CT (Computed Tomography) movement device and CT system

Abstract

The invention discloses a CT movement device and a CT system. The CT movement device comprises an examination bed movement module which is configured to control an examination bed to move in the horizontal direction by adopting closed-loop logic; the scanning frame motion module is configured to control the scanning frame to rotate by adopting closed-loop logic; and the master controller is configured to monitor the examination bed in real time through the examination bed movement module, monitor the scanning frame in real time through the scanning frame movement module and synchronize the clocks of the examination bed movement module and the scanning frame movement module. The examination bed and the scanning frame are independently controlled through closed-loop logic, the clocks of the examination bed movement module and the scanning frame movement module are synchronized, real-time synchronous feedback and dynamic correction can be effectively achieved, dynamic interference and load changes in the multi-axis cooperative movement process can be coped, and the accuracy of multi-axis cooperative movement is improved. The overall performance and robustness of multi-axis motion control are improved, a CT system can achieve high-quality imaging in a high-speed and high-precision scanning task, and distortion or artifacts of a reconstructed image are avoided.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a CT motion device and CT system. Background Technology

[0002] As a crucial piece of equipment in modern medical imaging diagnosis, CT scans patients from multiple angles using X-rays to generate high-quality tomographic images, providing vital information for clinical diagnosis. During a CT scan, multiple motion axes (such as the gantry rotation axis and the examination table motion axis) typically work together to complete complex scanning trajectories and imaging tasks. The synchronous control performance of these multi-axis movements directly affects the accuracy and quality of the scanned images.

[0003] However, existing technologies still have many shortcomings in multi-axis motion synchronization control, specifically including the following aspects: First, due to differences in mechanical structure, drive method, and control system response characteristics among the various motion axes, asynchronous motion can easily occur. This synchronization error directly causes spatiotemporal inconsistencies in the scanned data, resulting in distortion or artifacts in the reconstructed images and affecting the accuracy of the doctor's diagnosis.

[0004] Secondly, traditional control methods often employ open-loop control or simple single-axis closed-loop control strategies, which struggle to handle dynamic disturbances and load variations during multi-axis coordinated motion. This lack of control precision limits the imaging quality of CT equipment in high-speed or high-precision scanning tasks.

[0005] Finally, most existing systems employ independent transmission of control signals for each axis, lacking effective real-time synchronization feedback and dynamic correction mechanisms. Without real-time coordination and compensation strategies between axes, the system struggles to correct deviations promptly during operation, further limiting the overall performance and robustness of multi-axis motion control.

[0006] Therefore, there is an urgent need for a multi-axis motion control scheme that can achieve high precision, high responsiveness and strong real-time synchronization capabilities to improve the imaging quality and scanning efficiency of CT equipment. Summary of the Invention

[0007] Therefore, it is necessary to provide a CT motion device and CT system to address at least one technical problem existing in traditional solutions.

[0008] According to a first aspect of this application, a CT motion device is provided, comprising: an examination bed motion module configured to control the examination bed to move horizontally using closed-loop logic; a gantry motion module configured to control the gantry to rotate using closed-loop logic; and a main controller configured to monitor the examination bed in real time through the examination bed motion module and the gantry in real time through the gantry motion module, and to synchronize the clocks of the examination bed motion module and the gantry motion module.

[0009] According to one embodiment of this application, the examination bed motion module includes a first motor, a first driver, and a first encoder. The first driver is connected between the first motor and the main controller. The first motor is configured to receive control from the first driver to drive the examination bed to move in the horizontal direction. The first encoder is configured to acquire first position information and first speed information of the examination bed in real time.

[0010] According to one embodiment of this application, the examination bed motion module further includes a second encoder, the second encoder being configured to acquire second position information and second speed information of the examination bed in real time, and the main controller being configured to compare the first position information and the second position information, and compare the first speed information and the second speed information, and determine whether the control of the first drive needs to be adjusted based on the comparison result.

[0011] According to one embodiment of this application, the first encoder is integrated within the first motor.

[0012] According to one embodiment of this application, the scanning gantry motion module includes a second motor, a second driver, and a third encoder. The second driver is connected between the second motor and the main controller. The second motor is configured to receive control from the second driver to drive the scanning gantry to rotate. The third encoder is configured to acquire third position information and third speed information of the scanning gantry in real time.

