Computed tomography (CT) equipment

Abstract

The utility model discloses computed tomography (CT) equipment, which comprises a scanning bed for bearing a target object; the scanning tunnel is provided with a CT scanning space coordinate system, and the scanning tunnel is used for scanning the target object arranged in the scanning tunnel in the CT scanning space coordinate system so as to generate a focus image of the target object; and the mechanical arm is used for moving in the CT scanning space coordinate system and performing a puncture operation on the target object according to the position of the focus image in the CT scanning space coordinate system. The mechanical arm and the CT equipment are combined, the mechanical arm reuses the CT scanning space coordinate system of the CT equipment, and registration errors introduced among multiple systems are eliminated. In addition, the CT equipment combined with the mechanical arm does not need a trolley, so that the space of an operating room is saved.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and more specifically, to a computed tomography (CT) device. Background Art

[0002] Percutaneous surgery is a diagnostic and therapeutic technique that inserts a puncture needle into a body cavity to extract secretions for laboratory tests, inject gas or contrast agent into the body cavity for contrast examination, or inject drugs into the body cavity; the purpose of percutaneous surgery is to draw blood for laboratory tests, transfuse blood, infuse fluids, and place a catheter for angiography, etc. Therefore, after the doctor inserts the puncture needle into the patient's body, it is necessary to use computed tomography (CT) examination to determine whether the puncture needle has correctly punctured the position of the patient's lesion tissue.

[0003] Currently, during percutaneous surgery, the surgical robot and the CT device are independent systems. The surgical robot system relies on an optical navigation system or an electromagnetic navigation system for positioning, and it is necessary to register the CT image coordinate system with the navigation system, which will introduce additional spatial registration errors and result in a long preoperative preparation time. In addition, the surgical robot usually includes a robotic arm and a trolley, which occupy a large space. Summary of the Utility Model

[0004] This application provides a computed tomography (CT) device. The following introduces various aspects related to this application.

[0005] In a first aspect, there is provided a computed tomography (CT) device, including: a scanning bed for carrying a target object; a scanning tunnel having a CT scanning space coordinate system, the scanning tunnel including an emitter detector for scanning the target object placed in the scanning tunnel in the CT scanning space coordinate system to generate a lesion image of the target object; a robotic arm for moving within the CT scanning space coordinate system and performing a percutaneous surgery on the target object according to the position of the lesion image in the CT scanning space coordinate system.

[0006] As a possible implementation, the robotic arm is configured to be fixed on the scanning bed; the scanning bed is configured to carry the robotic arm and the target object into or out of the scanning tunnel.

[0007] As a possible implementation, the scanning bed includes: a traveling mechanism configured to adjust the in-bed depth of the target object.

[0008] As a possible implementation, the robotic arm is fixed on the scanning bed based on a bolt structure.

[0009] As a possible implementation, the CT device further includes: a scanning bed base, located below the scanning bed and movably connected to the scanning bed; the scanning bed base includes a lifting mechanism configured to adjust the height of the scanning bed.

[0010] As a possible implementation, the robotic arm includes: a needle-holding device for holding a puncture needle to perform a puncture operation.

[0011] As a possible implementation, the material of the needle-holding device is a non-metallic non-magnetic material.

[0012] As a possible implementation, the CT device further includes: a workstation communicatively connected to the scanning tunnel for receiving the lesion image of the target object.

[0013] As a possible implementation, the workstation is further configured to generate a puncture path according to the puncture position and the target position marked on the lesion image.

[0014] As a possible implementation, the workstation is communicatively connected to the robotic arm, and the workstation is further configured to control the robotic arm to perform a puncture operation on the target object according to the puncture path.

