat panel detector along the slide rail, and adjust the flat panel detector to a position adapted to the patient's body position; S3: Start the drive motor to drive the X-ray source and the flat panel detector to rotate along the inner ring of the bearing through the synchronous belt, and photograph the specified part; S4: While the X-ray source rotates, emit cone-beam X-rays. The flat-panel detector receives the X-ray signals that penetrate the patient's tissue and generates two-dimensional projection images. S5: Use the FDK algorithm to correct the projection data according to geometric weights, and use a ramp filter (Ram-Lak) to convolve and back-project the filtered data along the cone-beam ray path into three-dimensional space to obtain three-dimensional image information.

[0016] The advantages of the present invention are as follows: 1. Traditional CBCT devices install key imaging components such as X-ray sources and detectors inside the scanning gantry. Although this design ensures the integrity and stability of the device, the imaging components occupy the internal space of the gantry, resulting in a limited gantry aperture and unable to meet the imaging requirements for large areas such as the spine, chest, and abdomen. Secondly, the surgical operation space is restricted by the gantry, increasing the surgical difficulty. The present invention moves the imaging components to the outside of the gantry, significantly expanding the gantry aperture to 1 meter, meeting the imaging requirements for most intraoperative procedures, and also providing ample space for surgical operations, avoiding the imaging area being restricted by the main body of the gantry. After the imaging is completed, the operation can be directly performed without removing the device, further optimizing the intraoperative process and greatly enhancing the flexibility and efficiency of surgical operations. 2. The present invention redesigns the gantry structure and reasonably arranges the positions of each component, making the volume of the entire system more compact and lightweight, meeting the space requirements of the operating room. In particular, electronic components such as inverters and batteries are moved to the bottom base of the gantry instead of the traditional rotating structure. This not only reduces the weight of the rotating part but also lowers the complexity of the system. In addition, the equipped universal wheels and steering wheels further enhance the mobility of the device, enabling it to be quickly and accurately positioned in the operating room. 3. In the prior art, the imaging field of view of CBCT devices is limited by the detector size and mechanical structure, resulting in a limited imaging range. Especially when scanning complex parts such as the spine and pelvis, truncation artifacts are likely to occur, seriously affecting the image quality and diagnostic accuracy. The present invention introduces a detector offset technology. By installing a lead screw motor and a slide rail at the connection between the flat-panel detector mount and the detector, flexible linear displacement of the detector is achieved, thereby expanding or adjusting the imaging field of view without changing the patient's position. This technology not only effectively avoids the generation of truncation artifacts but also significantly improves the image quality, enabling doctors to obtain more complete and clear anatomical information, further enhancing the safety and accuracy of the surgery. 4. Through the structural design of the buffer and stabilization mechanism, the present invention realizes the function of buffering, and solves the problem that existing CT imaging devices do not have components for protection during movement. When moving the main body of the CT imaging device, it is easy to cause the device to shake due to the undulation of the ground, resulting in collisions within the device's internal structure, thereby affecting the imaging effect when the device is in use. 5. Through the structural design of the buffer and stabilization mechanism, the present invention realizes the function of increasing stability, and solves the problem that existing devices do not have components for increasing the stability of the main body of the CT imaging device. During transportation, when the vehicle turns on the way, it is extremely easy to cause the center of gravity of the device main body to be unstable, resulting in the risk of the device main body tilting or collapsing, and improves the stability during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a first partial sectional structural schematic diagram of the present invention; Figure 3 It is of the present invention Figure 1 The enlarged structural schematic diagram at A in; Figure 4 It is of the present invention Figure 1 The enlarged structural schematic diagram at B in; Figure 5 It is of the present invention Figure 1 The enlarged structural schematic diagram at C in; Figure 6 It is of the present invention Figure 1 The enlarged structural schematic diagram at D in; Figure 7 It is of the present invention Figure 2 The enlarged structural schematic diagram at E in; Figure 8 It is a second partial sectional structural schematic diagram of the present invention; Figure 9 It is a second partial sectional structural schematic diagram of the present invention; Figure 10 It is a second partial sectional structural schematic diagram of the present invention; Figure 11 It is a schematic diagram of the method flow of the present invention.

