Antenna moving device for cerebral hemorrhage detection, detection equipment and detection method

Abstract

The invention discloses an antenna moving device for cerebral hemorrhage detection, detection equipment and detection method.The antenna moving device comprises an annular guide rail used for providing a circumferential moving path of an antenna module in a two-dimensional plane, and the annular guide rail is provided with a plurality of target position points; the target position point is a measurement point of the antenna module; each antenna module is provided with an antenna and a sliding block, the sliding block is installed on the annular guide rail, the antenna is fixed to the sliding block, and the sliding block moves along the annular guide rail; the driving mechanism is connected with each antenna module, and the driving mechanism drives the antenna modules to move to respective target position points based on the driving instructions; the position detection module is used for detecting the position of the sliding block in real time and outputting a feedback signal; and the control module is used for adjusting the driving instruction based on a feedback signal of the position detection module and outputting the adjusted driving instruction to the driving mechanism.

Description

Technical Field

[0001] The present application relates to the technical field of biomedical medical equipment, and in particular to an antenna moving device, a detection device and a detection method for cerebral hemorrhage detection. Background Art

[0002] Intracerebral hemorrhage (ICH) is a common neurosurgical emergency, and timely and accurate diagnosis is crucial for patient treatment and prognosis. Traditional ICH detection relies primarily on imaging methods such as CT and MRI. However, these devices are often bulky, expensive, and require strict operating environments, making them unsuitable for rapid screening in emergency situations, on-site medical care, or resource-constrained settings.

[0003] Due to individual patient variability, it's difficult to accurately assess a patient's recovery progress through indirect bedside monitoring data such as electrocardiogram (ECG), respiration, and brain waves. This is particularly true for life-threatening conditions like secondary intracerebral hemorrhage after surgery. Existing measurement methods are complex and time-consuming, delaying emergency care. Indirect, non-bedside, real-time monitoring of brain recovery progress results in prolonged ICU stays, resulting in high costs and excessive use of prioritized ICU resources.

[0004] Existing detection equipment typically requires the antenna to be fixed in a specific carrier and maintained in a relatively fixed position. In microwave detection equipment, the transceiver antennas are arrays, secured to the patient's head via a wearable device. Each antenna requires cables to connect to the microwave signal source and data processing unit. These numerous cables take up considerable space and hinder the placement of other medical devices, such as catheters. Furthermore, this type of detection equipment requires the patient to place their head deeply into the device's detector, making operation difficult in situations such as postoperative cases where a catheter is lodged in the patient's brain.

[0005] Existing microwave brain imaging technologies utilize a fixed microwave scanning method. For example, a fixed scanning method currently used in clinical applications employs a detection system comprised of 177 ceramic waveguide antennas arranged in a hemispherical topology. During the detection process, the antennas are fixed relative to the object being measured. The system controls the antennas' transmit and receive sequences to achieve spatial scanning. This fixed scanning method, limited by the spatial size and density of the space, significantly impacts imaging accuracy. Furthermore, due to the limited space and fixed scanning method, these detectors cannot simultaneously achieve high scan density and microwave ultra-high bandwidth scanning.

[0006] In summary, traditional fixed multi-antenna arrays face the following problems: 1. Device size and complexity: To achieve sufficient spatial resolution and detection accuracy, multiple (even a dozen or more) antennas need to be arranged around the head, making the device bulky and non-portable.

[0007] 2. Cost and maintenance: A large number of antennas and the corresponding channels, wiring, and isolation measures increase system cost and maintenance difficulty.

[0008] 3. Trade-off between measurement accuracy and resolution: To obtain sufficient directional and spatial resolution, an antenna array with more independent channels is required, but this conflicts with the goals of portability and low cost.

[0009] 4. Space Constraints and Hardware: Traditional multi-array antennas require a large space and have a fixed structure, making them difficult to wear. Array antennas also often require complex switching and electrical control systems. Summary of the Invention

[0010] In response to the above situation, the embodiments of the present application propose an antenna moving device, a detection equipment and a detection method for cerebral hemorrhage detection to overcome or at least partially overcome the shortcomings of the existing technology.

