Detection unit integrated motion module and SPECT imaging system

Abstract

This invention relates to the field of medical device technology, and in particular to a motion module integrated with a detection unit and a SPECT imaging system. The system includes a module support, a detection unit, a first flexible transmission component, a second flexible transmission component, a drive unit, and a displacement detection unit; it also includes an overall base, a rotating base, multiple sets of independent angle adjustment units, and a contour scanning unit. By integrating multiple detection units into a motion module, this invention enables the SPECT imaging system to have a shorter scanning time than traditional SPECT, and allows for rapid acquisition of data from various parts of the body and dynamic imaging of the whole body during continuous bed movement. Furthermore, the flexible adjustment of multiple detection units as needed greatly optimizes the workflow and improves equipment utilization.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a detection unit integrated motion module and a SPECT imaging system. Background Technology

[0002] Single-photon emission computed tomography (SPECT) is a core molecular functional imaging technique in nuclear medicine. Its basic principle involves introducing a specific drug labeled with a radionuclide (such as technetium-99m) into the patient's body. This drug, based on its biochemical properties, targets and accumulates in specific tissues or participates in specific metabolic processes. The single photons (gamma rays) released by the decay of the radionuclide are received by gamma ray detectors surrounding the patient. By acquiring projection data from different angles and utilizing computed tomography reconstruction algorithms, SPECT can visualize the distribution of radiopharmaceuticals in the body in three dimensions, reflecting organ function, metabolism, or receptor distribution. It plays an irreplaceable role in the early diagnosis and treatment evaluation of diseases in oncology, cardiology, neurology, and orthopedics. Since the clinical application of SPECT technology, the mainstream equipment has long been a dual-probe rotating SPECT system. This system consists of a rotating gantry composed of two large, heavy probes and their drive systems. The probes (along with their heavy lead shields and collimators) are extremely heavy, and each start-up, acceleration, deceleration, stop, and stabilization requires several seconds of wasted time. During the entire acquisition process, this purely mechanical waiting time consumes part of the total scan time, which is a pure waste of time and affects acquisition efficiency. Therefore, it is necessary to design a probe unit that integrates a motion module and a SPECT imaging system. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a detection unit integrated motion module and a SPECT imaging system.

[0004] The technical solution adopted in this invention is as follows: the detection unit integrates a motion module, including a module support, a detection unit, a first flexible transmission component, a second flexible transmission component, a drive unit, and a displacement detection unit; The first flexible transmission component and the second flexible transmission component are slidably disposed inside the module bracket, and their outer ends are connected to the detection unit. The drive unit consists of a first drive mechanism and a second drive mechanism. The drive unit is used to drive the first flexible transmission component and the second flexible transmission component to extend and retract. The first drive mechanism and the second drive mechanism are both located inside the module bracket. The first flexible transmission component and the second flexible transmission component fit together to form a composite transmission structure when extended, and are independently stored when retracted. The displacement detection unit is used to collect displacement signals from the detection unit and form closed-loop control. The displacement detection unit is located at the front end of the module support.

[0005] As a further description of the above technical solution: The first flexible transmission component includes a first flexible chain slidably connected inside the module bracket. The first flexible chain is provided with a first contact surface and a first meshing surface. The first meshing surface meshes with the first drive wheel of the first drive mechanism. The inner wall of the module bracket is provided with a first guide groove, which is used to guide the first flexible chain.

[0006] As a further description of the above technical solution: The second flexible transmission component includes a second flexible chain slidably connected inside the module bracket. The second flexible chain is provided with a second contact surface and a second meshing surface. The second meshing surface meshes with the second drive wheel of the second drive mechanism. The inner wall of the module bracket has a second guide groove, which is used to guide the second flexible chain.

[0007] As a further description of the above technical solution: A first feature is provided on the first bonding surface, and multiple first features are provided and evenly distributed on the first bonding surface; a second feature is provided on the second bonding surface, and multiple second features are provided and evenly distributed on the second bonding surface, the second features correspond to the first features, and the second features engage with the first features.

