Scanning device and medical apparatus

Abstract

The application discloses a scanning device and medical equipment. The scanning device comprises a positioning plate, a CT scanning part, a lifting part and an adjusting part. The positioning plate comprises a first surface and a second surface arranged oppositely, and the second surface is used for carrying a to-be-scanned object. The scanning area of the CT scanning part corresponds to the external morphological position of the to-be-scanned object. The first end of the lifting part is connected with the CT scanning part, so that the CT scanning part reciprocates along the Z axis. The adjusting part is connected with the first surface and the lifting part, so as to adjust the morphological position of the positioning plate and the CT scanning part in six degrees of freedom. The scanning device and the medical equipment can adjust the morphological position of the positioning plate and the CT scanning part in six degrees of freedom (i.e. the translation of the X, Y and Z axes and the rotation around the X, Y and Z axes), so that the scanning area of the CT scanning part can be accurately aligned with the external morphological position of the to-be-scanned object, and the adaptability to the to-be-scanned objects with different shapes, sizes and morphological positions is improved.

Description

Technical Field

[0001] This invention relates to the technical field of scanning equipment, and more particularly to a scanning device and a medical device. Background Technology

[0002] Since its inception, computed tomography (CT) technology has become an indispensable tool in the field of medical imaging diagnosis due to its non-invasive, high-resolution imaging characteristics. This technology uses X-rays to perform precise tomographic scans of the human body or objects and reconstructs the images using advanced computer technology, providing doctors with clear and detailed views of internal structures, greatly improving the accuracy and efficiency of medical diagnosis. At the same time, CT technology is also widely used in industrial inspection, providing strong technical support for product quality control and fault diagnosis.

[0003] In a conventional CT scan, the CT scanner is typically mounted vertically on the ground, and the object being scanned is slid horizontally into the scanning section of the CT scanner to complete the scan. This scanning method has gained widespread recognition and application in routine applications such as whole-body scans and localized examinations due to its excellent stability and accuracy.

[0004] However, with the continuous upgrading of medical technology and industrial inspection needs, traditional CT scanning methods have gradually revealed their limitations in certain special application scenarios. These limitations are particularly pronounced in the treatment field and in the CT examination of special objects. For example, when inspecting the internal structure of heavy mechanical parts, large medical equipment, or objects that cannot be moved horizontally, the size, shape, weight, or special installation method of the object often prevents it from being directly slid horizontally into the CT scanner. In such cases, if traditional scanning methods are used, not only may the object's own weight cause misalignment, slippage, or falling, severely affecting the accuracy of the scan, but it may also damage the CT scanner and its auxiliary equipment, thereby increasing the risks and costs of medical and industrial inspections.

[0005] Furthermore, traditional scanning methods suffer from significant shortcomings in flexibility and accuracy when dealing with objects of varying shapes, sizes, and weights. Ensuring the stability of the scanned object may require the introduction of complex adjustment mechanisms, which not only increases the complexity and cost of the equipment but may also reduce scanning efficiency and prolong detection time. Therefore, providing a scanning device that can adapt to objects of different shapes, sizes, and positions while possessing high flexibility and high accuracy has become a pressing technical challenge.

[0006] To address at least one of the aforementioned technical problems, the present invention provides a scanning device and a medical device. Summary of the Invention

[0007] The purpose of this invention is to provide a scanning device and medical equipment that can adjust the shape and position of the positioning plate and the CT scanning unit in six degrees of freedom (i.e., translation of the X, Y, and Z axes and rotation about the X, Y, and Z axes) to ensure that the scanning area of ​​the CT scanning unit can be accurately aligned with the external shape and position of the object to be scanned.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] On one hand, the present invention provides a scanning device, comprising:

[0010] A positioning plate, the positioning plate including a first surface and a second surface disposed opposite to each other, the second surface being used to support the object to be scanned;

[0011] A CT scanning unit, wherein the scanning area of ​​the CT scanning unit corresponds to the external shape and position of the object to be scanned;

[0012] A lifting unit, the first end of which is connected to the CT scanning unit, causing the CT scanning unit to reciprocate along the Z-axis;

[0013] An adjustment unit is provided, which connects the first surface and the lifting unit, to adjust the shape and position of the positioning plate and the CT scanning unit in six degrees of freedom.