[0019] In the figure: 1, base; 2, main body of CT imaging device; 10, first base plate; 11, anti-slip block; 12, damper; 13, first fixing block; 14, first return spring; 15, fixing plate; 16, first moving block; 17, first guide rod; 18, second fixing block; 19, bidirectional threaded rod; 20, rotating block; 21, first sleeve block; 22, third fixing block; 23, fourth fixing block; 24, motor; 25, first helical gear; 26, second helical gear; 27, transmission rod; 28, second sleeve block; 29, fixing rod; 30, limiting block; 31, third helical gear; 32, fourth helical gear; 33, first fixing seat; 34, push rod; 35, second fixing seat; 36, second moving block; 37, second guide rod; 38, second return spring; 39, fifth fixing block; 40, second base plate; 41, X-ray source; 42, ray source mounting seat; 43, beam former; 44, outer ring of bearing; 45, inner ring of bearing; 46, flat panel detector mounting seat; 47, flat panel detector; 48, battery; 49, synchronous pulley and drive motor; 50, pinch roller; 51, synchronous belt; 52, inverter; 53, steering wheel drive motor; 54, control board; 55, caster; 56, electric steering wheel; 57, drag chain; 58, AC contactor; 59, filter; 60, drive motor; 61, driver; 62, lead screw motor; 63, slide rail. Detailed implementation manners