[0008] As a further description of the above technical solution: The first feature and the second feature are engaged by mechanical or electromagnetic means.

[0009] As a further description of the above technical solution: After the first and second flexible transmission components extend out of the module support, the extended structures form rigid bodies; when the first and second flexible transmission components are not engaged inside the module support, they are flexible bodies respectively.

[0010] As a further description of the above technical solution: The displacement detection unit includes a pull-wire encoder and a connecting rope, and the pull-wire encoder is connected to the detection unit through the connecting rope.

[0011] The SPECT imaging system includes the aforementioned detection unit integrated motion module, as well as an overall base, a rotating base, multiple sets of independent angle adjustment units, and a contour scanning unit. The rotating base is rotatably connected to the integral base via a slewing bearing, and a conductive slip ring is fixedly connected to the rotating base. The independent angle adjustment unit is used to drive the integrated motion module of the detection unit to swing independently along an arc trajectory. The contour scanning unit is used to acquire patient surface data, enabling the detection unit to automatically adapt and avoid obstacles.

[0012] As a further description of the above technical solution: The detection unit integrates multiple motion modules, which are arranged on the rotating base. Each set of motion modules corresponds to one set of independent angle adjustment units.

[0013] As a further description of the above technical solution: The contour scanning unit includes a fixed bracket fixedly connected to the front end of the overall base, and the overall base is connected to the contour scanner through the fixed bracket. The distance between the contour scanner and the motion module of the detection unit is greater than 10 mm.

[0014] The present invention has the following beneficial effects: This invention integrates multiple detection units into a motion module, enabling the SPECT imaging system to have a shorter scanning time than traditional SPECT during operation. It can also quickly acquire data from all parts of the body and achieve dynamic imaging of the whole body during continuous bed movement. At the same time, since multiple detection units can be flexibly adjusted as needed, the workflow is greatly optimized and the equipment utilization rate is improved. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall first-view structure of the detection unit integrated motion module of the present invention; Figure 2 This is a schematic diagram of the second-view structure of the integrated motion module of the detection unit of the present invention; Figure 3 This is a schematic diagram of the integrated motion module of the detection unit of the present invention after the front panel has been removed; Figure 4 This is a schematic diagram of the internal structure of the motion module integrated into the detection unit of the present invention; Figure 5 This is a schematic diagram of the structure of the first flexible chain and the second flexible chain of the present invention in cooperation with the detection unit; Figure 6 This is a schematic diagram of the structure of the second flexible chain of the present invention; Figure 7 This is a schematic diagram of the structure of the first flexible chain of the present invention; Figure 8 This is a schematic diagram of the module support structure of the present invention; Figure 9 This is a schematic diagram of the front panel and back panel of the present invention; Figure 10 This is a schematic diagram of the structure of the detection unit integrated motion module in the extended state of the present invention; Figure 11 This is a schematic diagram of the structure of the detection unit of the present invention, which integrates the motion module and the rotating base. Figure 12 This is a schematic diagram of the structure of the rotating base of the present invention; Figure 13 This is a schematic diagram of the SPECT imaging system of the present invention; Figure 14 This is a schematic diagram of the SPECT imaging system of the present invention after it is fitted with a bed board.

[0016] Legend: 1. Module bracket; 2. Side protection switch; 3. First drive mechanism; 301. First geared motor; 302. First rotating shaft; 303. First drive wheel; 4. Second drive mechanism; 401. Second geared motor; 402. Second rotating shaft; 403. Second drive wheel; 5. Displacement detection unit; 501. Wire encoder; 502. Connecting rope; 6. First flexible chain; 601. First contact surface; 602. First meshing surface; 603. Positioning pin; 604. First guide rail; 7. Second flexible chain; 701. Second contact surface; 702. First… Two meshing surfaces; 703, positioning hole; 704, second guide rail; 8, detection unit; 9, grid ruler; 10, angle encoder; 11, arc-shaped guide rail; 12, slider; 13, auxiliary sensor array; 14, rack; 15, third rotating shaft; 16, auxiliary wheel; 17, second feature; 18, first feature; 19, first guide groove; 20, second guide groove; 21, conductive slip ring; 22, slewing bearing; 23, third geared motor; 24, drive gear; 25, integral base; 26, fixed bracket; 27, contour scanner; 28, rotating base. Detailed Implementation