[0013] According to one embodiment of this application, the scanning gantry motion module further includes a fourth encoder, the fourth encoder being configured to acquire fourth position information and fourth speed information of the scanning gantry in real time, and the main controller being configured to compare the third position information and the fourth position information, and compare the third speed information and the fourth speed information, and determine whether it is necessary to adjust the control of the second driver based on the comparison result.

[0014] According to one embodiment of this application, the third encoder is integrated within the second motor.

[0015] According to one embodiment of this application, the main controller is configured to acquire the clocks of the examination bed motion module and the scanning gantry motion module in real time, and adjust the other clock with one clock as the master.

[0016] According to one embodiment of this application, the examination bed motion module includes a first controller, on which a first local clock is provided; the scanning gantry motion module includes a second controller, on which a second local clock is provided; the master controller uses one of the first local clock and the second local clock as a reference clock and the other as a slave clock, and adjusts the slave clock and the master controller's own clock with the reference clock.

[0017] According to one embodiment of this application, the examination bed motion module is connected to the main controller via an EtherCAT bus; the scanning gantry motion module is connected to the main controller via an EtherCAT bus.

[0018] According to one embodiment of this application, the main controller is configured to start synchronizing the clocks of the examination bed motion module and the scanning gantry motion module when the moving speed of the examination bed is controlled to a first predetermined value via a first driver of the examination bed motion module and the rotating speed of the scanning gantry is controlled to a second predetermined value via a second driver module of the scanning gantry motion module.

[0019] According to a second aspect of this application, a CT system is provided, comprising: the CT motion device.

[0020] The CT motion device and CT system provided in this application control the examination bed and gantry separately through closed-loop logic, and synchronize the clocks of the examination bed motion module and the gantry motion module. This enables effective real-time synchronous feedback and dynamic correction, effectively copes with dynamic interference and load changes during multi-axis coordinated motion, improves the overall performance and robustness of multi-axis motion control, and enables the CT system to achieve high-quality imaging in high-speed and high-precision scanning tasks, avoiding distortion or artifacts in the reconstructed images. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the CT motion module in one embodiment of this application; Figure 2This is a structural block diagram of the CT motion module in one embodiment of this application; Figure 3 This is a schematic diagram of the CT structure in its initial state in one embodiment of this application; Figure 4 This is a schematic diagram of the CT scanner in scanning state in one embodiment of this application. Detailed Implementation

[0023] To make the above-mentioned objectives, features, and advantages of this application more readily understood, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0024] It should be noted that when an element is said to be "fixed to" another element, it can be directly fixed to the other element or there may be an intervening element. When an element is said to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "substantially equal" or "substantially equal to" as used herein mean that the difference between the two lies within a range of errors considered equivalent in the art. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The terms “and / or” or “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0026] The following description, with reference to the accompanying drawings, illustrates some preferred embodiments of the present application. It should be noted that the following description is for illustrative purposes only and is not intended to limit the scope of protection of this application.

[0027] Figure 1 This is a schematic diagram of the CT motion device in one embodiment of this application. Figure 2This is a structural block diagram of a CT motion module in one embodiment of this application. In one embodiment, the CT motion device may include an examination table motion module 100, a scanning gantry motion module 200, and a main controller 500. A CT system generally includes a control device, a scanning device, and an examination table device. The scanning device is used to acquire information about the object being examined through scanning. The examination table device is used to move the object being examined. The scanning device generally includes structures such as a gantry, X-ray tube, rotating axis, and detector. The examination table device generally includes structures such as an examination table, base plate, and base. The control device is generally used to issue control commands to the scanning device and the examination table device, and also to receive signals acquired by the scanning device and process the signals to obtain an image. The CT system provided in this application also includes a CT motion device, which is generally integrated with the control device, the scanning device, and the examination table device.