[0011] In a first aspect, the present application discloses an antenna moving device for detecting cerebral hemorrhage, the device comprising: An annular guide rail, used to provide a circumferential movement path for the antenna module in a two-dimensional plane, wherein the annular guide rail is provided with a plurality of target position points, which are measurement points of the antenna module; Two antenna modules, each antenna module having an antenna and a slider, the slider being mounted on an annular guide rail, the antenna being fixed on the slider, and the slider moving along the annular guide rail; A driving mechanism connected to each antenna module, wherein the driving mechanism drives the antenna modules to move to respective target positions based on a driving instruction; The position detection module is used to detect the position of the slider in real time and output a feedback signal; The control module adjusts the driving instruction based on the feedback signal of the position detection module and outputs the adjusted driving instruction to the driving mechanism.

[0012] In one embodiment, the driving mechanism includes a stepping motor and a transmission component, the output end of the stepping motor is connected to the transmission component, and the transmission component is connected to the slider to drive the slider to move along the annular guide rail.

[0013] In one embodiment, the position detection module includes a high-precision encoder and a photoelectric sensor.

[0014] In one embodiment, the feedback signal is a real-time position signal, and the real-time position signal is used to represent the actual moving position of the antenna; The control module obtains the antenna position error according to the actual moving position of the antenna and the preset moving position; The driving instruction is adjusted according to the antenna position error and the adjusted driving instruction is output to the driving mechanism, wherein the driving instruction is a pulse signal.

[0015] In one embodiment, the control module also includes determining the target position point where the antenna is currently located based on the real-time position signal, and determining whether the current target position point is the end position. If not, the antenna continues to move to the next target position. If the movement is completed, the end position is a point pre-selected from the target position point.

[0016] In one embodiment, the control module further includes determining whether the difference is greater than a preset error based on the antenna position error, and if so, adjusting the preset moving position; if so, starting the antenna to collect antenna reception signals or transmission signals.

[0017] In one embodiment, the motor is a stepper motor or a servo motor, and the transmission component is one of a rack and pinion, a synchronous belt, or a linear motor segment.

[0018] In one embodiment, the high-precision encoder is combined with a photoelectric sensor to efficiently convert light signals into electrical signals, and the rotation angle and position of the motor are obtained according to the electrical signals.

[0019] In a second aspect, the present application further discloses a detection device for detecting cerebral hemorrhage, comprising the above-mentioned antenna moving device, and further comprising: A microwave signal source is electrically connected to the antenna module and is used to provide an excitation signal to the antenna module; an antenna switch control module, electrically connected to the antenna module, for turning on or off the antenna of the antenna module according to a preset program; The microwave signal processing unit performs imaging processing on the scattered signals collected by the antenna of the antenna module.

[0020] In a third aspect, the present application also provides a detection method for cerebral hemorrhage detection, which is applied to the above-mentioned detection device, and the method comprises: Selecting multiple target position points on the circular guide rail and setting the target position points as spatial sampling points of the detection equipment; Controlling the driving mechanism to drive the slider on the annular guide rail so that the antenna moves to each target position point in sequence; The received signal or transmitted signal of the antenna at each target location is collected.

[0021] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: A device and method for achieving an equivalent multi-point antenna array distribution using a small number of movable antennas. By deploying movable sliders on a circular guide rail and integrating them with precision stepper motors and position sensors, the device can accurately reproduce the antenna measurement environment at multiple specific spatial locations over a time series. This invention reduces the number of antennas and system complexity, and through position calibration and data correction, it ensures that model training is not affected by position deviations, thereby improving overall system performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A structural schematic diagram showing the positions of the antenna and headgear according to an embodiment of the present application.

[0023] Figure 2 A schematic structural diagram showing an antenna running around a headgear according to an embodiment of the present application is shown.