[0015] The present application provides a CT device, including: a scanning bed for carrying a target object; a scanning tunnel having a CT scanning space coordinate system, the scanning tunnel includes a radiation source detector for scanning the target object placed in the scanning tunnel in the CT scanning space coordinate system to generate a lesion image of the target object; a robotic arm for moving within the CT scanning space coordinate system and performing a puncture operation on the target object according to the position of the lesion image in the CT scanning space coordinate system. The present application combines the robotic arm with the CT device, and the robotic arm reuses the CT scanning space coordinate system of the CT device, eliminating the registration error introduced between multiple systems. In addition, the CT device combined with the robotic arm does not require a trolley, thus saving the operating room space. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of a CT device provided by an embodiment of the present application. Detailed Embodiments

[0017] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0018] Referring to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of this application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0019] Percutaneous surgery is a diagnostic and therapeutic technique that inserts a puncture needle into a body cavity to extract secretions for laboratory tests, inject gas or contrast agent into the body cavity for contrast examination, or inject drugs into the body cavity; the purpose of percutaneous surgery is to draw blood for laboratory tests, transfuse blood, infuse fluids, and place a catheter for angiography, etc. Therefore, after the doctor inserts the puncture needle into the patient's body, it is necessary to use CT examination to determine whether the puncture needle has correctly punctured the position of the patient's lesion tissue.

[0020] Currently, during percutaneous surgery, the surgical robot and the CT device are independent systems. The surgical robot system relies on an optical navigation system or an electromagnetic navigation system for positioning, and it is necessary to register the CT image coordinate system with the navigation system, which will introduce additional spatial registration errors and result in a long preoperative preparation time. According to the data of the disclosed commercial products, the spatial registration error relying on the optical navigation system or the electromagnetic navigation system is about 4 mm. In addition, the surgical robot of the independent system usually includes a robotic arm and a trolley, which will occupy a large space.

[0021] To address the above problems, this application provides a CT device that combines the robotic arm in percutaneous surgery with the CT device. The robotic arm reuses the CT scan spatial coordinate system of the CT device. In this way, there is no need to set up an optical navigation system or an electromagnetic navigation system to perform positioning and registration on the robotic arm. Further, the registration errors introduced between multiple systems are eliminated. In addition, since there is no need for the navigation system to perform positioning and registration operations on the robotic arm, the trolley can be omitted, thus saving the operating room space.

[0022] The following will detail the puncture robot provided by the present disclosure in conjunction with the accompanying drawings and embodiments.

[0023] Figure 1 The following shows a schematic structural diagram of a CT device provided by an embodiment of this application. AsFigure 1 As shown in Figure 1 , the CT device provided by the embodiment of the present application includes a scanning bed 110, a scanning tunnel 120, and a robotic arm 130.

[0024] The scanning bed 110 can be used to carry a target object (such as a patient). The scanning bed 110 can carry the target object into or out of the scanning tunnel 120, so that the target object can be scanned and imaged by the scanning tunnel 120, thereby achieving the purpose of detecting the lesion area. The lesion area may refer to the lesion tissue area of the patient. For example, the lesion area may be the liver tissue area or the lung tissue area, etc. The present application does not make specific limitations on this.

[0025] The scanning tunnel 120 has a CT scanning space coordinate system. The scanning tunnel 120 can be used to scan a target object placed therein in the CT scanning space coordinate system to generate a lesion image of the target object. It should be understood that the lesion image is an image of the lesion area, and each point (such as a pixel point) on the lesion image of the target object corresponds to a spatial coordinate in the CT scanning space coordinate system (that is, each point on the lesion image has a corresponding coordinate position in the CT scanning space coordinate system), which helps to guide the puncture needle to perform a puncture operation according to the planned needle insertion position and puncture path.

[0026] In some implementation manners, the scanning tunnel 120 includes an emission source detector 121. The emission source detector 121 can be used to scan a target object placed therein in the CT scanning space coordinate system to generate a lesion image of the target object. Among them, the emission source detector 121 can set scanning parameters such as tube current and tube voltage. The present application does not make specific limitations on this.

[0027] The robotic arm 130 in the embodiment of the present application can reuse the above CT scanning space coordinate system. The robotic arm 130 can be used to move within the CT scanning space coordinate system and perform a puncture operation on the target object according to the position (such as the coordinate position) of the lesion image in the CT scanning space coordinate system.

