Intraoperative mobile CT (Computed Tomography) loading chassis based on laser guidance

Abstract

The utility model relates to the field of medical instruments, and particularly discloses an intraoperative mobile CT loading chassis based on laser guidance, the intraoperative mobile CT loading chassis comprises a walking carrier and a camera arranged on the walking carrier, and the walking carrier walks on the ground and is used for bearing a CT scanner; a laser emitting device is arranged below the operating bed, the laser emitting device is used for projecting laser rays to the ground, and the laser rays comprise longitudinal laser rays parallel to the length direction of the operating bed; the camera is used for capturing the longitudinal laser rays on the ground so that the walking carrier can advance in the direction of the longitudinal laser rays. According to the invention, autonomous navigation of the mobile CT is realized based on laser guidance, and the reliability and stability of the mobile CT in the operation are improved.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a laser-guided intraoperative mobile CT load-bearing chassis. Background Art

[0002] Mobile CT, also known as intraoperative CT, bedside CT, and portable CT, is small, light, and easy to move. It can be pushed into wards and operating rooms, allowing patients to receive CT scans at their bedsides. In addition, mobile CT can also provide precise intraoperative navigation, allowing doctors to perform CT scans while performing surgery.

[0003] The core technology of mobile CT development is the development of high-precision and high-stability mobile chassis, among which the autonomous navigation solution suitable for complex medical scenarios is the key technology of the mobile chassis. Existing mobile CT also requires manual pushing of the machine for scanning, which not only increases the labor cost, but also makes it difficult to ensure the reliability and stability during the operation. Utility Model Content

[0004] In order to improve the reliability and stability of the movement of mobile CT, the present application provides an intraoperative mobile CT load-bearing chassis based on laser guidance.

[0005] The present application provides a laser-guided intraoperative mobile CT load-bearing chassis that adopts the following technical solutions:

[0006] A laser-guided intraoperative mobile CT load-bearing chassis, comprising:

[0007] A walking carrier, which walks on the ground and is used to carry the CT scanner;

[0008] A camera is arranged on the walking carrier;

[0009] A laser emitting device is provided under the operating bed, and the laser emitting device is used to project a laser line toward the ground, and the laser line includes a longitudinal laser line parallel to the length direction of the operating bed;

[0010] The camera is used to capture the longitudinal laser line on the ground, so that the walking vehicle moves along the direction of the longitudinal laser line.

[0011] The laser emitting device is installed under the operating table, and a longitudinal laser line is projected onto the ground through the laser emitting device. The camera on the walking carrier captures the laser line on the ground, and the walking carrier moves along the direction of the longitudinal laser line, so that the CT scanner moves along the longitudinal laser line toward the head of the operating table. This application realizes the autonomous navigation of the mobile CT based on laser guidance, which does not require handheld pushing, and improves the reliability and stability of the mobile CT during surgery. Since the laser line has high brightness and high coherence, the anti-interference ability and robustness of the system are guaranteed in complex medical scenarios.

[0012] Furthermore, the walking carrier includes a load-bearing platform and a plurality of walking wheels, and a driving mechanism for driving the walking wheels is arranged on the load-bearing platform.

[0013] Furthermore, the running wheel is a differential wheel.

[0014] Furthermore, the driving mechanism includes a stepping motor.

[0015] The stepper motor drives the differential wheel to fine-tune the speed, which can correct the posture of the walking carrier.

[0016] Furthermore, the laser line projected onto the ground by the laser emitting device also includes a transverse laser line orthogonal to the longitudinal laser line.

[0017] Furthermore, the intersection of the longitudinal laser line and the transverse laser line is used to indicate the end point of the moving carrier.

[0018] When the distance between the walking carrier and the intersection of the two laser lines reaches a preset value, the walking carrier stops moving forward, ensuring the safety of the movement of the CT scanner.

[0019] Furthermore, the intersection of the longitudinal laser line and the transverse laser line is located at one end of the longitudinal laser line close to the operating bed.

[0020] In this way, the end point of the movement of the CT scanner is made as close to the middle of the operating table as possible, thereby expanding the scanning range of the CT scanner as much as possible.

[0021] Furthermore, the camera is arranged to be tilted downward.

[0022] This makes it easier for the camera to capture the laser line on the ground.