[0024] Figure 3 A logic diagram showing how the control module precisely controls the position movement of the antenna module.

[0025] Figure 4 A control logic diagram showing how the control module precisely controls the movement of the antenna module.

[0026] Figure 5 A flow chart showing a detection method for cerebral hemorrhage detection.

[0027] Figure 6 A schematic structural diagram of a detection device for detecting cerebral hemorrhage is shown. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0029] To address the deficiencies of the prior art, the first embodiment of the present application provides an antenna moving device for cerebral hemorrhage detection, comprising: The annular guide rail is used to provide a circumferential movement path for the antenna module in a two-dimensional plane. The annular guide rail is provided with a plurality of target position points, which are measurement points of the antenna module.

[0030] Two antenna modules are installed on the annular guide rail, and the antenna modules move along the annular guide rail.

[0031] Each antenna module consists of a slider and an antenna. The antenna module has two antennas: a first antenna and a second antenna. The first and second antennas are connected to a microwave signal source via transmission cables. They receive excitation signals from the microwave signal source and can serve as both transmitting and receiving antennas.

[0032] The driving mechanism is connected to each antenna module, and drives the antenna modules to move to their respective target positions based on a driving instruction.

[0033] In an embodiment of the present application, the slider of the antenna module is fixed together with the antenna, and each slider is connected to a driving mechanism. In the present application, the driving mechanism includes a motor and a transmission component connected to the motor. The motor is a stepper motor or a servo motor, and the transmission component is one of a rack gear, a synchronous belt or a linear motor segment. The motor receives a driving instruction issued by the control module, adjusts the motor speed according to the driving instruction, and the motor drives the transmission component, thereby driving the slider connected to the transmission component, so that the slider moves precisely along the annular guide rail.

[0034] The present application also includes a position detection module for real-time detection of the slider's position and outputting a feedback signal. This position detection module includes a high-precision encoder, photoelectric sensor, or laser positioner. The present application's precision stepper motor and position detection module can accurately reproduce the antenna measurement environment at multiple specific spatial points in a time series.

[0035] The high-precision encoder of this application is combined with a photoelectric sensor to efficiently convert optical signals into electrical signals. In-depth analysis of these electrical signals can obtain the rotation angle and position of the motor, achieving accurate measurement. The feedback signal includes a real-time position signal and an antenna position error feedback signal. The real-time position signal is used to represent the current position of the real-time positioning antenna, and the antenna position error feedback signal is used to represent the difference between the preset moving position of the antenna and the actual moving position.

[0036] The control module controls the movement of the driving mechanism, adjusts the driving instruction based on the feedback signal of the position detection module, and outputs the adjusted driving instruction to the driving mechanism.

[0037] The control module of the present application obtains a feedback signal from the position detection module, which is a real-time position signal used to represent the actual moving position of the antenna; Obtaining antenna position error based on the actual moving position of the antenna and the preset moving position; The driving instruction is adjusted according to the antenna position error and the adjusted driving instruction is output to the driving mechanism, wherein the driving instruction is a pulse signal.

[0038] The control module obtains the real-time position signal transmitted by the detection module, and determines the target position point where the antenna is currently located based on the real-time position signal, and determines whether the current target position point is the end position. If not, the antenna continues to move to the next target position. If it is the end, the end position is a point pre-selected from the target position point.

[0039] Components such as stepper motors, drivers, encoders, and photoelectric sensors work together to ensure stable rotation of the antenna modules. Vector control of stepper motors requires real-time acquisition of motor speed and position information. A high-precision encoder, combined with a photoelectric sensor, efficiently converts optical signals into electrical signals representing the slider's position. These signals, representing both the slider's position and the motor's speed, are then fed into the control module, which dynamically adjusts the speed based on the difference between the current and preset speeds. Through closed-loop feedback control using electrical signals, the encoder and stepper motor achieve high-precision, repeatable positioning control of each antenna module at its designated location.