[0028] Specifically, the inspection bed motion module 100 is configured to use closed-loop logic to control the horizontal movement of the inspection bed 300. The inspection bed motion module 100 can be set as a precision mechatronic mechanism. This mechanism controls the movement of the inspection bed 300 on the one hand, and monitors the position, speed and other information of the inspection bed 300 in real time on the other hand. This facilitates real-time adjustment of the control of the inspection bed 300. The closed-loop logic compares the command position (usually sent through the main controller 500) with the actual position in real time, and dynamically adjusts the movement speed to ensure that the horizontal movement of the inspection bed 300 has high positioning accuracy and excellent motion stability.

[0029] Furthermore, the examination bed motion module 100 includes a first motor 110, a first driver 130, and a first encoder (not shown). The first driver 130 is connected between the first motor 110 and the main controller 500. The first driver 130 is configured to receive control commands from the main controller 500 and, based on the control commands, issue pulse control signals to control the first motor 110. The first motor 110 is configured to accept the control of the first driver 130 to drive the examination bed 300 to move horizontally. The first encoder (not shown) is configured to acquire the first position information and the first speed information of the examination bed 300 in real time. The first encoder (not shown) can be configured separately on the examination bed 300 or integrated into the first motor 110.

[0030] The first motor 110, the first driver 130, and the first encoder (not shown) are the three core components of the examination bed motion module 100. These three components together form at least a part of a closed-loop motion control system for the examination bed 300. The first driver 130 serves as a key connection hub, capable of high-speed data exchange with the main controller 500 via an industrial bus on one end, and connected to the first motor 110 via a high-power drive circuit on the other, forming a stable and reliable drive link. The first motor 110 can be a high-performance servo motor, with its rated power precisely matched to actual load requirements, providing sufficient output torque while maintaining low-noise operation. The first motor 110 is connected to the transmission system of the examination bed 300 through a precision reduction mechanism. After receiving pulse control signals from the first driver 130, it can accurately convert electrical signals into mechanical motion, driving the examination bed 300 to move smoothly and precisely along the horizontal guide rail. During movement, the first motor 110 can achieve smooth acceleration and deceleration according to a preset motion curve, ensuring patient comfort and positioning accuracy. Through a sophisticated signal processing circuit, the first encoder (not shown) converts mechanical motion into digital signals (first position information and first speed information) and continuously feeds them back to the main controller 500.

[0031] In addition, in optional embodiments, the examination bed motion module 100 also includes multiple safety protection mechanisms, such as soft limit protection, emergency stop circuit and overload detection, to ensure that the motion can be stopped in time under any abnormal situation, thus protecting the safety of patients and equipment.

[0032] Further, in a preferred embodiment of this application, the examination bed motion module 100 further includes a second encoder 120, which can be individually configured on the examination bed 300. Preferably, the first encoder (not shown) and the second encoder 120 are configured at different positions on the examination bed 300. More preferably, the first encoder (not shown) and the second encoder 120 are configured in the longitudinal direction of the examination bed 300. Figure 1 As indicated by the middle arrow (also referred to as the axial or direction of movement), the second encoder 120 is positioned at opposite ends in the direction of the scanning device, and is configured to be closer to the scanning device.

[0033] Specifically, the second encoder 120 is configured to acquire the second position information and the second speed information of the examination bed 300 in real time. The main controller 500 is configured to compare the first position information and the second position information, and compare the first speed information and the second speed information, and determine whether the control of the first driver 130 needs to be adjusted based on the comparison result. The second encoder 120, as the position feedback unit of the device, can be a load-closed-loop multi-turn absolute encoder, specifically a mechanical absolute multi-turn encoder, to monitor the position and speed of the examination bed 300 in real time. Using dual encoders, and comparing the information acquired by the first encoder (not shown) and the second encoder 120 through the main controller 500, compared to a single encoder solution, allows for more accurate acquisition of the position and speed of the examination bed 300, and enables more precise control of the examination bed 300.

[0034] Specifically, the scanner motion module 200 is configured to control the rotation of the scanner 400 using closed-loop logic. The scanner motion module 200 can employ a high-performance servo system. This module controls the rotation of the scanner 400 on one hand, and monitors the angle, speed, and other information of the scanner 400 in real time, thereby facilitating real-time adjustments to the control of the scanner 400. Closed-loop logic is used to achieve control of the scanner 400's rotation.

[0035] Furthermore, the gantry motion module 200 includes a slip ring assembly (not shown) configured to provide stable power and data transmission to the X-ray tubes and detectors within the gantry 400 during rotation.