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0021] Please refer to Figures 1-11 As shown, a intraoperative cone beam CT imaging device includes a base 1; the main body 2 of the CT imaging device is welded together at the top of the base 1, and a buffer and stability mechanism is provided at the bottom of the base 1; The buffer stabilizing mechanism includes a first bottom plate 10, which is also arranged on the left and right sides of the front and rear ends of the bottom end of the base 1. The first bottom plate 10 is circularly designed. Anti-slip blocks 11 are adhered to the bottom end of the first bottom plate 10. The anti-slip blocks 11 are made of rubber. A damper 12 is welded to the top end of the first bottom plate 10. A first fixing block 13 is welded to the top end of the damper 12. A first return spring 14 is sleeved outside the damper 12. The bottom end of the first return spring 14 is welded to the first bottom plate 10, and the top end of the first return spring 14 is welded to the first fixing block 13. The first fixing block 13 is circularly designed. The inner wall of the CT imaging device main body 2 is fixedly connected with an outer bearing ring 44. The inner wall of the outer bearing ring 44 is rotatably connected with an inner bearing ring 45. A ray source mounting seat 42 is fixedly connected to the upper part near the rear end of the outer bearing ring 44. An X-ray source 41 is fixedly connected to the top end of the ray source mounting seat 42. A beam former 43 is fixedly connected to the bottom end of the ray source mounting seat 42. A flat panel detector mounting seat 46 is fixedly connected to the rear end near the lower part of the inner bearing ring 45. A flat panel detector 47 is fixedly connected to the top end of the flat panel detector mounting seat 46. A synchronous belt 51 is drivingly connected to the outside of the inner bearing ring 45. The synchronous belt 51 is drivingly connected to a synchronous pulley and a driving motor 49. A pinch roller 50 is fixedly connected to the rear end of the CT imaging device main body 2. The pinch roller 50 is slidably connected with the synchronous belt 51. The synchronous pulley and the driving motor 49 are electrically connected to a battery 48 through a wire. The battery 48 is fixedly connected to the bottom end of the CT imaging device main body 2. Four sets of casters 55 are fixedly connected to the bottom end of the CT imaging device main body 2, and electric steering wheels 56 are also fixedly connected to the left and right sides of the bottom end of the CT imaging device main body 2. A steering wheel driving motor 53 is fixedly connected to the inner wall of the CT imaging device main body 2. An inverter 52 is fixedly connected to the left side of the top end of the CT imaging device main body 2. A control board 54 is fixedly connected to the left side of the rear end of the CT imaging device main body 2. A lead screw motor 62 and two sets of slide rails 63 are fixedly connected to the connection part between the flat panel detector mounting seat 46 and the flat panel detector 47. An AC contactor 58 and a filter 59 are respectively fixedly connected to the rear end of the CT imaging device main body 2. A drag chain 57 is connected inside the inner bearing ring 45. A driver 61 and a driving motor 60 are respectively fixedly connected to the left side near the rear end of the CT imaging device main body 2; During operation, when encountering bumpy conditions, the impact energy generated will drive the main body 2 of the CT imaging device and the base 1 to move downward. When the base 1 moves downward, it drives the first return spring 14 and the damper 12 at the bottom of the first fixing block 13 to contract and buffer simultaneously. Moreover, the anti-slip block 11 at the bottom of the first base plate 10 can also start the shock-absorbing effect and increase the anti-slip effect. The X-ray sources 41 and 47 flat panel detectors move from the inner side of the rack hole to the front side of the rack, significantly reducing the occupancy of the imaging components in the internal space of the rack, enabling the rack aperture to be expanded to 1 m, meeting the imaging requirements of most intraoperative procedures. At the same time, the space within the imaging area formed by the X-ray sources 41 and 47 flat panel detectors is no longer restricted by the rack body. After the intraoperative imaging is completed, medical staff can directly perform surgical operations within the imaging space without having to move the CBCT device away. The outer side of the inner ring of the bearing is connected to a synchronous belt, which is used to drive the large bearing, the fixing frame, and the imaging components to rotate 360° on the vertical circumference. The 51 synchronous belt is driven by the 49 synchronous pulley and the drive motor. The drive motor provides power, which is transmitted to the synchronous belt via the synchronous pulley to achieve precise control of the 45 inner ring of the bearing. The 50 pressure pulley increases the friction and stability of the synchronous belt, preventing the 51 synchronous belt from generating unnecessary movement due to external forces during operation. The 57 cable carrier connected to the inner side of the 45 inner ring of the bearing is used to protect and orderly manage the cables and pipelines connecting the X-ray sources 41, 47 flat panel detectors, and other related electronic devices. The 57 cable carrier is arranged along the movement trajectory of the 45 inner ring of the bearing and flexibly extends or contracts as the bearing rotates, effectively avoiding problems such as entanglement and wear that may occur to the cables and pipelines during frequent movement. The 55 casters are used to provide omnidirectional movement support, enabling the entire device to move in multiple directions easily within the operating room. The 55 casters are equipped with locking devices that can fix the position of the device when needed to ensure the stability of the device during scanning. The 56 electric steering wheel is driven by the 53 steering wheel drive motor, which is used to precisely control the direction adjustment of the device and provide additional power support to assist medical staff in quickly positioning the device. The 62 lead screw motor and the 63 two slide rails installed at the connection between the 46 flat panel detector mount and the 47 flat panel detector are used to achieve detector offset, so that the imaging field of view can be flexibly expanded or adjusted without changing the patient's position, avoiding the influence of truncation artifacts. The 62 lead screw motor drives the 47 flat panel detector to perform linear displacement along the 63 slide rail by precisely controlling the rotation of the lead screw. The 63 slide rail provides a guiding function and ensures the stability and smoothness of the 47 flat panel detector during movement.