[0040] The control module of the present application obtains an expected value, which is the target position point of the antenna module set by the user. The control module of the present application adjusts the pulse signal sent to the drive mechanism according to the difference between the actual value and the expected value to drive the motor to reach the expected value.

[0041] The control module, drive mechanism, and position detection module are connected in a closed loop. This allows the control module to continuously adjust the pulse signal sent to the drive mechanism based on the difference between the desired value and the actual value sent by the position detection module, driving the stepper motor until the operating value reaches the desired value. This closed-loop control ensures control accuracy, avoids lost steps, and greatly improves reliability.

[0042] In the present application, the control module also includes determining the current target position point of the antenna based on the real-time position signal, and determining whether the current target position point is the end position. If not, the antenna continues to move to the next target position. If it is the end, the end position is a point pre-selected from the target position point.

[0043] Specific: Figure 3 As shown, the control module accurately controls the logic diagram of the position movement of the antenna module.

[0044] S1 Initially, antenna 1 is at position 1 and antenna 2 is at position 2; S2 determines whether antenna 2 has reached the end position, which is position 16; If S3 reaches the end position 16, continue to S4. If not, the position number of antenna position 2 is increased by 1; S4 determines whether antenna 1 has reached the end position 15. If so, continue to S5. If it has not reached the end position 16, the position number of antenna position 2 is increased by 1; S5 completes the measurement.

[0045] In the present application, the control module also includes judging whether the difference is greater than a preset error based on the antenna position error. If it is greater than the preset error, adjusting the preset moving position; if it is less than, starting the antenna, collecting the antenna receiving signal or transmitting the signal.

[0046] Specific: Figure 4 As shown, the control logic diagram of the control module precisely controls the movement of the antenna module.

[0047] H1 sets the mobile position of the antenna; H2 obtains the position of the antenna after movement; H3 calculates the error between the set moving position and the position after moving; If H4 is greater than the acceptable range (preset error), return to H1; if it is less than the acceptable range (preset error), continue to H5; H5 triggers measurements and signal acquisition.

[0048] In this embodiment, 16 target measurement points are evenly arranged along the circumference of the circular guide rail. There are two antennas, namely antenna 1 and antenna 2. The 16 target measurement points are numbered 1-16 in the clockwise direction. Antenna 1 is initially located at position 1, and antenna 2 is initially located at position 2. After antenna 2 moves clockwise one circle to its final position 16, antenna 1 moves to position 2. Antenna 1 is at position 2, and antenna 2 is at position 3. At this time, while antenna 2 moves from position 3 to position 16, antenna 1 remains stationary at position 2, and antenna 2 moves clockwise from position 3 to position 16. This cycle continues until all positions are measured.

[0049] It should be noted that this application is streamlined in that the number of antennas is reduced, and the antennas are rotatable on the annular guide rails. To prevent the cables connected to the antennas from getting tangled during rotation, this application uses flexible cables and directional guide rails. If the rotation range is limited (for example, less than 360°), highly flexible RF cables and directional guide rails can be used to guide the cable direction, so that it automatically gathers and relaxes during rotation, thereby avoiding kinks and excessive bending. Because in the portable intracerebral hemorrhage detection and analyzer, the cable will not exceed 360° during rotation. When the rotation approaches 360°, reverse rotation is used to prevent the cable from getting tangled.

[0050] like Figure 3As shown, the initial position of antenna 1 is at position 1, and the initial position of antenna 2 is at position 2. The position encoder reads the positions of positions 1 and 2 to determine whether they are accurate and reach the preset accuracy. When stationary, the signals of antenna 1 and antenna 2 are collected to obtain transmission parameters S12 and S21. According to the above process, when antenna 1 is at position 1 and antenna 2 is at position 3, the signals of antenna 1 and antenna 2 are collected to obtain transmission parameters S13 and S31. The cycle is repeated in sequence to finally obtain the S matrix as follows:

[0051] The slider drives the antenna to rotate and obtain its spatial configuration. Transmissions from different antennas pass through different locations on the head. The physiological dielectric properties of the head's relative positions are characterized by the transmission parameter S. For example, S21 is the frequency S-parameter matrix when transmitting from antenna 1 to antenna 2, and S12 is the frequency S-parameter matrix when transmitting from antenna 2 to antenna 1.