[0014] The beneficial effects of the above technical solution are as follows: Through a structure including a positioning plate, a CT scanning unit, a lifting unit, and an adjustment unit, multi-degree-of-freedom positioning and scanning of the object to be scanned can be achieved. The positioning plate supports the object to be scanned, the CT scanning unit is responsible for scanning, the lifting unit allows the CT scanning unit to move along the Z-axis, and the adjustment unit allows adjustment of the shape and position of the positioning plate and the CT scanning unit in six degrees of freedom, thereby meeting complex scanning requirements.

[0015] Furthermore, the adjustment unit includes:

[0016] Multiple sets of shape and position adjustment components, each with its drive end connected to different positions on the first surface, to adjust the shape and position of the positioning plate; and / or,

[0017] A rotating assembly is connected to the positioning plate, which drives the positioning plate to rotate clockwise or counterclockwise around the Z-axis in the XOY plane.

[0018] The beneficial effects of the above technical solution are as follows: By using multiple sets of shape and position adjustment components and rotation components, the shape, position, and angle of the positioning plate can be precisely adjusted. The shape and position adjustment components can adjust the positioning plate in five of the six degrees of freedom (except for rotation around the Z-axis), while the rotation components allow the positioning plate to rotate around the Z-axis, increasing the flexibility and accuracy of scanning.

[0019] Furthermore, the adjustment part further includes: a first support plate, a first side of the first support plate being connected to the first surface, and a second side of the first support plate being connected to the drive end of the form and position adjustment assembly; and / or,

[0020] The second support plate has a first side connected to the shape and position adjustment assembly and a second side connected to the rotation assembly.

[0021] The beneficial effects of the above technical solution are as follows: By connecting the form and position adjustment component and the rotation component to the positioning plate through the first and second support plates, the stability and reliability of the structure are improved. At the same time, this design also facilitates adjustment and maintenance.

[0022] Furthermore, each set of the form and position adjustment components includes: a first lifting motion actuator and a second lifting motion actuator; the cylinder heads of the first lifting motion actuator and the second lifting motion actuator are adjacent and connected to the same point on the first support plate; the cylinder bodies of the first lifting motion actuator and the second lifting motion actuator are separate and connected to the second support plate; the diameter of the first virtual circle formed by the cylinder bodies of the lifting motion actuators in each set of form and position adjustment components is greater than or equal to the diameter of the second virtual circle formed by the cylinder heads of the lifting motion actuators;

[0023] The rotating assembly includes a hydraulic motor, a worm gear, and a slewing bearing; the hydraulic motor drives and connects to the worm gear, the worm gear is coupled to the slewing bearing, and the slewing bearing is connected to the second support plate, so that the second support plate rotates in the XOY plane.

[0024] The beneficial effects of the above technical solution are as follows: The form and position adjustment component adopts a combination of a first lifting motion actuator and a second lifting motion actuator, which can achieve precise lifting adjustment while ensuring stability. The rotating component adopts a combination of a hydraulic motor, a worm gear, and a slewing bearing, which can achieve smooth and stable rotational motion.

[0025] Furthermore, the lifting unit includes: a first lifting assembly, the first lifting assembly including multiple lifting modules, each lifting module including:

[0026] A fixing plate is connected to the adjusting part;

[0027] The fourth lifting motion actuator, wherein the cylinder of the fourth lifting motion actuator is connected to the fixed plate;

[0028] The fifth lifting motion actuator, wherein the cylinder body of the fifth lifting motion actuator is connected to the cylinder head of the fourth lifting motion actuator;

[0029] An extension plate is connected to the cylinder head of the fifth lifting motion actuator, and the extension plate is also connected to the CT scanning unit.

[0030] The beneficial effects of the above technical solution are as follows: by setting up multiple lifting modules (including a fixed plate, a fourth lifting motion actuator, a fifth lifting motion actuator, and an extension plate), not only is the precise lifting motion of the CT scanning unit on the Z-axis realized, but the stability and accuracy of the lifting are also increased.

[0031] Furthermore, the lifting part includes: a second lifting assembly, a first end of which is connected to the adjusting part, and a second end of which is connected to the positioning plate, driving the positioning plate to reciprocate along the Z-axis; and / or,

[0032] The scanning device further includes: a translation unit; a first end of the translation unit is connected to the adjustment unit, and a second end of the translation unit is connected to the positioning plate, driving the positioning plate to reciprocate along the X-axis and / or Y-axis.

[0033] The beneficial effects of the above technical solution are: the second lifting component allows the positioning plate to move along the Z-axis, while the translation part allows the positioning plate to move along the X-axis and / or Y-axis, which increases the flexibility of the scanning device and enables it to cope with more complex scanning tasks.