[0028] In some implementation manners, the robotic arm 130 can be set beside the scanning bed 110 or on the scanning bed 110. The present application does not make specific limitations on the installation position of the robotic arm 130, as long as the robotic arm 130 can reuse the CT scanning space coordinate system. It should be understood that when the robotic arm 130 is set on the scanning bed 110, the scanning bed 110 can be used to carry the robotic arm 130 and the target object, and the scanning bed 110 can carry the robotic arm 130 and the target object into or out of the scanning tunnel 120, so as to better support the needle.

[0029] The embodiments of the present application do not specifically limit the fixing manner of the robotic arm 130 on the scanning bed 110. For example, the robotic arm 130 can be fixed on the scanning bed 110 based on a bolt structure; alternatively, the robotic arm 130 can be welded to the scanning bed 110.

[0030] It should be noted that before the CT device incorporating the robotic arm 130 leaves the factory, the robotic arm 130 will be positioned and calibrated so that the robotic arm 130 can reuse the CT scanning space coordinate system, that is, the unification process between the robotic arm 130 and the CT scanning space coordinate system will be completed before leaving the factory.

[0031] The robotic arm 130 can include a needle holding device 131, and the needle holding device 131 can also be referred to as a needle holder 131. The needle holding device 131 is installed at the end of the robotic arm 130. The needle holding device 131 is used to hold the puncture needle. During the puncture operation, the robotic arm 130 and the needle holding device 131 cooperate to achieve the guiding and holding effects on the puncture needle. In some implementation manners, the needle holding device 131 has a quick-disassembly structure and can be sterilized separately and reused.

[0032] In some implementation manners, during the puncture stage, the robotic arm 130 can drive the needle holding device 131 to move and rotate to ensure that the puncture can strictly follow the puncture path on the CT image. The doctor can perform the puncture through the guiding hole in the needle holding device 131, and the guiding hole and the puncture needle are matched in thickness; during the verification stage, the needle holding device 131 can enter the scanning tunnel 120 together with the scanning bed 110 for scanning and imaging. It should be understood that the robotic arm 130, the needle holding device 131, and the target object can move together with the scanning bed 110.

[0033] That is to say, the robotic arm 130, the needle holding device 131, the puncture needle, and the patient move into the scanning tunnel 120 together with the scanning bed 110 for scanning. The needle holding device 131 will hold the puncture needle throughout the process, thereby playing the role of supporting and stabilizing the needle, and avoiding problems such as the puncture needle falling or inaccurate puncture caused by gravity or breathing.

[0034] In some implementation manners, the material of the needle holding device 131 can be a non-metallic non-magnetic material. For example, the needle holding device 131 can be a resin material or a polymer material (such as a high-strength polymer material). The resin material or the polymer material will not cause artifact interference to the CT imaging and can ensure the clarity of the CT imaging.

[0035] In some implementation manners, the CT device further includes a scanning bed base 140. The scanning bed base 140 can be located below the scanning bed 110 and is movably connected to the scanning bed 110; for example, the scanning bed 110 can move on the upper surface of the scanning bed base 140 in a direction parallel to the ground to enter or exit the scanning tunnel 120.

[0036] In some implementations, the scan bed base 140 may include a lifting mechanism configured to adjust the height of the scan bed 110, thereby facilitating the patient's getting on and off. It should be understood that the scan bed base 140 may include a motor that can be used to drive the lifting mechanism to rise or fall.

[0037] It should be understood that when the robotic arm 130 is disposed on the scan bed 110, the scan bed base 140 will increase the load on the motor and the weight-bearing of the entire bed structure, so that the scan bed base 140 can additionally bear the weight of the robotic arm 130, enabling the motor in the scan bed base 140 to additionally drive the load of the robotic arm 130.

[0038] As mentioned above, the scan bed 110 can carry the robotic arm 130 and the target object into or out of the scan tunnel 120. In some implementations, the scan bed 110 may include a traveling mechanism configured to adjust the depth of the scan bed 110 entering the scan tunnel (i.e., the depth of the scan bed 110 entering the scan tunnel 120), thereby facilitating the scanning and imaging of the lesion area of the target object. It should be understood that the scan bed base 140 may include a motor that can be used to drive the traveling mechanism to move towards the scan tunnel 120 or withdraw away from the scan tunnel 120.