[0052] In one implementation scenario of the present application, the annular guide rail is mounted on the patient's head, and a space is reserved between the head and the slider for movement. The size of the annular guide rail is adapted to the patient's head. Antenna 1 serves as a transmitting antenna, and antenna 2 serves as a receiving antenna. The transmitting antenna is in an initial position, and the signal from the transmitting antenna scans the patient's head. The receiving antenna rotates gradually with a step size of α degrees. The size of α degrees depends on the number of equal parts n of the annular guide rail, and the size of α degrees is 360° / n, until the maximum scanning angle θ degrees is reached. During the entire process, the antenna module moves a total of n positions, and each position can obtain spatial information within the range of its scanning aperture α degrees, thereby ensuring full coverage of the scanned area.

[0053] The frequency band simulated by the embodiment of the present invention is 1 GHz, and the radius value R0 of the circular guide rail is set to a range of 60-120 mm (corresponding to the head size of different patients), which can be flexibly adjusted later. This solution uses 2 antennas, and the circular guide rail is divided into 16 equal parts. The spacing between each part corresponds to a central angle θ of 360 / 16°.

[0054] The microwave signal is radiated onto the subject's head through transmitting antenna 1. The microwave signal passes through the skull and strikes the internal tissue, reflecting the signal to receiving antenna 2. Since receiving antenna 2 rotates along the skull at a preset speed, it effectively collects scattered signals from all directions of the skull. Using this solution, only two antennas (one transmitting and one receiving) are used to achieve the effect of 16 antennas, resulting in a 16x16 S matrix.

[0055] When in use, the annular guide rail and antenna module of the present application replace the headgear in the prior art, and when rotating, it is equivalent to changing the position of the antenna by rotation to perform work.

[0056] The detection device of the present application can be a portable intracerebral hemorrhage detection and analysis instrument, which uses the annular guide rail and slider antenna mechanism of the present invention to measure electromagnetic characteristics of the head at different positions, with the following requirements: 1. The slider antenna quickly and accurately locates specific points around the head, allowing for multi-point measurements to be completed in a short period of time, improving detection efficiency.

[0057] 2. Ensure the positioning accuracy of the antenna at each sampling location so that the data obtained through time multiplexing can be correctly mapped to the desired spatial distribution characteristics, facilitating subsequent imaging algorithm or model training.

[0058] 3. Ensure stable signal transmission and low loss when moving the antenna to maintain high fidelity of measurement data.

[0059] Through annular guide rails, precision motor control, position feedback sensing and data calibration processing, the present invention enables a portable intracranial hemorrhage detection instrument to achieve the equivalent effect of multi-point antenna distribution in a relatively compact space, thereby improving the accuracy and feasibility of diagnosis.

[0060] The second embodiment of the present application provides a detection device for cerebral hemorrhage detection, such as Figure 6 As shown, the device includes the aforementioned antenna moving device, an antenna switch control module, and a microwave signal processing unit. The antenna switch control module is used to turn the antenna module's antenna on or off according to a preset program. The microwave signal processing unit performs imaging processing on the scattered signals collected by the antenna module's antenna. The structure of the antenna moving device is the same as above and will not be repeated here.

[0061] The antenna switch control module has a microwave control switch, which is connected to the antenna module and a microwave signal source. The microwave signal source and the microwave control switch turn on or off the antenna of the antenna module according to a preset program.

[0062] The detection device of the present application also includes a radio frequency signal transmission component connected to the antenna module. As the antenna module slides, the transmission component includes a flexible cable and a rotary joint to ensure low-loss transmission of the radio frequency signal during movement.