[0017] Reference Figure 1-14 The detection unit integrated motion module provided by the present invention includes a module support 1, a detection unit 8, a first flexible transmission component, a second flexible transmission component, a drive unit, and a displacement detection unit 5. The first flexible transmission component and the second flexible transmission component are slidably disposed inside the module support 1, and their outer ends are connected to the detection unit 8. The drive unit consists of a first drive mechanism 3 and a second drive mechanism 4. The drive unit is used to drive the first flexible transmission component and the second flexible transmission component to extend and retract. Both the first drive mechanism 3 and the second drive mechanism 4 are located inside the module support 1. The first flexible transmission component and the second flexible transmission component fit together to form a composite transmission structure in the extended state and are independently stored in the retracted state. The displacement detection unit 5 is used to collect the displacement signal of the detection unit 8 and form a closed-loop control. The displacement detection unit 5 is located at the front end of the module support 1.

[0018] In use, the drive unit operates, causing the first drive mechanism 3 and the second drive mechanism 4 to start simultaneously. This drives the first flexible transmission component and the second flexible transmission component to move, allowing them to enter and exit the module support 1 from its port and fit together at the port to form a rigid structure. This, in turn, drives the detection unit 8 to move, allowing it to approach or move away from the patient. When the detection unit 8 is close to the patient, it facilitates detection; when it is far away, it facilitates the patient's entry and exit from the device. It also allows for adjusting the distance between the detection unit 8 and the patient according to different patient body shapes, thus improving the device's applicability. As the detection unit 8 moves, the displacement of the detection unit 8 can be measured with the assistance of the displacement detection unit 5.

[0019] The first drive mechanism 3 includes a first geared motor 301, a first rotating shaft 302 and a first drive wheel 303. The first geared motor 301 is fixedly connected to the front end of the module bracket 1. The first rotating shaft 302 is fixedly connected to the output end of the first geared motor 301. The first rotating shaft 302 is rotatably connected to the module bracket 1. The first drive wheel 303 is fixedly connected to the circumferential surface at both ends of the first rotating shaft 302. The first flexible transmission component includes a first flexible chain 6 slidably connected inside the module bracket 1. The first flexible chain 6 is provided with a first contact surface 601, and a first meshing surface 602 is provided on both sides of the first contact surface 601. The first meshing surface 602 meshes with the first drive wheel 303. A positioning pin 603 is fixedly connected to the first contact surface 601. Multiple positioning pins 603 are provided and symmetrically distributed on both sides of the first contact surface 601. A first guide groove 19 is provided on the front and rear opposite surfaces of the inner wall of the module bracket 1. A first guide rail 604 is slidably connected inside the two first guide grooves 19. The two first guide rails 604 are fixedly connected to the first flexible chain 6. The second drive mechanism 4 includes a second reduction motor 401, a second rotating shaft 402, and a second drive wheel 403. The second reduction motor 401 is fixedly connected to the front end of the module bracket 1. The output end of the second reduction motor 401 is fixedly connected to the second rotating shaft 402. The second rotating shaft 402 is rotatably connected to the module bracket 1. The second drive wheel 403 is fixedly connected to the circumferential surface at both ends of the second rotating shaft 402. The second flexible transmission component includes a second flexible chain 7 slidably connected inside the module bracket 1. The second flexible chain 7 is provided with a second contact surface 701, and a second meshing surface 702 is provided on both sides of the second contact surface 701. The second meshing surface 702 meshes with the second drive wheel 403. The second contact surface 701 is provided with a number of positioning holes 703, which are symmetrically distributed on both sides of the second contact surface 701. The positioning holes 703 correspond to the positioning pins 603. The front and rear opposite surfaces of the inner wall of the module bracket 1 are provided with second guide grooves 20. A second guide rail 704 is slidably connected inside the two second guide grooves 20. The two second guide rails 704 are fixedly connected to the second flexible chain 7.