[0034] Furthermore, the second lifting assembly includes: a third lifting motion actuator, the cylinder of the third lifting motion actuator being connected to the adjusting part, and the cylinder head of the third lifting motion actuator being driven to be connected to the positioning plate, driving the positioning plate to reciprocate along the Z-axis;

[0035] The translation unit includes a first motion actuator and a second motion actuator. The cylinder body of the first motion actuator is connected to the cylinder head of the third lifting motion actuator. The cylinder head of the first motion actuator is connected to the cylinder body of the second motion actuator. The cylinder head of the second motion actuator is connected to the positioning plate. The telescopic movement of the first motion actuator is along the Y-axis direction, and the telescopic movement of the second motion actuator is along the X-axis direction.

[0036] Furthermore, the second lifting component also includes:

[0037] A first telescopic rod is connected to the cylinder of the third lifting motion actuator, and a limit groove is provided on the first telescopic rod.

[0038] The second telescopic rod has a protruding structure at its first end, which is engaged in the limiting groove, and the second end of the second telescopic rod is connected to the cylinder head of the third lifting motion actuator.

[0039] The beneficial effects of the above technical solution are as follows: By setting up a third lifting motion actuator, a first telescopic rod, and a second telescopic rod, the stability of the positioning plate's lifting is improved. The combination of the first and second motion actuators enables precise movement of the positioning plate in the X and Y axis directions.

[0040] Furthermore, the initial position of the positioning plate is such that the first surface is parallel to the XOY plane.

[0041] The beneficial effects of the above technical solution are that it can be applied to vertical scanning scenarios.

[0042] In a second aspect, the present invention provides a medical device, comprising:

[0043] The aforementioned scanning device;

[0044] A control system that controls the lifting unit and the adjusting unit.

[0045] The beneficial effects of the above technical solution are: the control system can control the movement of the lifting and adjusting parts, thereby achieving precise control and management of the scanning process.

[0046] Compared with the prior art, the beneficial effects of the present invention include at least the following:

[0047] The scanning device of this invention can adjust the shape and position of the positioning plate and the CT scanning unit in six degrees of freedom (i.e., translation along the X, Y, and Z axes and rotation about the X, Y, and Z axes) to ensure that the scanning area of ​​the CT scanning unit can be accurately aligned with the external shape and position of the object to be scanned. This not only improves the accuracy and reliability of the scan but also enhances its adaptability to objects of different shapes, sizes, and positions. Furthermore, by incorporating a lifting mechanism, this invention allows the CT scanning unit to reciprocate along the Z-axis, enabling both omnidirectional scanning of the object and scanning at specific angles or heights, thus increasing the flexibility of the scanning device. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the scanning device according to an embodiment of the present invention.

[0049] Figure 2 This is another structural schematic diagram of the scanning device according to an embodiment of the present invention.

[0050] Figure 3 This is a schematic diagram of the structure of the second lifting component according to an embodiment of the present invention.

[0051] Figure 4 This is a schematic diagram of the structure of the adjustment part according to an embodiment of the present invention.

[0052] In the diagram: 1. Positioning plate; 2. Translation part; 21. First motion actuator; 22. Second motion actuator; 3. Lifting part; 31. First lifting assembly; 311. Fixing plate; 312. Fourth lifting motion actuator; 313. Fifth lifting motion actuator; 314. Extension plate; 32. Second lifting assembly; 321. Third lifting motion actuator; 322. First telescopic rod; 323. Second telescopic rod; 3231. Protruding structure; 4. Adjustment part; 41. First support plate; 42. Shape and position adjustment assembly; 421. First lifting motion actuator; 422. Second lifting motion actuator; 43. Rotation assembly; 431. Hydraulic motor; 432. Slewing bearing; 44. Second support plate; 5. CT scanning part. Detailed Implementation

[0053] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted.

[0054] The terms used to express position and direction in this invention are illustrated with reference to the accompanying drawings, but changes can be made as needed, and all such changes are included within the scope of protection of this invention.

[0055] In order to not only be able to handle scanned objects of various shapes, sizes and weights, but also to adjust the precise shape and position of the scanned objects in three-dimensional space, thereby ensuring the accuracy and stability of CT scans and improving scanning efficiency, this invention introduces a scanning device and medical equipment to achieve the adjustment of the shape and position of the positioning plate 1 and the CT scanning unit 5 in six degrees of freedom during CT scanning.