[0022] Further, a fixing plate 15 is welded to the top end of the first fixing block 13. The fixing plate 15 is designed in a square shape. A first moving block 16 is welded to the side end of the fixing plate 15. The first moving block 16 is sleeved outside the first guiding rod 17, and the first moving block 16 is slidably connected to the first guiding rod 17. The first guiding rod 17 is designed as a circular rod, and the inner wall of the first moving block 16 sleeved outside the first guiding rod 17 is designed in a circular shape. Second fixing blocks 18 are also welded to the left and right sides of the first guiding rod 17. The top ends of the second fixing blocks 18 are welded to the bottom end of the base 1. During operation, when the first moving block 16 moves, it will move along the outside of the first guiding rod 17 inside the second fixing block 18, and at the same time drive the first bottom plate 10 to move outwards, thereby expanding the width of its contact with the ground to increase stability.

[0023] Further, the first moving block 16 is sleeved outside the bidirectional threaded rod 19, and the first moving block 16 is threadedly connected to the bidirectional threaded rod 19. Rotating blocks 20 are also welded to the left and right ends of the bidirectional threaded rod 19. A first sleeve block 21 is sleeved outside the rotating block 20, and the rotating block 20 is rotatably connected to the first sleeve block 21. The inner walls of the rotating block 20 and the first sleeve block 21 are both designed in a circular shape. A third fixing block 22 is welded to the side end of the first sleeve block 21. The top end of the third fixing block 22 is welded to the bottom end of the base 1. During operation, when the bidirectional threaded rod 19 rotates, it drives the rotating blocks 20 at both left and right ends to rotate along the inside of the first sleeve block 21 at the same time. The third fixing block 22 is used to fixedly support the position of the first sleeve block 21. When the bidirectional threaded rod 19 rotates, it drives the first moving block 16 to move outwards along the outside of the bidirectional threaded rod 19. When the first moving block 16 moves, it drives the fixing plate 15 to move at the same time.

[0024] Further, a fourth fixing block 23 is welded to the bottom end of the base 1. A motor 24 is welded to the right side end of the fourth fixing block 23. A first bevel gear 25 is welded to the right side end of the motor 24. The first bevel gear 25 is meshed and connected with a second bevel gear 26. A transmission rod 27 is welded to the inside of the second bevel gear 26. The transmission rod 27 is designed as a circular rod. During operation, start the motor 24 at the right side end of the fourth fixing block 23, drive the first bevel gear 25 to rotate, and the first bevel gear 25 drives the second bevel gear 26 and the transmission rod 27 to rotate at the same time.

[0025] Further, second sleeve blocks 28 are also sleeved on the outer side of the transmission rod 27 near the front and rear ends, and the transmission rod 27 is rotatably connected to the second sleeve blocks 28. The inner wall of the second sleeve blocks 28 is circularly designed. The bottom ends of the fixing rods 29 are welded together at the top of the second sleeve blocks 28, and the top ends of the fixing rods 29 are welded together with the base 1. Limiting blocks 30 are also welded together on the outer side of the transmission rod 27 near the front and rear ends of the second sleeve blocks 28. The limiting blocks 30 are circularly designed; During operation, the transmission rod 27 rotates, and the outer sides of the front and rear ends of the transmission rod 27 also rotate along the inside of the second sleeve blocks 28. The fixing rods 29 are used to fixedly support the positions of the second sleeve blocks 28. When the transmission rod 27 rotates, the limiting blocks 30 are driven to rotate at the same time, and the limiting blocks 30 can effectively play a role in limiting the transmission rod 27 to prevent the transmission rod 27 from moving forward and backward.

[0026] Further, third bevel gears 31 are also welded together at the front and rear ends of the transmission rod 27. The third bevel gears 31 are meshed with fourth bevel gears 32, and the inner walls of the fourth bevel gears 32 are welded together with the outer side of the bidirectional threaded rod 19; During operation, the rotation of the transmission rod 27 drives the third bevel gears 31 at the front and rear ends to rotate. When the third bevel gears 31 rotate, the fourth bevel gears 32 and the bidirectional threaded rod 19 are driven to rotate at the same time.