[0036] More specifically, the scanning carriage motion module 200 includes a second motor 210, a second driver 230, and a third encoder (not shown). The second driver 230 is connected between the second motor 210 and the main controller 500. The second motor 210 is configured to drive the scanning carriage 400 to rotate under the control of the second driver 230. The third encoder (not shown) is configured to acquire the third position information and third speed information of the scanning carriage 400 in real time. The third encoder (not shown) can be configured separately on the scanning carriage 400 or integrated into the second motor 210.

[0037] The second motor 210, the second driver 230, and the third encoder (not shown) are the three core components of the scanning carriage motion module 200. These three components together form at least a part of a closed-loop motion control system for the scanning carriage 400. The second driver 230 serves as a key connection hub, capable of high-speed data exchange with the main controller 500 via an industrial bus on one end, and connected to the second motor 210 via a high-power drive circuit on the other, forming a stable and reliable drive link. The second motor 210 can be a high-performance servo motor, with its rated power precisely matched to actual load requirements, providing sufficient output torque while maintaining low-noise operation. The second motor 210 is connected to the transmission system of the scanning carriage 400 through a precision reduction mechanism. After receiving pulse control signals from the second driver 230, it can accurately convert electrical signals into mechanical motion, driving the rotating shaft of the scanning carriage 400 to perform smooth and precise rotational movement. During movement, the second motor 210 can achieve smooth acceleration and deceleration according to a preset motion curve, ensuring the accuracy of scanning position positioning. The third encoder (not shown) serves as the position feedback unit for the scanning carriage 400. It can be a closed-loop circular grating encoder to monitor the position and speed of the scanning carriage 400 in real time. Through a sophisticated signal processing circuit, the third encoder (not shown) converts the mechanical motion into digital signals (third position information and third speed information) and continuously feeds them back to the main controller 500.

[0038] More specifically, the scanning carriage motion module 200 further includes a fourth encoder 220, which can be individually configured on the scanning carriage 400. Preferably, the third encoder (not shown) and the fourth encoder 220 are configured at different positions on the scanning carriage 400. More preferably, the third encoder (not shown) and the fourth encoder 220 are configured at opposite ends of the scanning carriage 400 in the radial direction, and the fourth encoder 220 is configured to be closer to the main controller 500.

[0039] More specifically, the fourth encoder 220 is configured to acquire the fourth position information and fourth speed information of the scanning carriage 400 in real time. The main controller 500 is configured to compare the third position information and the fourth position information, and to compare the third speed information and the fourth speed information, and determine whether the control of the second driver 230 needs to be adjusted based on the comparison result. By using dual encoders, and comparing the information acquired by the third encoder (not shown) and the fourth encoder 220 respectively through the main controller 500, compared with the single encoder scheme, the logic of the dual encoders can more accurately acquire the position and speed of the scanning carriage 400, and can perform more precise control of the scanning carriage 400, thereby providing higher reliability for the synchronous control of the scanning carriage 400 and the examination bed 300.

[0040] Specifically, the main controller 500 is configured to monitor the motion state of the examination bed 300 in real time through the examination bed motion module 100 and the motion state of the scanning gantry 400 in real time through the scanning gantry motion module 200, and synchronize the clocks of the examination bed motion module 100 and the scanning gantry motion module 200. As the timing hub of the entire device, the main controller 500 typically uses a high-stability crystal oscillator as its clock source and distributes clock signals to the examination bed 300 and the scanning gantry 400 through an industrial Ethernet network with a precision clock synchronization protocol. The main controller 500 continuously measures and compensates for network latency and clock drift through master-slave closed-loop control, thereby achieving clock synchronization between the examination bed motion module 100 and the scanning gantry motion module 200. This ensures that the motor timestamps of the position of the examination bed 300 and the angle of the scanning gantry 400 are aligned in a unified time domain, providing a guarantee for subsequent accurate reconstruction.

[0041] More specifically, in the embodiments of this application, the above-mentioned "master-slave closed-loop control" can be implemented in the following way: for example, the main controller 500 is configured to acquire the clocks of the examination bed motion module 100 and the scanning gantry motion module 200 in real time, and adjust the other clock with one clock as the master clock. It is understood that the main controller 500 can use the clock of the examination bed motion module 100 as the master clock, or it can use the clock of the scanning gantry motion module 200 as the master clock, and adjust the other clock with the master clock as the reference clock, thereby synchronizing the clocks of the two motion modules.