[0056] refer to Figure 1 and Figure 2 In order to adjust the position of the positioning plate 1 and the CT scanning unit 5 in six degrees of freedom (i.e., translation along the X, Y, and Z axes and rotation around the X, Y, and Z axes) to ensure that the scanning area of ​​the CT scanning unit 5 can be accurately aligned with the external position of the object to be scanned, the scanning device of the present invention includes: a positioning plate 1, a CT scanning unit 5, a lifting unit 3, and an adjustment unit 4. Specifically, the CT scanning unit 5 is mounted on the lifting unit 3, and the lifting unit 3 and the positioning plate 1 are mounted on the adjustment unit 4.

[0057] The positioning plate 1 of the present invention includes a first surface (not shown) and a second surface (not shown) arranged opposite to each other. Specifically, the second surface is used to support the workpiece to be scanned (not shown), and the initial position of the positioning plate 1 is such that the first surface is parallel to the XOY plane. In application, the positioning plate 11 can be circular, rectangular, square, polygonal, or irregularly shaped, and a fixing member (not shown) can be provided on the second surface of the positioning plate 1 according to the actual situation. The fixing member is made of transparent plastic material and is compatible with the operating mechanism of the scanning device, and will not generate interference factors such as static electricity or friction during the scanning process.

[0058] Referring to Figure 1, the adjustment part 4 of the present invention connects the first surface of the positioning plate 1 and the lifting part 3 to achieve adjustment of the shape and position of the positioning plate 1 and the lifting part 3 in six degrees of freedom, thereby achieving adjustment of the shape and position of the scanned object and the CT scanning part 5 in three translational directions and three rotational directions. In application, refer to... Figure 1 and Figure 2 The CT scanning unit 5 is set horizontally, and the scanning area of ​​the CT scanning unit 5 corresponds to the external shape and position of the object to be scanned, so as to realize vertical scanning.

[0059] refer to Figure 2 and Figure 4 To enable adjustment of the positioning plate 1's shape and position in five of the six degrees of freedom (excluding rotation around the Z-axis), the adjustment unit 4 of the present invention includes multiple sets of shape and position adjustment components 42. Furthermore, to further enable adjustment of the positioning plate 1's shape and position in the six degrees of freedom, the adjustment unit 4 of the present invention also includes a rotation component 43. Furthermore, to improve the stability and reliability of the structure, the adjustment unit 4 of the present invention may also include a first support plate 41 and a second support plate 44. Specifically, the first side of the first support plate 41 is connected to a first surface, and the second side of the first support plate 41 is connected to the driving end of the shape and position adjustment component 42; the first side of the second support plate 44 is connected to the mounting end of the shape and position adjustment component 42, and the second side of the second support plate 44 is connected to the rotation component 43. In application, the driving end of each set of shape and position adjustment components 42 is connected to different positions of the first support plate 41 to adjust the positioning plate 1's shape and position in five of the six degrees of freedom (excluding rotation around the Z-axis). Furthermore, the driving end of each set of form and position adjustment components 42 is hinged to the first support plate 41, and the mounting end of each set of form and position adjustment components 42 is hinged to the second support plate 44. In practical applications, the rotating component 43 drives the second support plate 44 to rotate clockwise or counterclockwise around the Z-axis in the XOY plane, thereby causing the positioning plate 1 to rotate clockwise or counterclockwise around the Z-axis in the XOY plane.

[0060] In some preferred embodiments, the adjustment part 4 of the present invention can be a six-bar linkage mechanism, including three sets of form and position adjustment components 42, and the three sets of form and position adjustment components 42 are equally spaced.

[0061] refer to Figure 4 To achieve precise lifting and lowering adjustments while ensuring stability, each set of form and position adjustment components 42 in this invention includes: a first lifting motion actuator 421 and a second lifting motion actuator 422. Specifically, the cylinder heads of the first lifting motion actuator 421 and the second lifting motion actuator 422 are adjacent and connected to the same point on the first support plate 41; the cylinder bodies of the first lifting motion actuator 421 and the second lifting motion actuator 422 are separate and connected to the second support plate 44. Further, the cylinder heads of the first lifting motion actuator 421 and the second lifting motion actuator 422 are hinged to the first support plate 41, and the cylinder bodies of the first lifting motion actuator 421 and the second lifting motion actuator 422 are hinged to the second support plate 44. Preferably, the cylinder bodies of adjacent first lifting motion actuators 421 and second lifting motion actuators 422 abut against each other, and the diameter of the first virtual circle (not shown) formed by the cylinder bodies of the lifting motion actuators of each set of form and position adjustment components 42 is greater than or equal to the diameter of the second virtual circle (not shown) formed by the cylinder heads of the lifting motion actuators.