[0027] Further, second bottom plates 40 are also arranged on the left and right sides of the bottom end of the base 1. Fifth fixing blocks 39 are welded together on the left and right sides of the top ends of the second bottom plates 40. Second guide rods 37 are welded together on the inner walls of the fifth fixing blocks 39. Second moving blocks 36 are sleeved on the outer sides of the second guide rods 37, and the second guide rods 37 are slidably connected to the second moving blocks 36. The second guide rods 37 are circular rod-shaped designs, and the inner walls of the second moving blocks 36 are circularly designed; During operation, when the second moving blocks 36 move, they will move along the outer sides of the second guide rods 37 at the top ends of the second bottom plates 40, and the fifth fixing blocks 39 are used to fixedly support the positions of the second guide rods 37.

[0028] Further, second return springs 38 are also sleeved on the left and right ends of the outer sides of the second guide rods 37. One ends of the second return springs 38 are welded together with the fifth fixing blocks 39, and the other ends of the second return springs 38 are welded together with the second moving blocks 36; During operation, when the second moving blocks 36 move, they will squeeze the second return springs 38 on the outer sides of the second guide rods 37 to contract and buffer.

[0029] Further, a second fixed seat 35 is welded to the top end of the second moving block 36. One end of a push rod 34 is sleeved outside the second fixed seat 35, and the second fixed seat 35 is rotatably connected to the push rod 34. The inner wall of the push rod 34 sleeved outside the second fixed seat 35 is designed to be circular; During operation, the push rod 34 rotates outwards. The push rod 34 rotates along the outside of the second fixed seat 35, and at the same time, it pushes the second moving block 36 to move outwards.

[0030] Further, the other end of the push rod 34 is sleeved outside the first fixed seat 33, and the push rod 34 is rotatably connected to the first fixed seat 33. The top end of the first fixed seat 33 is welded to the bottom end of the base 1. The inner wall of the push rod 34 sleeved outside the first fixed seat 33 is designed to be circular; During operation, when the base 1 moves downwards, it will squeeze the first fixed seat 33 to move downwards. When the first fixed seat 33 moves, it drives the push rod 34 to rotate outwards along the outside of the first fixed seat 33.

[0031] Further, an intraoperative cone-beam CT imaging method, the method comprising the following steps: S1: Move the base 1 and the CT imaging device main body 2 to the position to be photographed through the casters 55, and then lock the fixed casters 55; S2: Start the lead screw motor 62 according to the patient's body position to linearly displace the flat panel detector 47 along the slide rail 63, and adjust the flat panel detector 47 to a position adapted to the patient's body position; S3: Start the drive motor 49 to drive the X-ray source 41 and the flat panel detector 47 to rotate along the inner ring 45 of the bearing through the synchronous belt 51, and photograph the specified part; S4: While the X-ray source 41 is rotating, emit cone-beam X-rays. The flat panel detector 47 receives the X-ray signal penetrating the patient's tissue and generates a two-dimensional projection image; S5: Correct the projection data by geometric weight through the FDK algorithm, and use a ramp filter (Ram-Lak) to convolve the data filtered by back-projection along the cone-beam ray path into three-dimensional space to obtain three-dimensional image information.