[0042] Optionally, in embodiments of this application, the examination bed motion module 100 includes a first controller with a first local clock, and the scanning gantry motion module 200 includes a second controller with a second local clock. The main controller 500 uses one of the first and second local clocks as a reference clock and the other as a slave clock, adjusting the slave clock and the main controller 500's own clock based on the reference clock. Preferably, the first and second controllers are integrated within the main controller 500. The first controller can be connected between the main controller 500 and the first driver 130, and the second controller can be connected between the main controller 500 and the second driver 230.

[0043] Regarding the connection method, the examination bed motion module 100 and the main controller 500 can be connected via an EtherCAT bus, and the scanning gantry motion module 200 and the main controller 500 can also be connected via an EtherCAT bus. EtherCAT is a distributed clock technology with an accuracy of 10 ns and a achievable synchronization accuracy of 15 ns. Considering the actual input / output of the slave clock, the synchronization accuracy of the master and slave clocks can be controlled within 100 ns. Converted to position, the accuracy can be controlled within 0.01 micrometers, which is negligible compared to the position error caused by mechanical transmission, sufficient to meet the requirements of high-speed and high-precision position synchronization. Those skilled in the art will understand that other connection methods capable of implementing distributed clock technology can also be applied to this application.

[0044] Preferably, in an embodiment of this application, the main controller 500 is configured to synchronize the clocks of the examination bed motion module 100 and the scanning gantry motion module 200 when the moving speed of the examination bed 300 is controlled to a first predetermined value by the first driver 130 of the examination bed 300 control module and the rotational speed of the scanning gantry 400 is controlled to a second predetermined value by the second driver 230 of the scanning gantry 400 control module. Generally, before scanning begins, the examination bed 300 is in an initial position, such as... Figure 3 As shown. At the start of scanning, the rotation of the scanning gantry 400 and the movement of the examination bed 300 can be controlled synchronously, or the rotation of the scanning gantry 400 can be controlled separately first, and then the movement of the examination bed 300 can be controlled after a certain period of time. For example, the rotational speed of the scanning gantry 400 can be accelerated from 0 to 0.42 r / s first, and then the movement speed of the examination bed 300 can be controlled from 0 to 119 mm / s. Figure 4As shown, when the moving speed of the examination bed 300 reaches a first predetermined value and the rotation speed of the scanning gantry 400 reaches a second predetermined value, the main controller 500 synchronously controls the control module of the examination bed 300 and the motion control module of the scanning gantry 400 and synchronizes their clocks to achieve synchronous linkage control of the control module of the examination bed 300 and the motion control module of the scanning gantry 400.

[0045] The CT motion device provided in this application controls the examination bed and the scanning gantry separately through closed-loop logic, and synchronizes the clocks of the examination bed motion module and the scanning gantry motion module. It can effectively provide real-time synchronous feedback and dynamic correction, and cope with dynamic interference and load changes during multi-axis coordinated motion. It improves the overall performance and robustness of multi-axis motion control, and enables the CT system to achieve high-quality imaging in high-speed and high-precision scanning tasks, avoiding distortion or artifacts in the reconstructed images.

[0046] Corresponding to the aforementioned CT motion device, this application also provides a CT system, which includes the CT motion device provided in any of the above examples, and may further include a control device, a scanning device, and an examination bed device. The scanning device is used to acquire information about the object being examined through scanning, and the examination bed device is used to move the object being examined. The scanning device generally includes structures such as a gantry, X-ray tube, rotating axis, and detector, and the examination bed device generally includes structures such as an examination bed, base plate, and base. The control device is generally used to issue control commands to the scanning device and the examination bed device, and also to receive signals acquired by the scanning device and process the signals to obtain an image. Since the CT system includes the CT motion device provided in the above examples, it necessarily also has the advantages of the aforementioned CT motion device, which will not be elaborated here.