[0062] In application, the first lifting motion actuator 421 and the second lifting motion actuator 422 are activated, causing the area corresponding to the positioning plate 1 to reciprocate along the Z-axis and tilt the positioning plate 1 at different angles, thereby achieving adjustment of the shape and position of the positioning plate 1 in five degrees of freedom. In actual application, in the initial state, the extension length of the cylinder rod (or piston rod) of the first lifting motion actuator 421 is half of the range of the first lifting motion actuator 421; the extension length of the cylinder rod (or piston rod) of the second lifting motion actuator 422 is half of the range of the second lifting motion actuator 422. (Reference) Figure 4 To improve the accuracy and stability of rotation, the rotating assembly 43 of the present invention includes a hydraulic motor 431, a worm gear (not shown), and a slewing bearing 432. Furthermore, to ensure the smoothness and reliability of the rotation process, the rotating assembly 43 of the present invention may also include a motor adjusting block (not shown). In application, the hydraulic motor 431 drives the worm gear, which is coupled to the slewing bearing 432, which is connected to the second support plate 44. In practical applications, the hydraulic motor 431 can rotate clockwise or counterclockwise. The hydraulic motor 431 drives the motor adjusting block, which is connected to the worm gear, causing the worm gear to rotate uniformly clockwise or counterclockwise. This, in turn, causes the slewing bearing 432 to rotate around the second support plate 44 in the XOY plane, so that the positioning plate 1 rotates clockwise or counterclockwise around the Z-axis in the XOY plane.

[0063] The second end of the lifting part 3 of the present invention is connected to the first support plate 41 of the adjusting part 4, and the first end of the lifting part 3 is connected to the CT scanning part 5 and the positioning plate 1, so that the CT scanning part 5 and the positioning plate 1 reciprocate along the Z-axis. Further, refer to... Figure 1 The lifting part 3 of the present invention includes: a first lifting component 31 and a second lifting component 32.

[0064] refer to Figure 2 To enable the CT scanning unit 5 to reciprocate along the Z-axis, allowing for both omnidirectional scanning of the object to be scanned and scanning at specific angles or heights, thus increasing the flexibility of the scanning device, the first lifting assembly 31 of this invention includes multiple lifting modules. Each lifting module includes: a fixed plate 311, a fourth lifting motion actuator 312, a fifth lifting motion actuator 313, and an extension plate 314. Specifically, the fixed plate 311 is connected to the first support plate 41 of the adjustment unit 4, the cylinder of the fourth lifting motion actuator 312 is connected to the fixed plate 311, the cylinder head of the fourth lifting motion actuator 312 is connected to the cylinder of the fifth lifting motion actuator 313, the cylinder head of the fifth lifting motion actuator 313 is connected to the extension plate 314, and the extension plate 314 is connected to the CT scanning unit 5. In application, the fourth lifting motion actuator 312 is activated, driving the fifth lifting motion actuator 313, the extension plate 314, and the CT scanning unit 5 to reciprocate along the Z-axis. The fifth lifting motion actuator 313 is then activated, driving the extension plate 314 and the CT scanning unit 5 to reciprocate along the Z-axis. In actual application, initially, the cylinder head of the fourth lifting motion actuator 312 is fully extended, and the cylinder head of the fifth lifting motion actuator 313 is fully retracted.