[0020] In use, when the detection unit 8 approaches the patient, the first reduction motor 301 and the second reduction motor 401 are simultaneously activated, causing the first motor to work in the forward direction and the second motor to work in the reverse direction. This drives the first rotating shaft 302 to rotate in the forward direction and the second rotating shaft 402 to rotate in the reverse direction, which in turn drives the first drive wheel 303 to rotate in the forward direction and the second drive wheel 403 to rotate in the reverse direction. Since the first meshing surface 602 meshes with the first drive wheel 303 and the second meshing surface 702 meshes with the second drive wheel 403, the first flexible chain 6 and the second flexible chain 7 move. With the cooperation of the first guide groove 19, the first guide rail 604, the second guide groove 20 and the second guide rail 704, the first flexible chain 6 and the second flexible chain 7 stably extend from the port of the module bracket 1. During this process, the first contact surface 601 of the first flexible chain 6 and the second contact surface 701 of the second flexible chain 7 gradually approach and finally contact. At this time, the first contact surface... The positioning pin 603 on 601 is precisely inserted into the corresponding positioning hole 703 on the second mating surface 701. After the positioning hole 703 and the positioning pin 603 are engaged, the whole formed by the first flexible chain 6 and the second flexible chain 7 will not rotate, move, deform, or rotate around the z-axis, thus achieving the initial mechanical positioning of the two. At this time, the two flexible chains become a rigid structure, thereby driving the detection unit 8 to extend outward. When it is necessary to retract the detection unit 8, the first reduction motor 301 is controlled to reverse and the second reduction motor 401 is controlled to rotate forward, so that the first flexible chain 6 and the second flexible chain 7 are retracted into the module bracket 1 along their respective guide rails under the reverse drive of the first drive wheel 303 and the second drive wheel 403, respectively. At this time, the positioning pin 603 is dislodged from the positioning hole 703, and the two flexible chains return to an independent state inside the module bracket 1. In this way, the two flexible chains can be stored inside the module bracket 1, which can reduce the space occupied by the flexible chains.

[0021] A first feature 18 is provided on the first bonding surface 601. Multiple first features 18 are evenly distributed on the first bonding surface 601. The first feature 18 is a metal sheet. A second feature 17 is provided on the second bonding surface 701. Multiple second features 17 are evenly distributed on the second bonding surface 701. The second feature 17 is an electromagnetic suction device. The second feature 17 corresponds to the first feature 18. During operation, when the electromagnetic suction device engages with the paired metal sheet, a safety mechanism is generated. At this time, the whole formed by the first flexible chain 6 and the second flexible chain 7 will not rotate, move, deform, or rotate around the z-axis, further enhancing the stability of the first flexible chain 6 and the... The connection strength and stability of the second flexible chain 7 in the mating state ensure that it can smoothly push the detection unit 8 to move in a straight line. When the detection unit 8 fails, the electromagnetic suction device can be de-energized to detach from the paired metal plate, thereby causing the flexible chains A and B to lose their mutual adhesive force. At this time, the patient can gently push the detection unit 8 with his hand. Due to the flexibility of the flexible chain, the flexible chains A and B separate from the middle, thus moving the detection unit 8 away from the patient's body and playing a safety protection role. At the same time, the first feature 18 and the second feature 17 can also be the feature of the hook and groove cooperation, and the feature of the two strong magnets cooperating with each other.