[0063] The microwave signal processing unit employed in this application is a vector network analyzer (VNA). The VNA supplies antenna energy in the 0.5 to 2 GHz frequency band and records the corresponding signal from the receiving antenna as data (referred to herein as "scattered signal" data). This data represents the amplitude and phase of the scattered microwaves in the form of "scattering parameters" or "S-parameters" known in the art. The VNA transmits this data to an analysis component for processing, thereby generating an image of internal features of the subject's head (e.g., brain blood clots, hemorrhage sites, and other features) and classifying these features (e.g., as brain blood clots or hemorrhage sites).

[0064] The detection equipment proposed in this solution uses a movable antenna equivalent multi-antenna array solution, which effectively solves the problems existing in the prior art. By applying the antenna moving device and method of the present invention in a portable intracerebral hemorrhage detection and analysis instrument, the equivalent effect of a multi-point array can be achieved through time multiplexing and precision mechanical movement without increasing the number of antennas, thereby obtaining spatial resolution and channel information similar to that of a multi-antenna array. This not only helps to significantly reduce the size and weight of the equipment, reduce hardware costs and complexity, but also improves signal quality and measurement consistency through high-precision positioning and data calibration, ultimately helping to improve the accuracy and reliability of intracerebral hemorrhage detection.

[0065] The third embodiment of the present application provides a detection method for cerebral hemorrhage detection, such as Figure 5 As shown, applied to the above-mentioned detection equipment, the method includes: S10 selects a plurality of target positions on the circular guide rail and sets the target positions as spatial sampling points of the detection device; S20: the driving mechanism drives the slider on the annular guide rail so that the antenna moves to each target position point in sequence; S30 collects the received signal or transmitted signal of the antenna at each target location point.

[0066] Compared with the existing technology, this application reduces the need for large-scale multi-antenna array deployment, achieving the equivalent of multiple units with only two antennas, simplifying design and maintenance. Traditional multi-array antennas require a large space and have a fixed structure that is not easy to wear. Array antennas also often require complex switching systems. However, the solution provided by this application only requires two high-quality antennas, which can obtain equivalent multi-channel data through rotation or stepping motion, achieve high-resolution imaging in a compact device, and make the system lightweight, portable, and even wearable.

[0067] In the complex human environment, tissue morphology varies, and the positioning and coupling effects of fixed arrays are poor. The mobility of this solution allows the antenna position distribution to dynamically adapt to the patient's specific morphological conditions, such as stepping along the shape of the head, or bypassing obstacles such as steel nails on the head, thereby improving detection sensitivity, accuracy and flexibility.

[0068] This solution is suitable for scenarios in medical microwave imaging that require high-resolution, clear imaging but are limited by hardware resources and clinical operating conditions. Specific issues include: High-precision early screening for cerebral hemorrhage: By accumulating multi-directional microwave scattering information over time, spatial resolution similar to that of a multi-element array can be obtained with a limited number of antennas, thereby improving the detection rate of small-sized blood clots. Accurate identification of tissue structure: In tissue imaging, rich multi-directional scattering data is required to distinguish between normal and abnormal tissues. This improved antenna acquires data through dynamic scanning, effectively enhancing the imaging algorithm's ability to identify subtle tissue features. Through high-precision data acquisition and powerful post-processing capabilities, this solution helps microwave imaging equipment detect early small lesions more reliably, facilitating early intervention and the formulation of treatment plans.

[0069] This application's solution utilizes a small number of movable antennas to achieve an equivalent multi-point antenna array distribution. By deploying movable sliders on circular guide rails, coupled with precision stepper motors and position sensors, it accurately reproduces the antenna measurement environment at multiple specific spatial points over a time series. This application reduces the number of antennas and system complexity, and through position calibration and data correction, it ensures that model training is unaffected by position deviations, thereby improving overall system performance.

[0070] Compared with the prior art, the present invention has the following beneficial effects: 1. Use fewer antennas and achieve 16 or more equivalent antenna points through mechanical movement, significantly reducing hardware costs and system complexity.