[0039] It should be understood that when the robotic arm 130 is disposed on the scan bed 110, the scan bed 110 will increase the load on the motor and the weight-bearing of the entire bed structure, so that the scan bed 110 can additionally bear the weight of the robotic arm 130, enabling the motor in the scan bed 110 to additionally drive the load of the robotic arm 130.

[0040] It should be understood that when the robotic arm 130 is fixed to the scan bed 110 based on a bolt structure, the scan bed 110 needs to add a rigid structure with bolt holes for installing and fixing the robotic arm 130. Based on the fixed assembly method of the bolt structure, the error is extremely small (for example, the assembly error can be controlled within 1 mm).

[0041] It should be understood that the robotic arm 130 is fixed to the scan bed 110 based on a bolt structure. When the patient lies on the CT bed, the patient's legs can pass through both sides of the robotic arm 130, ensuring the comfort of the patient.

[0042] In some implementations, the CT device further includes a workstation (not shown in the figure). The workstation can be communicatively connected to the scan tunnel 120. Of course, the workstation can also be communicatively connected to the robotic arm 130.

[0043] In some implementations, when the scan tunnel 120 scans the target object and generates a lesion image of the target object, the lesion image can be sent to the workstation through the communication connection. That is, the workstation can be used to receive the lesion image of the target object.

[0044] In some implementations, when a doctor marks the needle insertion position and the target position of the target object on the lesion image, the workstation is further configured to generate a puncture path based on the marked needle insertion position and the target position on the lesion image. The needle insertion position may refer to the position of the human body epidermis near the lesion area. The target position may refer to the position of the lesion tissue.

[0045] In some implementations, the workstation is further configured to control the robotic arm 130 to perform a puncture operation on the target object according to the puncture path. It should be understood that by controlling the movement of the robotic arm 130 in the CT scan coordinate system, the angle and position of the needle holding device 131 can be adjusted so that after the puncture needle is assembled on the needle holding device 131, the tip of the puncture needle is located at the needle insertion position, and the angle of the puncture needle is consistent with or close to the puncture path, so that the tip of the puncture needle can reach the target position.

[0046] The following combines Figure 1 , and describes the embodiments of the present application in more detail. The following examples are only for helping those skilled in the art to understand the embodiments of the present application, rather than limiting the embodiments of the present application to the specific values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes according to the given examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0047] It should be noted that the percutaneous puncture surgical process may include a preoperative preparation stage, a scanning stage, a puncture stage, and a verification stage.

[0048] In the preoperative preparation stage: Install the reusable and sterilizable needle holding device 131 at the end of the robotic arm 130. It should be understood that if necessary, a disposable sterile protective cover can be put on the needle holding device 131.

[0049] In the scanning stage: After the doctor positions the patient on the scanning bed 110, control the scanning bed 110 to move into the scanning tunnel 120, so that the scanning bed 110 drives the target object into the scanning tunnel 120 for CT scan imaging.

[0050] During the puncture stage: after the scan is completed, the scanning bed 110 is controlled to carry the patient out of the scanning tunnel 120. Based on the lesion image of the target object, the doctor can select the needle insertion position and the target position on the CT workstation to form a puncture path. According to the needle insertion position, the target position and the puncture path, the robot arm 130 is controlled to move in the CT scanning coordinate system to adjust the posture of the needle holding device 131 (that is, adjust the angle and position of the needle holding device 131), so that the tip of the puncture needle is located at the needle insertion position, and the puncture needle can move along the puncture path (the angle of the puncture needle is consistent with or close to the puncture path). After disinfection and skin breaking operations, the doctor inserts the needle along the guide hole in the needle holding device 131 (that is, controls the tip of the puncture needle to reach the target position along the puncture path).

[0051] In some implementations, during the puncture phase, when the robot arm 130 moves in the CT scanning coordinate system, the needle holder 131 may not be equipped with a puncture needle. After the posture of the needle holder 131 is adjusted to a specified state, the puncture needle is then assembled on the needle holder 131, thereby helping to prevent the moving puncture needle from causing accidental injury to the patient. Among them, adjusting the posture of the needle holder 131 to a specified state may mean that after the puncture needle is assembled on the needle holder 131, the tip of the puncture needle is located at the needle insertion position, and the puncture needle can move along the puncture path.