[0022] The module bracket 1 has multiple third rotating shafts 15 rotatably connected inside. Each third rotating shaft 15 has an auxiliary wheel 16 fixedly connected to the circumferential surface at both ends. The multiple auxiliary wheels 16 mesh with the first meshing surface 602 and the second meshing surface 702 respectively. During operation, the auxiliary wheels 16 on the multiple third rotating shafts 15 maintain meshing with the first meshing surface 602 and the second meshing surface 702 respectively, playing an auxiliary support and guiding role in the movement of the flexible chain, effectively reducing the shaking and jamming during the movement, and ensuring the smoothness of the transmission.

[0023] Lateral protection switches 2 are fixedly connected to both sides of the module bracket 1; auxiliary sensor arrays 13 are fixedly connected to both sides of the port of the module bracket 1. During operation, by setting the lateral protection switches 2, when the motion module of the detection unit is adjusted in angle, if the two motion modules of the detection unit come into contact, the lateral protection switches 2 will be triggered immediately to prevent the two motion modules of the detection unit from being squeezed; by setting the auxiliary sensor array 13, when the patient moves or changes during the scanning process, the auxiliary sensor array 13 can assist in scanning the body surface contour of the examinee and transmit the data to the background data processing system. The background data processing system synchronously drives the motion module of the detection unit and the angle adjustment unit according to the real-time contour deviation, so that the detection unit 8 always maintains the best detection posture. The auxiliary sensor array 13 monitors the patient's slight changes in body position, respiratory movements, and body surface fluctuations in real time, and registers the contour data with the preset model in real time.

[0024] The displacement detection unit 5 includes a draw-wire encoder 501 and a connecting rope 502. The draw-wire encoder 501 is fixedly connected to the front end of the module bracket 1. The measuring end of the draw-wire encoder 501 is fixedly connected to the connecting rope 502. The end of the connecting rope 502 away from the draw-wire encoder 501 is fixedly connected to the detection unit 8. During operation, as the detection unit 8 moves, the connecting rope 502 can be pulled to move. Under the action of the draw-wire encoder 501, the displacement of the detection unit 8 can be calculated, realizing closed-loop control of the displacement of the detection unit 8. In the closed-loop control of the displacement of the detection unit 8, the draw-wire encoder 501 is used as the detection core, and the drive unit is used as the execution terminal, forming a closed loop of the entire stroke of the extension and retraction direction of the detection unit 8. The draw-wire encoder 501 outputs displacement pulse signals in real time as the detection unit 8 extends and retracts. The control system compares the target displacement with the actual displacement in real time, calculates the deviation value, and the drive unit indirectly controls the synchronous extension and retraction of the two flexible transmission components, ensuring no differential speed misalignment and no overshoot, based on the deviation value. Once extended into position, it automatically enters position locking control to ensure that the detection unit 8 maintains a constant detection distance throughout the scanning process.

[0025] The SPECT imaging system includes the aforementioned integrated motion module of the detection unit, as well as an overall base 25, a rotating base 28, multiple independent angle adjustment units, and a contour scanning unit. The rotating base 28 is rotatably connected to the overall base 25 via a slewing bearing 22. A conductive slip ring 21 is fixedly connected to the rotating base 28, which supplies power to the electrical equipment on the rotating base 28. The independent angle adjustment units drive the integrated motion module of the detection unit to swing independently along an arc trajectory. The contour scanning unit acquires patient surface data, enabling the detection unit 8 to automatically adapt and avoid obstacles. In use, the rotating base 28 rotates, simultaneously driving multiple integrated motion modules of the detection unit to rotate, allowing for a circumferential scan of the patient, thereby improving work efficiency.