[0065] refer to Figure 3To enable the positioning plate 1 to reciprocate along the Z-axis, the second lifting assembly 32 of the present invention includes a third lifting motion actuator 321. Further, to improve the stability of the lifting of the positioning plate 1, the second lifting assembly 32 of the present invention may also include a first telescopic rod 322 and a second telescopic rod 323. Specifically, the cylinder body of the third lifting motion actuator 321 is connected to the first support plate 41 of the adjustment part 4, and the cylinder head of the third lifting motion actuator 321 is connected to the positioning plate 1, driving the positioning plate 1 to reciprocate along the Z-axis; the first telescopic rod 322 is connected to the cylinder body or the first support plate 41 of the third lifting motion actuator 321, and a limiting groove is formed on the first telescopic rod 322; the first end of the second telescopic rod 323 is provided with a protrusion structure 3231 that matches the limiting groove, and the protrusion structure 3231 is engaged in the limiting groove; the second end of the second telescopic rod 323 is connected to the cylinder head or the positioning plate 1 of the third lifting motion actuator 321. In application, the second lifting actuator 422 is activated. When the cylinder head of the second lifting actuator 422 extends outward, the positioning plate 1 and the second telescopic rod 323 also move along the extension direction. When the cylinder head of the second lifting actuator 422 retracts, the positioning plate 1 and the second telescopic rod 323 also move along the retraction direction. In practical applications, due to the limiting groove, the cylinder head of the second lifting actuator 422 cannot continuously extend outward or continuously retract. When the cylinder head of the second lifting actuator 422 extends outward, the protruding structure 3231 abuts against the upper end of the limiting groove, and continues to push the cylinder head of the second lifting actuator 422 outward. The cylinder head of the second lifting actuator 422 will not continue to extend outward, and the positioning plate 1 and the second telescopic rod 323 will no longer continue to move along the extension direction. When the cylinder head of the second lifting actuator 422 retracts, the protruding structure 3231 abuts against the lower end of the limiting groove, and the cylinder head of the second lifting actuator 422 continues to be pulled back. The cylinder head of the second lifting actuator 422 will not continue to retract, and the positioning plate 1 and the second telescopic rod 323 will no longer move in the retraction direction. In practical applications, in order to make full use of the second lifting actuator 422, the length of the limiting groove (the distance between the upper and lower ends of the limiting groove) is greater than half of the range of the second lifting actuator 422. Furthermore, in the initial state, the extension length of the cylinder rod (or piston rod) of the second lifting actuator 422 is half of the range of the second lifting actuator 422. The first end of the translation part 2 of the present invention is connected to the first support plate 41 of the adjustment part 4, and the second end of the translation part 2 is connected to the positioning plate 1, driving the positioning plate 1 to reciprocate along the X-axis and / or Y-axis. Preferably, the first end of the translation part 2 is connected to the cylinder head of the third lifting actuator 321.

[0066] refer to Figure 3To enable the positioning plate 1 to move along the X-axis and / or Y-axis, increasing the flexibility of the scanning device and allowing it to handle more complex scanning tasks, the translation unit 2 of this invention includes a first motion actuator 21 and / or a second motion actuator 22. Specifically, the cylinder of the first motion actuator 21 is connected to the cylinder head of the third lifting motion actuator 321, the cylinder head of the first motion actuator 21 is connected to the cylinder of the second motion actuator 22, and the cylinder head of the second motion actuator 22 is connected to the positioning plate 1. The telescopic movement of the first motion actuator 21 is along the Y-axis, and the telescopic movement of the second motion actuator 22 is along the X-axis. In application, activating the first motion actuator 21 drives the second motion actuator 22 and the positioning plate 1 to reciprocate along the Y-axis, thereby adjusting the position of the positioning plate 1 along the Y-axis; activating the second motion actuator 22 drives the positioning plate 1 to reciprocate along the X-axis, thereby adjusting the position of the positioning plate 1 along the Y-axis. In practical applications, in the initial state, the extension length of the cylinder rod (or piston rod) of the first motion actuator 21 is half of the range of the first motion actuator 21; the extension length of the cylinder rod (or piston rod) of the second motion actuator 22 is half of the range of the second motion actuator 22.