[0032] Working principle: When it is necessary to increase the stability of the device main body and conduct protection and buffering at the same time, first start the motor 24 at the right end of the fourth fixing block 23 to drive the first bevel gear 25 to rotate, and the first bevel gear 25 drives the second bevel gear 26 and the transmission rod 27 to rotate simultaneously. When the transmission rod 27 rotates, the outer sides of the front and rear ends of the transmission rod 27 also rotate along the inside of the second sleeve block 28, and the fixing rod 29 is used to fixedly support the position of the second sleeve block 28. When the transmission rod 27 rotates, it simultaneously drives the limit block 30 to rotate, and the limit block 30 can effectively start the function of limiting the transmission rod 27 to prevent the transmission rod 27 from moving forward and backward. At the same time, the rotation of the transmission rod 27 drives the third bevel gears 31 at the front and rear ends to rotate. When the third bevel gear 31 rotates, it simultaneously drives the fourth bevel gear 32 and the bidirectional threaded rod 19 to rotate. When the bidirectional threaded rod 19 rotates, it drives the rotating blocks 20 at the left and right ends to rotate along the inside of the first sleeve block 21 simultaneously, and the third fixing block 22 is used to fixedly support the position of the first sleeve block 21. When the bidirectional threaded rod 19 rotates, it drives the first moving block 16 to move outward along the outside of the bidirectional threaded rod 19. When the first moving block 16 moves, it drives the fixing plate 15 to move simultaneously. Similarly, when the first moving block 16 moves, it will move along the outside of the first guide rod 17 inside the second fixing block 18, and at the same time drive the first bottom plate 10 to move outward to expand the width of its contact with the ground to increase stability. When encountering a bumpy situation, the generated impact energy will drive the CT imaging device main body 2 and the base 1 to move downward. When the base 1 moves downward, it drives the first return spring 14 and the damper 12 at the bottom end of the first fixing block 13 to contract and buffer simultaneously, and the anti-slip block 11 at the bottom end of the first bottom plate 10 can also start the shock absorption effect and increase the anti-slip effect. At the same time, when the base 1 moves downward, it will squeeze the first fixing seat 33 to move downward, and when the first fixing seat 33 moves, it drives the push rod 34 to rotate outward along the outside of the first fixing seat 33. At the same time, when the push rod 34 rotates outward, the push rod 34 rotates along the outside of the second fixing seat 35, and at the same time pushes the second moving block 36 to move outward. When the second moving block 36 moves, it will move along the outside of the second guide rod 37 at the top end of the second bottom plate 40, and the fifth fixing block 39 is used to fixedly support the position of the second guide rod 37. At the same time, when the second moving block 36 moves, it will squeeze the second return spring 38 outside the second guide rod 37 to contract and buffer When the device is in use, the X-ray source 41 and the flat panel detector 47 are moved from the inside of the gantry hole to the front side of the gantry, significantly reducing the occupancy of the imaging components in the internal space of the gantry, enabling the gantry aperture to be expanded to 1 m, meeting the imaging requirements for most intraoperative procedures. At the same time, the space within the imaging area formed by the X-ray source 41 and the flat panel detector 47 is no longer restricted by the gantry body. After the intraoperative imaging is completed, medical staff can directly perform surgical operations within the imaging space without removing the CBCT device. The outer side of the inner ring 45 of the bearing is connected to a timing belt 51, which is used to drive the large bearing, the fixing frame, and the imaging components to rotate 360° on the vertical circumference. The timing belt 51 is driven by a timing pulley and a drive motor 49 to achieve precise control of the inner ring 45 of the bearing. The idler pulley 50 increases the friction and stability of the timing belt 51, preventing unnecessary movement of the timing belt 51 during operation due to external forces. The drag chain 57 connected to the inner side of the inner ring 45 of the bearing is used to protect and orderly manage the cables and pipelines connecting the X-ray source 41, the flat panel detector 47, and other related electronic devices. The drag chain 57 is arranged along the movement trajectory of the inner ring 45 of the bearing and flexibly extends or contracts as the bearing rotates, effectively avoiding problems such as entanglement and wear that may occur to the cables and pipelines during frequent movement. The casters 55 are used to provide omnidirectional movement support, enabling the entire device to move easily in multiple directions within the operating room. The casters 55 are equipped with locking devices that can fix the position of the device when needed to ensure the stability of the device during scanning. The electric steering wheel 56 is driven by a steering wheel drive motor 53, which is used to precisely control the direction adjustment of the device and provide additional power support to assist medical staff in quickly positioning the device. The lead screw motor 62 and two slide rails 63 installed at the connection between the flat panel detector mount 46 and the flat panel detector 47 are used to achieve the offset of the flat panel detector 47, enabling flexible expansion or adjustment of the imaging field without changing the patient's position and avoiding the influence of truncation artifacts. The lead screw motor 62 drives the flat panel detector 47 to perform linear displacement along the slide rail 63 by precisely controlling the rotation of the lead screw. The slide rail 63 provides a guiding function and ensures the stability and smoothness of the flat panel detector 47 during movement.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. An intraoperative cone-beam CT imaging device, comprising a base (1); characterized in that: The top end of the base (1) is fixedly connected to a CT imaging device body (2), and the bottom end of the base (1) is provided with a buffer stabilization mechanism; The inner wall of the CT imaging device body (2) is fixedly connected to a bearing outer ring (44), the inner wall of the bearing outer ring (44) is rotatably connected to a bearing inner ring (45), the rear end of the bearing outer ring (44) is fixedly connected to a ray source mounting seat (42) near the top, the top of the ray source mounting seat (42) is fixedly connected to an X-ray source (41), the bottom of the ray source mounting seat (42) is fixedly connected to a harness device (43), the rear end of the bearing inner ring (45) near the bottom is fixedly connected to a flat panel detector mounting seat (46), the top of the flat panel detector mounting seat (46) is fixedly connected to a flat panel detector (47), the outer side of the bearing inner ring (45) is transmission-connected to a synchronous belt (51), the synchronous belt (51) is transmission-connected to a synchronous wheel, the synchronous wheel is fixedly connected to a driving motor (49), the rear end of the CT imaging device body (2) is fixedly connected to a belt pressure wheel (50), the belt pressure wheel (50) is slidably connected to the synchronous belt (51).