[0026] Multiple motion modules are integrated into the detection unit, arranged on the rotating base 28. Each motion module corresponds to a set of independent angle adjustment units. Each independent angle adjustment unit includes a third reduction motor 23, an angle encoder 10, and an arc-shaped guide rail 11, all fixedly connected to the rotating base 28. A drive gear 24 is fixedly connected to the output end of the third reduction motor 23. A rack 14 is fixedly connected to the rear end of the module bracket 1, meshing with the drive gear 24. Multiple angle encoders 10 are provided, each corresponding to one of the motion modules. A grid ruler 9 is fixedly connected to the rear end of the module bracket 1, engaging with the angle encoder 10. Multiple arc-shaped guide rails 11 are provided, each corresponding to one of the motion modules. A slider 12 is slidably connected to the arc-shaped guide rail 11, and the slider 12 is fixedly connected to the module bracket 1.

[0027] In operation, the third reduction motor 23 operates, driving the drive gear 24 to rotate. Since the drive gear 24 meshes with the rack 14 at the rear end of the module bracket 1, it drives the integrated motion module of the detection unit to slide along the arc-shaped guide rail 11, thereby adjusting the angle of the detection unit 8. During this process, the cooperation between the slider 12 and the arc-shaped guide rail 11 ensures smooth movement, preventing offset or wobbling during angle adjustment. Simultaneously, the angle encoder 10 works in real-time with the grating ruler 9 at the rear end of the module bracket 1, accurately measuring and feeding back the rotation angle of the integrated motion module of the detection unit, providing accurate position information to the backend control system. This enables closed-loop control of the angle of the detection unit 8, ensuring the accuracy and repeatability of the imaging angle. During angle closed-loop control, the angle encoder 10 and grating ruler 9 serve as detection units, while the third reduction motor 23, drive gear 24, and rack 14 act as actuators, forming an independent angle closed-loop control for each integrated motion module of the detection unit. The grating ruler 9 follows the motion module integrated with the detection unit to swing synchronously, and the angle encoder 10 reads the absolute angle value in real time to achieve angle detection without cumulative error. The system compares the target angle with the actual angle in real time and quickly corrects the motor output. With the constraint of the arc guide rail 11 and the slider 12, the module swings smoothly along the set arc trajectory. Multiple modules can achieve synchronous control at the same angle or independent control at different angles to meet the needs of local focusing, whole-body scanning, dynamic tomographic imaging and other requirements.

[0028] The contour scanning unit includes a fixed bracket 26 fixedly connected to the front end of the overall base 25. There are two fixed brackets 26, which are distributed on the upper and lower sides of the front end of the overall base 25. Contour scanners 27 are fixedly connected to the lower sides of the upper fixed bracket 26 and the upper sides of the lower fixed bracket 26. The distance between the contour scanner 27 and the motion module of the detection unit is greater than 10 mm. The distance between the contour scanner 27 and the motion module of the detection unit is set to be greater than 10 mm, which effectively avoids the mutual interference that may occur between the two during operation. During operation, four contour scanners 27 are set up. These scanners can be optical TOF scanners or structured light scanners, allowing the upper and lower diagonal contour scanners 27 to perform a full-range scan of the patient's body surface contour from both upper and lower directions. This acquires three-dimensional morphological data of the patient's body. This data not only provides precise positioning basis for the movement and angle adjustment of the motion module integrated with the detection unit, ensuring that the detection unit 8 always maintains the optimal relative position with the patient and improving imaging quality, but also can be fused in real time with the data scanned by the auxiliary sensor array 13 to form a more complete and accurate patient body surface contour model. This provides reliable basic information for subsequent image reconstruction and diagnostic analysis, realizing contour closed-loop control. During contour closed-loop control, the 3D contour scanner 27 and auxiliary sensor array 13 serve as the sensing front end, integrating displacement closed-loop and angle control to form a real-time adaptive closed-loop control of the patient's body surface, detection unit 8, and control system. Before scanning, the contour scanner 27 quickly reconstructs the 3D contour model of the patient's entire body surface, and the system automatically plans the optimal detection path and distance. During scanning, the auxiliary sensor array 13 monitors changes and undulations of the patient's body surface in real time, and registers the contour data with the preset model in real time. The control system synchronously drives the drive unit and the independent angle adjustment unit according to the real-time contour deviation, so that the detection unit 8 always maintains the optimal detection distance. When the distance is too small or there is a risk of collision, the system controls the drive unit to make the detection unit 8 automatically retreat, avoid, and sound an alarm, achieving active safety protection.