[0047] In the description of this specification, the references to "one embodiment," "an embodiment," and / or "some embodiments," "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiment or example, and certain features, structures, or characteristics in one or more embodiments of this specification may be appropriately combined.

[0048] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

[0050] The basic concepts have been described herein. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0051] Furthermore, those skilled in the art will understand that various aspects of this specification can be described and illustrated in several patentable ways, including any new and useful combinations of processes, machines, products, or substances, or any new and useful improvements thereof. Accordingly, various aspects of this specification can be implemented entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. All of the above hardware or software may be referred to as a “data block,” “module,” “engine,” “module,” “component,” or “system.”

[0052] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods described herein. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments; rather, the claims are intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments described herein. For example, while the system components described above can be implemented using hardware devices, they can also be implemented solely using software solutions, such as installing the described system on existing servers or mobile devices.

[0053] Similarly, it should be noted that, in order to simplify the description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

[0054] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0055] For each patent, patent application, patent application publication, and other material such as articles, books, specifications, publications, and documents referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this specification, as well as documents that limit the broadest scope of the claims in this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials to this specification and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0056] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and are considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A CT motion device, characterized in that, The CT motion device includes: The examination bed motion module is configured to use closed-loop logic to control the horizontal movement of the examination bed. The scanning carriage motion module is configured to control the rotation of the scanning carriage using closed-loop logic. The main controller is configured to monitor the examination bed in real time through the examination bed motion module and the scanning gantry in real time through the scanning gantry motion module, and synchronize the clocks of the examination bed motion module and the scanning gantry motion module.

2. The CT motion device according to claim 1, characterized in that, The examination bed motion module includes a first motor, a first driver, and a first encoder. The first driver is connected between the first motor and the main controller. The first motor is configured to receive control from the first driver to drive the examination bed to move in the horizontal direction. The first encoder is configured to acquire first position information and first speed information of the examination bed in real time.

3. The CT motion device according to claim 2, characterized in that, The examination bed motion module further includes a second encoder, which is configured to acquire the second position information and the second speed information of the examination bed in real time. The main controller is configured to compare the first position information and the second position information, and compare the first speed information and the second speed information, and determine whether the control of the first drive needs to be adjusted based on the comparison result.

4. The CT motion device according to claim 2, characterized in that, The first encoder is integrated into the first motor.

5. The CT motion device according to claim 1, characterized in that, The scanning gantry motion module includes a second motor, a second driver, and a third encoder. The second driver is connected between the second motor and the main controller. The second motor is configured to receive control from the second driver to drive the scanning gantry to rotate. The third encoder is configured to acquire third position information and third speed information of the scanning gantry in real time.

6. The CT motion device according to claim 5, characterized in that, The scanning carriage motion module further includes a fourth encoder, which is configured to acquire the fourth position information and the fourth speed information of the scanning carriage in real time. The main controller is configured to compare the third position information and the fourth position information, and compare the third speed information and the fourth speed information, and determine whether the control of the second driver needs to be adjusted based on the comparison result.

7. The CT motion device according to claim 5, characterized in that, The third encoder is integrated into the second motor.

8. The CT motion device according to claim 1, characterized in that, The main controller is configured to acquire the clocks of the examination bed motion module and the scanning gantry motion module in real time, and use one clock as the master to adjust the other clock.

9. The CT motion device according to claim 8, characterized in that, The examination bed motion module includes a first controller, and the first controller is equipped with a first local clock; The scanning gantry motion module includes a second controller, on which a second local clock is provided; The master controller uses one of the first local clock and the second local clock as a reference clock and the other as a slave clock, and adjusts the slave clock and the master controller's own clock with the reference clock.

10. The CT motion device according to claim 1, characterized in that, The examination bed motion module is connected to the main controller via an EtherCAT bus; the scanning gantry motion module is connected to the main controller via an EtherCAT bus.

11. The CT motion device according to claim 1, characterized in that, The main controller is configured to synchronize the clocks of the examination bed motion module and the scanning gantry motion module when the first driver of the examination bed motion module controls the moving speed of the examination bed to a first predetermined value and the second driver of the scanning gantry motion module controls the rotation speed of the scanning gantry to a second predetermined value.

12. A CT system, characterized in that, Includes the CT motion device as described in any one of claims 1-11.

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