[0023] Furthermore, the load-bearing platform is provided with two layers, the upper layer and the lower layer, the CT scanner is located on the upper layer of the load-bearing platform, and the camera is located on the lower layer of the load-bearing platform.

[0024] The double-layer design of the load-bearing platform reserves sufficient installation space for the CT scanner.

[0025] Furthermore, an inertial measurement unit is provided on the walking carrier for measuring the roll and pitch angle information of the walking carrier, and the inertial measurement unit is control-connected to the stepping motor.

[0026] As the walking vehicle moves forward, the inertial measurement unit measures and outputs the roll and pitch angle information of the walking vehicle. The stepper motor controls the speed of the differential wheel to fine-tune according to the posture of the walking vehicle to achieve precise correction of the posture.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] 1. Based on laser guidance, autonomous navigation of mobile CT is realized, which does not require hand-held pushing, and improves the reliability and stability of mobile CT movement during surgery;

[0029] 2. Due to the high brightness and high coherence of the laser line, the anti-interference ability and robustness of the system are guaranteed in complex medical scenarios;

[0030] 3. The differential wheel driven by a stepper motor ensures the stability and accuracy of the walking mechanism during surgery;

[0031] 4. The laser emitting device is ready for use and can be fixed under any operating table for flexible use. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0033] Figure 2 It is a schematic diagram of the structure of the walking carrier in the embodiment of the present application.

[0034] Figure numerals: 1. operating table; 2. laser emitting device; 3. horizontal laser line; 4. longitudinal laser line; 5. CT scanner; 6. walking carrier; 7. navigation button; 8. main switch; 9. status signal light; 10. camera; 11. stepper motor; 12. load-bearing platform; 13. power supply; 14. differential wheel; 15. main control board; 16. industrial computer. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-2 This application is described in further detail.

[0036] The present application embodiment discloses a laser-guided intraoperative mobile CT load-bearing chassis. Figure 1 and Figure 2 The laser-guided intraoperative mobile CT load-bearing chassis includes a walking carrier 6 that walks on the ground. The walking carrier 6 includes a load-bearing platform 12 and four differential wheels 14. The load-bearing platform 12 is provided with an upper and lower layer. The upper layer of the load-bearing platform 12 is installed with a CT scanner 5, and the lower layer of the load-bearing platform 12 is installed with a camera 10 and a driving mechanism for driving the differential wheels 14. Specifically, the driving mechanism includes a stepper motor 11.

[0037] Reference Figure 1A vertical support column is fixedly connected to the center of the bottom surface of the operating bed 1, and a laser emitting device 2 is installed on the support column. The laser emitting device 2 is used to project laser lines to the ground, and the laser lines include a longitudinal laser line 4 parallel to the length direction of the operating bed 1. The camera 10 arranged obliquely downward is used to capture the longitudinal laser line 4 on the ground, so that the walking carrier 6 moves along the direction of the longitudinal laser line 4.

[0038] The laser emitting device 2 under the operating bed 1 projects a longitudinal laser line 4 onto the ground, and the camera 10 on the walking carrier 6 captures the laser line on the ground, so that the walking carrier 6 moves along the direction of the longitudinal laser line 4, thereby moving the CT scanner 5 along the length direction of the operating bed 1 and toward the head of the operating bed 1. The present application realizes autonomous navigation of the mobile CT based on laser guidance, does not require hand-held pushing, and improves the reliability and stability of the mobile CT during surgery.

[0039] At the same time, due to the high brightness and high coherence of the laser line, the system's anti-interference ability and robustness are guaranteed in complex medical scenarios. For example, due to the high brightness of the laser, the navigation process is less affected by changes in ambient light during surgery.

[0040] Reference Figure 2 The lower layer of the load-bearing platform 12 is also provided with a power supply 13, an industrial computer 16 and a main control board 15 integrated with an inertial measurement unit.

[0041] Among them, the inertial measurement unit is used to measure and output the roll and pitch angle information of the walking carrier 6; the industrial computer 16 is used to calculate the posture correction value of the walking carrier 6 relative to the longitudinal laser line 4 according to the posture information of the walking carrier 6 and the longitudinal laser line 4. The stepper motor 11 has an encoder, and the main control board 15 is used to receive the posture correction value transmitted by the industrial computer 16, convert it into a current signal of the speed of the stepper motor 11 and output it, so as to drive the differential wheel 14 to fine-tune the speed, and receive the feedback information of the encoder of the stepper motor 11 to realize closed-loop control, thereby correcting the direction and position errors between the walking carrier 6 and the longitudinal laser line 4, and ensuring the stability and accuracy of the walking mechanism when moving during surgery. The power supply 13 is used to power the camera 10, the stepper motor 11, the industrial computer 16 and the main control board 15.