[0052] During the verification phase: after the needle is inserted into place, the robotic arm 130, the needle holder 131, the puncture needle and the patient will move together with the scanning bed 110 into the scanning tunnel 120 for scanning. The puncture needle is clamped by the needle holder 131 during the whole process, which has a stabilizing effect and prevents the puncture needle from falling due to gravity or breathing, resulting in inaccurate puncture. Among them, the needle holder 131 can be made of high-strength polymer material, which will not produce CT metal artifacts.

[0053] It should be understood that if the puncture needle hits the lesion, the puncture needle is pulled out and the operation is completed. Otherwise, the puncture stage is repeated.

[0054] The CT device provided in the above embodiment has the following advantages:

[0055] 1) The CT device combined with a robotic arm proposed in this application eliminates the optical or electromagnetic navigation system equipment, fully utilizes the spatial coordinate system of the CT scan, and eliminates the alignment error introduced between multiple systems.

[0056] 2) The CT device combined with a robotic arm proposed in this application allows doctors to operate at a CT workstation and set the needle insertion trajectory, making the operation easier. Since there is no preoperative positioning and alignment work, data transmission and calculation time are reduced, saving preoperative preparation time.

[0057] 3) The CT device combined with a robotic arm proposed in this application does not require separate configuration of devices such as a trolley, a display, and a computing host for the robotic arm, saving the volume of the trolley and leaving more space for activities and equipment placement in the operating room.

[0058] 4) The CT device combined with a robotic arm proposed in this application includes a needle holder at the end, which can move along with the movable CT bed during recheck scanning, support and stabilize the needle throughout the process, avoiding the problem of inaccurate puncture caused by the needle falling during recheck scanning. At the same time, the needle holder is made of high-strength polymer material and will not produce artifacts.

[0059] In the description of this application, it should be understood that the orientation or positional relationship indicated by terms such as "beside", "above", "inside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0060] In this application, unless otherwise clearly specified and limited, terms such as "install", "connect", "link", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0061] In this application, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "below", "beneath", and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0062] In the description of this specification, the descriptions referring to the terms "some embodiments", "examples", "specific examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0063] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A computed tomography (CT) device, characterized in that, Comprising: A scanning bed for carrying a target object; A scanning tunnel having a CT scanning space coordinate system, the scanning tunnel being configured to scan the target object placed therein in the CT scanning space coordinate system to generate a lesion image of the target object; A robotic arm for moving within the CT scanning space coordinate system and performing a puncture operation on the target object according to the position of the lesion image in the CT scanning space coordinate system; The robotic arm is configured to be fixed on the scanning bed; The scanning bed is configured to carry the robotic arm and the target object into or out of the scanning tunnel.

2. The CT device according to claim 1, wherein The scanning bed includes: A traveling mechanism configured to adjust the depth of the target object entering the bed.

3. The CT device according to claim 1, characterized in that, The robotic arm is fixed on the scanning bed based on a bolt structure.

4. The CT device according to any one of claims 1-3, characterized in that, The CT device further includes: A scanning bed base located below the scanning bed and movably connected to the scanning bed; The scanning bed base includes a lifting mechanism configured to adjust the height of the scanning bed.

5. The CT device according to any one of claims 1-3, characterized in that, The robotic arm includes: A needle holding device for holding a puncture needle to perform a puncture operation.

6. The CT device according to claim 5, wherein, The material of the needle holding device is a non-metallic non-magnetic material.

7. The CT device according to any one of claims 1 to 3, characterized in that, The CT device further includes: A workstation communicatively connected to the scanning tunnel for receiving the lesion image of the target object.

8. The CT device according to claim 7, wherein: The workstation is further configured to generate a puncture path according to the marked needle insertion position and target position on the lesion image.

9. The CT device according to claim 8, wherein: The workstation is communicatively connected to the robotic arm, and the workstation is further configured to control the robotic arm to perform a puncture operation on the target object according to the puncture path.

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