[0071] 2. Utilize precision drive, position feedback, and data calibration to ensure antenna positioning accuracy at each location, thereby improving the stability and consistency of signal acquisition data.

[0072] 3. The use of a movable antenna array is conducive to flexible scheduling of antenna positions in space, providing more experimental and application value for the portable cerebral hemorrhage detection and analyzer.

[0073] 4. While ensuring or improving resolution and accuracy, achieve lightweight, modular and personalized equipment adaptation, and promote faster and better application of microwave imaging technology in clinical screening and diagnosis.

[0074] 5. Through high-precision data acquisition and powerful post-processing capabilities, this solution helps microwave imaging equipment detect early small lesions more reliably, facilitating early intervention and the formulation of treatment plans.

[0075] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An antenna moving device for cerebral hemorrhage detection, characterized in that: The device includes: An annular guide rail, used to provide a circumferential movement path for the antenna module in a two-dimensional plane, wherein the annular guide rail is provided with a plurality of target position points, which are measurement points of the antenna module; Two antenna modules, each antenna module having an antenna and a slider, the slider being mounted on an annular guide rail, the antenna being fixed on the slider, and the slider moving along the annular guide rail; A driving mechanism connected to each antenna module, wherein the driving mechanism drives the antenna modules to move to respective target positions based on a driving instruction; The position detection module is used to detect the position of the slider in real time and output a feedback signal; The control module adjusts the driving instruction based on the feedback signal of the position detection module and outputs the adjusted driving instruction to the driving mechanism.

2. The antenna moving device according to claim 1, wherein: The driving mechanism includes a stepping motor and a transmission component. The output end of the stepping motor is connected to the transmission component, and the transmission component is connected to the slider to drive the slider to move along the annular guide rail.

3. The antenna moving device according to claim 1, wherein: The position detection module includes a high-precision encoder and a photoelectric sensor.

4. The antenna moving device according to claim 1, wherein: The feedback signal is a real-time position signal, and the real-time position signal is used to represent the actual moving position of the antenna; The control module obtains the antenna position error according to the actual moving position of the antenna and the preset moving position; The driving instruction is adjusted according to the antenna position error and the adjusted driving instruction is output to the driving mechanism, wherein the driving instruction is a pulse signal.

5. The antenna moving device according to claim 4, wherein: The control module also includes determining the target position point where the antenna is currently located based on the real-time position signal, and determining whether the current target position point is the end position. If not, the antenna continues to move to the next target position. If the movement is completed, the end position is a point pre-selected from the target position point.

6. The antenna moving device according to claim 4, wherein: The control module also includes judging whether the difference is greater than a preset error based on the antenna position error, and if so, adjusting the preset moving position; if so, starting the antenna to collect antenna reception signals or transmission signals.

7. The antenna moving device according to claim 2, wherein: The motor is a stepper motor or a servo motor, and the transmission component is one of a rack and pinion, a synchronous belt or a linear motor segment.

8. The antenna moving device according to claim 3, wherein: The high-precision encoder is combined with a photoelectric sensor to efficiently convert light signals into electrical signals, and the rotation angle and position of the motor are obtained based on the electrical signals.

9. A detection device for detecting cerebral hemorrhage, characterized in that: The antenna moving device according to any one of claims 1 to 5 is further provided with: A microwave signal source is electrically connected to the antenna module and is used to provide an excitation signal to the antenna module; an antenna switch control module, electrically connected to the antenna module, for turning on or off the antenna of the antenna module according to a preset program; The microwave signal processing unit performs imaging processing on the scattered signals collected by the antenna of the antenna module.

10. A detection method for cerebral hemorrhage detection, characterized in that: Applied to the detection device of claim 9, the method comprises: Selecting multiple target position points on the circular guide rail and setting the target position points as spatial sampling points of the detection equipment; Controlling the driving mechanism to drive the slider on the annular guide rail so that the antenna moves to each target position point in sequence; The received signal or transmitted signal of the antenna at each target location is collected.

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