[0042] Reference Figure 2 The upper layer of the load-bearing platform 12 is provided with a navigation button 7, a main switch 8 and a status signal light 9.

[0043] Among them, the navigation button 7 is used to start the autonomous navigation function, the main switch 8 is used to control the power on and off of the power supply 13, and the status signal light 9 is used to indicate the system status.

[0044] Reference Figure 1The laser emitting device 2 includes two laser line emitters, which are respectively used to project a longitudinal laser line 4 and a transverse laser line 3 onto the ground. Furthermore, the longitudinal laser line 4 is orthogonal to the transverse laser line 3, and the intersection of the longitudinal laser line 4 and the transverse laser line 3 is located at one end of the longitudinal laser line 4 close to the operating table 1, which is used to indicate the end point of the walking carrier 6.

[0045] When the distance between the walking carrier 6 and the intersection of the two laser lines reaches a preset value, the walking carrier 6 stops moving, ensuring the safety of the movement of the CT scanner 5. The end point of the movement of the CT scanner 5 is as close as possible to the middle of the operating table 1, thereby ensuring that the CT scanner 5 has a larger scanning range.

[0046] Furthermore, the laser emitting device 2 is connected to the support column of the operating bed 1 in a detachable manner, so that the laser emitting device 2 is easy to disassemble and assemble, and can be fixed under any operating bed 1 for flexible use.

[0047] The implementation principle of a laser-guided intraoperative mobile CT load-bearing chassis in the embodiment of the present application is as follows: a longitudinal laser line 4 is projected to the ground by a laser emitting device 2 under the operating bed 1, and a camera 10 on a walking carrier 6 captures the laser line on the ground, so that the walking carrier 6 moves along the direction of the longitudinal laser line 4, thereby moving the CT scanner 5 along the length direction of the operating bed 1 and toward the head of the operating bed 1. The present application realizes autonomous navigation of the mobile CT based on laser guidance, which does not require handheld pushing, and improves the reliability and stability of the mobile CT during intraoperative movement. Since the laser line has high brightness and high coherence, the anti-interference ability and robustness of the system are guaranteed in complex medical scenarios.

[0048] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A laser-guided intraoperative mobile CT load-bearing chassis, characterized in that: include: A walking carrier, which walks on the ground and is used to carry the CT scanner; A camera is arranged on the walking carrier; A laser emitting device is provided under the operating bed, and the laser emitting device is used to project a laser line toward the ground, and the laser line includes a longitudinal laser line parallel to the length direction of the operating bed; The camera is used to capture the longitudinal laser line on the ground, so that the walking vehicle moves along the direction of the longitudinal laser line.

2. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 1, characterized in that: The walking carrier comprises a load-bearing platform and a plurality of walking wheels, and a driving mechanism for driving the walking wheels is arranged on the load-bearing platform.

3. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 2, characterized in that: The running wheel is a differential wheel.

4. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 2, characterized in that: The driving mechanism includes a stepping motor.

5. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 1, characterized in that: The laser line projected on the ground by the laser emitting device also includes a transverse laser line orthogonal to the longitudinal laser line.

6. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 5, characterized in that: The intersection of the longitudinal laser line and the transverse laser line is used to indicate the end point of the moving carrier.

7. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 6, characterized in that: The intersection of the longitudinal laser line and the transverse laser line is located at one end of the longitudinal laser line close to the operating bed.

8. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 1, characterized in that: The camera is arranged tilted downward.

9. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 2, characterized in that: The load-bearing platform is provided with two layers, an upper layer and an lower layer. The CT scanner is located on the upper layer of the load-bearing platform, and the camera is located on the lower layer of the load-bearing platform.

10. The laser-guided intraoperative mobile CT load-bearing chassis according to claim 4, characterized in that: The walking carrier is provided with an inertial measurement unit for measuring the roll and pitch angle information of the walking carrier, and the inertial measurement unit is control-connected with the stepping motor.

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