2. The intraoperative cone-beam CT imaging device according to claim 1, characterized in that: The synchronous wheel and the driving motor (49) are electrically connected to a battery (48) via a wire; the bottom end of the battery (48) is fixedly connected to the CT imaging device body (2); the bottom end of the CT imaging device body (2) is fixedly connected to a caster (55); the left and right sides of the bottom end of the CT imaging device body (2) are also fixedly connected to an electric steering wheel (56); the inner wall of the CT imaging device body (2) is fixedly connected to a steering wheel driving motor (53); the left side of the top end of the CT imaging device body (2) is fixedly connected to an inverter (52); the left side of the rear end of the CT imaging device body (2) is fixedly connected to a control board (54); the flat panel detector is arranged A lead screw motor (62) is fixedly connected at the connection between the mounting seat (46) and the flat panel detector (47); a slide rail (63) is also fixedly connected at the connection between the flat panel detector mounting seat (46) and the flat panel detector (47); an AC contactor (58) is fixedly connected to the rear end of the CT imaging device body (2); a filter (59) is also fixedly connected to the rear end of the CT imaging device body (2); a drag chain (57) is provided inside the bearing inner ring (45); a driver (61) is fixedly connected at the rear end of the CT imaging device body (2); and a drive motor (60) is also fixedly connected at the rear end of the CT imaging device body (2).

3. The intraoperative cone-beam CT imaging device according to claim 2, characterized in that: The buffer stabilization mechanism comprises a first bottom plate (10), the first bottom plate (10) being arranged on the left and right sides of the front and rear ends of the bottom of the base (1), the bottom of the first bottom plate (10) being fixedly connected to an anti-sliding block (11), the top of the first bottom plate (10) being fixedly connected to a damper (12), the top of the damper (12) being fixedly connected to a first fixing block (13), a first return spring (14) being arranged outside the damper (12), the bottom of the first return spring (14) being fixedly connected to the first bottom plate (10), and the top of the first return spring (14) being fixedly connected to the first fixing block (13), the top of the first fixing block (13) being fixedly connected to a fixing plate (15), the fixing plate (15) A first moving block (16) is fixedly connected to the side end thereof, the first moving block (16) is slidably connected to the first guide rod (17), the left and right sides of the first guide rod (17) are fixedly connected to second fixed blocks (18), the top end of the second fixed block (18) is fixedly connected to the bottom end of the base (1), the first moving block (16) is threadedly connected to a bidirectional threaded rod (19), the left and right ends of the bidirectional threaded rod (19) are fixedly connected to a rotating block (20), the rotating block (20) is rotatably connected to a first set block (21), the side end of the first set block (21) is fixedly connected to a third fixed block (22), the top end of the third fixed block (22) is fixedly connected to the bottom end of the base (1).