[0067] In summary, the positioning plate 1 of this invention serves as a support platform for the object to be scanned, with its second surface specifically designed to support the object, ensuring stability and accuracy during the scanning process. The scanning area of ​​the CT scanning unit 5 precisely corresponds to the external shape and position of the object to be scanned. The scanning area can be a scanning cavity extending vertically, and the positioning plate can pass through the scanning cavity vertically. Through the cooperation of the lifting unit 3 and the adjustment unit 4, high-precision scanning of objects with complex shapes is achieved. Furthermore, the adjustment unit 4, through multiple sets of shape and position adjustment components 42 and rotation components 43, can flexibly adjust the shape and position of the positioning plate 1 and the CT scanning unit 5 in six degrees of freedom (translation and rotation around the X, Y, and Z axes), which not only improves the flexibility of scanning but also ensures precise alignment between the scanning area and the external shape of the object to be scanned, thereby improving the accuracy and reliability of scanning. Furthermore, the shape and position adjustment component 42 adopts a combination of a first lifting motion actuator 421 and a second lifting motion actuator 422. By precisely controlling the lifting of the motion actuators, stable adjustment of the positioning plate 1 in five degrees of freedom is achieved. The rotating assembly 43 employs a combination of a hydraulic motor 431, a worm gear, and a slewing bearing 432 to achieve smooth rotation of the positioning plate 1 around the Z-axis, further enhancing the flexibility and accuracy of scanning. Furthermore, the lifting unit 3 includes a first lifting assembly 31 and a second lifting assembly 32. The first lifting assembly 31, through multiple lifting modules (including a fixed plate 311, a fourth lifting motion actuator 312, a fifth lifting motion actuator 313, and an extension plate 314), achieves precise lifting and lowering movement of the CT scanning unit 5 along the Z-axis, increasing the smoothness and accuracy of scanning. The second lifting assembly 32 allows the positioning plate 1 to move along the Z-axis. Furthermore, the translation unit 2 enables precise movement of the positioning plate 1 along the X-axis and / or Y-axis, thereby meeting more complex scanning requirements. Furthermore, by designing the first support plate 41 and the second support plate 44, the form and position adjustment assembly 42 and the rotating assembly 43 are connected to the positioning plate 1, which not only improves the stability of the structure but also facilitates subsequent adjustments and maintenance. Furthermore, the second lifting assembly 32 includes a first telescopic rod 322 and a second telescopic rod 323, which further enhances the stability of the positioning plate 1 during lifting. Moreover, the initial position of the positioning plate 1 is designed to be parallel to the XOY plane, enabling it to be used in vertical scanning scenarios. This not only meets the needs of medical diagnosis but is also widely applicable to various fields such as industrial inspection and scientific research experiments.

[0068] In some preferred embodiments, the lifting motion actuator is a lifting cylinder, an electric cylinder, or a hydraulic cylinder.

[0069] In addition, the present invention also describes a medical device.

[0070] To address the limitations of traditional CT scanning methods in specific application scenarios, improve scanning accuracy and efficiency, and reduce detection risks and costs, the medical device of this invention includes the aforementioned scanning apparatus and a control system. Specifically, the control system controls the lifting unit 3 and the adjustment unit 4.

[0071] The control method of the control system includes steps SS1-SS7.

[0072] Step SS1: Generate the calibration file.

[0073] Dark field correction files and gain correction files are generated for subsequent image correction, respectively, when the CT scanning unit 5 is not emitting beam and when it is emitting beam.

[0074] Step SS2: Initialize each axis.

[0075] The lifting unit 3, the adjustment unit 4 and other axes are initialized, including moving the CT scanning unit 5, the positioning plate 1 (and the scanned part it carries) and each motion actuator to the initial position, and setting the movement speed of each axis.

[0076] Step SS3: Adjust the shape and position of positioning plate 1 and CT scanning unit 5.

[0077] The positioning plate 1 and the CT scanning unit 5 are adjusted in six degrees of freedom by adjusting part 4, lifting part 3, and translation part 2 to ensure that the scanning area corresponds to the external shape and position of the object to be scanned.

[0078] Step SS4: Install the document to be scanned.

[0079] The object to be scanned is placed on the second surface of the positioning plate 1 and fixed as necessary to ensure that the object remains stable during the scanning process and to avoid artifacts or affecting the scanning quality.

[0080] Step SS5: Start the scan.

[0081] The control system controls the lifting unit 3 and the adjusting unit 4 to perform scanning according to preset scanning trajectories and parameters. For example, it causes the CT scanning unit 5 to reciprocate along the Z-axis and the positioning plate 1 to rotate in the XOY plane.

[0082] During application, the motion status of each axis and other conditions are monitored in real time to ensure the safety and accuracy of the scanning process.

[0083] Step SS6: Scan complete.

[0084] The scan results are saved, the scanned person or object is downloaded, and the medical device structure is restored to its initial state. In summary, the control system can precisely control the movement of the lifting unit 3 and the adjusting unit 4, achieving comprehensive management and optimization of the scanning process.

[0085] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the invention without departing from the principles and spirit of the invention, and all such changes should fall within the protection scope of the claims of the present invention.

Claims

1. A scanning device, characterized in that, include: Positioning plate (1), the positioning plate (1) includes a first surface and a second surface arranged opposite to each other, the second surface being used to support the object to be scanned; CT scanning unit (5), the scanning area of ​​the CT scanning unit (5) corresponds to the external shape position of the object to be scanned; Lifting part (3), the first end of the lifting part (3) is connected to the CT scanning part (5), so that the CT scanning part (5) moves back and forth along the Z-axis; Adjustment part (4) is connected to the first surface and the lifting part (3) to adjust the shape and position of the positioning plate (1) and the CT scanning part (5) in six degrees of freedom.