[0029] Working principle: In use, the patient lies on the examination bed (not shown in the diagram). After the system is started, the four contour scanners 27 on the fixed bracket 26 perform an all-round scan of the patient's body contour from both top and bottom directions using optical TOF or structured light scanning to acquire the patient's three-dimensional morphological data. This data is transmitted to the background data processing system in real time, providing a basis for the initial position adjustment of the motion module integrated with the detection unit. Subsequently, the rotating base 28 can rotate under the action of the slewing bearing 22. At the same time, according to the contour scan data, the third reduction motor 23 drives the drive gear 24 to rotate. Through meshing with the rack 14, it drives the corresponding motion module integrated with the detection unit to slide along the arc-shaped guide rail 11, adjusting the angle of the detection unit 8 so that the detection unit 8 is initially aligned with the area to be scanned on the patient. Next, the first drive mechanism 3 and the second drive mechanism 4 are activated. The first reduction motor 301 rotates forward and the second reduction motor 401 rotates in reverse, respectively driving the first rotating shaft 302 and the second rotating shaft 402 to rotate. Through the meshing action of the first engagement surface 602 of the first drive wheel 303 and the first engagement surface 702 of the first flexible chain 6, and the second engagement surface 702 of the second drive wheel 403 and the second flexible chain 7, and the sliding guidance of the first guide rail 604 in the first guide groove 19 and the second guide rail 704 in the second guide groove 20, the first flexible chain 6 and the second flexible chain 7 extend from the port of the module bracket 1. During the extension process, the first engagement surface 601 of the first flexible chain 6 and the second engagement surface 701 of the second flexible chain 7 gradually approach and fit together. At this time, the positioning pin 603 is inserted into the positioning hole 703 to achieve preliminary mechanical positioning. At the same time, the second feature 17, such as the electromagnetic suction device, cooperates with the first feature 18, such as the metal sheet, to further enhance the connection strength and stability, and prevent the whole from rotating or moving around the y-axis and z-axis and deforming. The detection unit 8 moves closer to the patient under the combined push of the two flexible chains. During this process, the connecting rope 502 of the displacement detection unit 5 is pulled, and the pull encoder 501 measures the displacement of the detection unit 8 in real time to ensure that it maintains the set optimal distance from the patient. When the detection unit 8 reaches the designated position, the rotating base 28 drives the multiple detection unit integrated motion modules to rotate, while the bed can move continuously. The detection unit 8 performs rapid scanning under the drive of the motion modules, quickly acquiring data from all parts of the body. During the scanning process, the auxiliary sensor array 13 continuously scans the changes in the patient's body surface contour and fuses the data with the contour scanner 27 in real time. The background system dynamically adjusts the position and angle of the detection unit 8 based on this data. If the detection unit integrated motion module makes contact during angle adjustment, the lateral protection switch 2 will immediately trigger the third reduction motor 23 to shut down to avoid crushing. If the detection unit 8 fails, the electromagnetic suction device can be de-energized, and the patient can gently push the detection unit 8 to separate the two flexible chains, moving the detection unit 8 away from the body and achieving safety protection.After scanning is completed, the first reduction motor 301 reverses and the second reduction motor 401 rotates forward, driving the first flexible chain 6 and the second flexible chain 7 to retract into the module bracket 1. The positioning pin 603 disengages from the positioning hole 703, and the two flexible chains return to an independent state for storage, reducing space occupation and waiting for the next use.