4. The intraoperative cone-beam CT imaging device according to claim 3, characterized in that: A fourth fixing block (23) is fixedly connected to the bottom end of the base (1); a motor (24) is fixedly connected to the right end of the fourth fixing block (23); a first bevel gear (25) is fixedly connected to the right end of the motor (24); the first bevel gear (25) is meshingly connected to the second bevel gear (26); and a transmission rod (27) is fixedly connected to the inner wall of the second bevel gear (26).

5. The intraoperative cone-beam CT imaging device according to claim 4, characterized in that: The transmission rod (27) is rotatably connected to a second set block (28) at positions near the front and rear ends on the outside, the second set block (28) is fixedly connected to a fixing rod (29) at the top, the fixing rod (29) is fixedly connected to the base (1) at the top, and the transmission rod (27) is fixedly connected to a limiting block (30) at positions near the front and rear ends on the outside of the second set block (28).

6. The intraoperative cone-beam CT imaging device according to claim 5, characterized in that: The front and rear ends of the transmission rod (27) are both fixedly connected to a third bevel gear (31), the third bevel gear (31) is meshingly connected to a fourth bevel gear (32), and the inner wall of the fourth bevel gear (32) is fixedly connected to the outer side of the bidirectional threaded rod (19).

7. The intraoperative cone-beam CT imaging device according to claim 6, characterized in that: A second bottom plate (40) is provided on both left and right sides of the bottom end of the base (1); a fifth fixed block (39) is fixedly connected to both left and right sides of the top end of the second bottom plate (40); a second guide rod (37) is fixedly connected to the inner wall of the fifth fixed block (39); and the second guide rod (37) is slidably connected to the second movable block (36).

8. The intraoperative cone-beam CT imaging device according to claim 7, characterized in that: Second return springs (38) are provided at both left and right ends of the outer side of the second guide rod (37); the second return spring (38) is fixedly connected to the fifth fixed block (39); the second return spring (38) is also fixedly connected to the second movable block (36).

9. The intraoperative cone-beam CT imaging device according to claim 8, characterized in that: The second movable block (36) is fixedly connected to a second fixed seat (35) at the top end, the second fixed seat (35) is rotatably connected to a push rod (34) at the outside, the push rod (34) is rotatably connected to the first fixed seat (33), and the top end of the first fixed seat (33) is fixedly connected to the bottom end of the base (1).

10. An intraoperative cone-beam CT imaging method comprises an intraoperative cone-beam CT imaging device according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: S1: moving the base (1) and the CT imaging device body (2) to a position where imaging is required by using casters (55), and then locking and fixing the casters (55); S2: starting the screw motor (62) according to the patient's body position to make the flat panel detector (47) perform linear displacement along the slide rail (63), and adjusting the flat panel detector (47) to a position that matches the patient's body position; S3: starting the driving motor (49) to drive the X-ray source (41) and the flat panel detector (47) to rotate along the inner ring (45) of the bearing via the synchronous belt (51) to photograph the designated part; S4: while the X-ray source (41) rotates, a cone beam X-ray is emitted, and the flat panel detector (47) receives X-ray signals that penetrate the patient's tissue to generate a two-dimensional projection image; S5: The projection data is corrected according to the geometric weights through the FDK algorithm, and the ramp filter (Ram-Lak) is used for convolution to back-project the filtered data along the cone beam ray path into the three-dimensional space to obtain the three-dimensional image information.

Images