2. The scanning device according to claim 1, characterized in that, The adjustment part (4) includes: Multiple sets of shape and position adjustment components (42), each set of shape and position adjustment components (42) having its drive end connected to different positions on the first surface, to adjust the shape and position of the positioning plate (1); and / or, A rotating component (43) is connected to the positioning plate (1) and drives the positioning plate (1) to rotate clockwise or counterclockwise around the Z-axis in the XOY plane.

3. The multi-degree-of-freedom adjustment mechanism according to claim 2, characterized in that, The adjustment unit (4) further includes: A first support plate (41), a first side of which is connected to the first surface, and a second side of which is connected to the drive end of the form and position adjustment assembly (42); and / or, The second support plate (44) is connected to the first side of the form and position adjustment assembly (42) and the second side of the second support plate (44) is connected to the rotation assembly (43).

4. The scanning device according to claim 3, characterized in that, Each set of the form and position adjustment components (42) includes: a first lifting motion actuator (421) and a second lifting motion actuator (422); the cylinder heads of the first lifting motion actuator (421) and the second lifting motion actuator (422) are adjacent and connected to the same point on the first support plate (41); the cylinder bodies of the first lifting motion actuator (421) and the second lifting motion actuator (422) are separate and connected to the second support plate (44); the diameter of the first virtual circle formed by the cylinder bodies of the lifting motion actuators of each set of form and position adjustment components (42) is greater than or equal to the diameter of the second virtual circle formed by the cylinder heads of the lifting motion actuators; The rotating assembly (43) includes a hydraulic motor (431), a worm gear, and a slewing bearing (432); the hydraulic motor (431) drives the worm gear, the worm gear is coupled to the slewing bearing (432), and the slewing bearing (432) is connected to the second support plate (44) so ​​that the second support plate (44) rotates in the XOY plane.

5. The scanning device according to claim 1, characterized in that, The lifting unit (3) includes: a first lifting assembly (31), the first lifting assembly (31) including multiple lifting modules, each lifting module including: A fixing plate (311) is connected to the adjusting part (4); The cylinder of the fourth lifting motion actuator (312) is connected to the fixed plate (311); The fifth lifting motion actuator (313) has its cylinder body connected to the cylinder head of the fourth lifting motion actuator (312); An extension plate (314) is connected to the cylinder head of the fifth lifting motion actuator (313) and the extension plate (314) is connected to the CT scanning unit (5).

6. The scanning device according to claim 1, characterized in that, The lifting part (3) includes: a second lifting assembly (32), the first end of which is connected to the adjusting part (4), and the second end of which is connected to the positioning plate (1), driving the positioning plate (1) to reciprocate along the Z-axis; and / or, The scanning device further includes a translation unit (2); the first end of the translation unit (2) is connected to the adjustment unit (4), and the second end of the translation unit (2) is connected to the positioning plate (1), driving the positioning plate (1) to reciprocate along the X-axis and / or Y-axis.

7. The scanning device according to claim 6, characterized in that, The second lifting assembly (32) includes: a third lifting motion actuator (321), the cylinder of the third lifting motion actuator (321) is connected to the adjustment part (4), and the cylinder head of the third lifting motion actuator (321) is connected to the positioning plate (1) to drive the positioning plate (1) to reciprocate along the Z-axis; The translation unit (2) includes a first motion actuator (21) and a second motion actuator (22). The cylinder of the first motion actuator (21) is connected to the cylinder head of the third lifting motion actuator (321). The cylinder head of the first motion actuator (21) is connected to the cylinder of the second motion actuator (22). The cylinder head of the second motion actuator (22) is connected to the positioning plate (1). The telescopic movement of the first motion actuator (21) is along the Y-axis direction, and the telescopic movement of the second motion actuator (22) is along the X-axis direction.

8. The scanning device according to claim 7, characterized in that, The second lifting assembly (32) also includes: The first telescopic rod (322) is connected to the cylinder of the third lifting motion actuator (321), and a limit groove is provided on the first telescopic rod (322); The second telescopic rod (323) has a protrusion structure (3231) at its first end, and the protrusion structure (3231) is engaged in the limiting groove. The second end of the second telescopic rod (323) is connected to the cylinder head of the third lifting motion actuator (321).

9. The scanning device according to claim 1, characterized in that, The initial position of the positioning plate (1) is such that the first surface is parallel to the XOY plane.

10. A medical device, characterized in that, include: The scanning apparatus according to any one of claims 1-9; The control system controls the lifting unit (3) and the adjusting unit (4).

Images