[0030] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. The detection unit integrates a motion module, characterized in that: It includes a module bracket (1), a detection unit (8), a first flexible transmission component, a second flexible transmission component, a drive unit, and a displacement detection unit (5); The first flexible transmission component and the second flexible transmission component are slidably disposed inside the module bracket (1), and their outer ends are connected to the detection unit (8). The drive unit consists of a first drive mechanism (3) and a second drive mechanism (4). The drive unit is used to drive the first flexible transmission component and the second flexible transmission component to extend and retract. The first drive mechanism (3) and the second drive mechanism (4) are both located inside the module bracket (1). The first flexible transmission component and the second flexible transmission component fit together to form a composite transmission structure when extended, and are independently stored when retracted. The displacement detection unit (5) is used to collect the displacement signal of the detection unit (8) and form a closed-loop control. The displacement detection unit (5) is located at the front end of the module support (1).

2. The detection unit integrated motion module according to claim 1, characterized in that: The first flexible transmission component includes a first flexible chain (6) slidably connected inside the module bracket (1). The first flexible chain (6) is provided with a first contact surface (601) and a first meshing surface (602). The first meshing surface (602) meshes with the first drive wheel (303) of the first drive mechanism (3). The inner wall of the module bracket (1) is provided with a first guide groove (19). The first guide groove (19) is used to guide the first flexible chain (6).

3. The detection unit integrated motion module according to claim 2, characterized in that: The second flexible transmission component includes a second flexible chain (7) slidably connected inside the module bracket (1). The second flexible chain (7) is provided with a second contact surface (701) and a second meshing surface (702). The second meshing surface (702) meshes with the second drive wheel (403) of the second drive mechanism (4). The inner wall of the module bracket (1) has a second guide groove (20), which is used to guide the second flexible chain (7).

4. The detection unit integrated motion module according to claim 3, characterized in that: The first bonding surface (601) is provided with a first feature (18), and there are multiple first features (18) evenly distributed on the first bonding surface (601); the second bonding surface (701) is provided with a second feature (17), and there are multiple second features (17) evenly distributed on the second bonding surface (701). The second feature (17) corresponds to the first feature (18), and the second feature (17) engages with the first feature (18).

5. The detection unit integrated motion module according to claim 4, characterized in that: The first feature (18) and the second feature (17) are engaged by mechanical or electromagnetic means.

6. The detection unit integrated motion module according to claim 1, characterized in that: After the first flexible transmission member and the second flexible transmission member extend out of the module support (1), the extended structure forms a rigid body; when the first flexible transmission member and the second flexible transmission member are not engaged inside the module support (1), they are flexible bodies respectively.

7. The detection unit integrated motion module according to claim 1, characterized in that: The displacement detection unit (5) includes a pull-wire encoder (501) and a connecting rope (502), and the pull-wire encoder (501) is connected to the detection unit (8) through the connecting rope (502).

8. A SPECT imaging system, characterized in that, The detection unit integrated motion module comprising any one of claims 1-7 further comprises an integral base (25), a rotating base (28), multiple sets of independent angle adjustment units and a contour scanning unit; The rotating base (28) is rotatably connected to the integral base (25) via a slewing bearing (22), and a conductive slip ring (21) is fixedly connected to the rotating base (28). The independent angle adjustment unit is used to drive the integrated motion module of the detection unit to swing independently along an arc trajectory. The contour scanning unit is used to acquire patient surface data and enable the detection unit (8) to automatically adapt and avoid obstacles.

9. The SPECT imaging system according to claim 8, characterized in that: The detection unit integrated motion module is provided in multiple sets, and the multiple sets of the detection unit integrated motion module are arranged on the rotating base (28). The multiple sets of the detection unit integrated motion module correspond one-to-one with the multiple sets of independent angle adjustment units.

10. The SPECT imaging system according to claim 8, characterized in that: The contour scanning unit includes a fixed bracket (26) fixedly connected to the front end of the overall base (25), and the overall base (25) is connected to the contour scanner (27) through the fixed bracket (26). The distance between the contour scanner (27) and the motion module of the detection unit is greater than 10 mm.

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