Collimator replacement equipment

Abstract

According to the collimator replacing equipment, due to the fact that a vehicle body of a replacing vehicle is provided with an avoiding groove used for avoiding an examination bed, the replacing vehicle can cross the examination bed and pass through the position above the examination bed, namely, at least part of the examination bed is arranged in the avoiding groove in a penetrating mode, and the examination bed does not need to be moved. The replacing vehicle can be driven to move in the length direction of the examining table in an automatic or manual driving mode until the storage groove used for containing the to-be-disassembled collimator is aligned with the detector, and therefore the to-be-disassembled collimator on the detector can be conveniently disassembled and placed in the storage groove; and the storage groove in which the to-be-installed collimator is stored is aligned with the detector, so that the to-be-installed collimator can be conveniently installed on the detector. In the replacing process, the examining table does not need to be moved, the operation space is saved, the operation step of moving the examining table and the time needed by moving the examining table are omitted, and therefore the replacing efficiency of the collimator is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technical field, in particular to a collimator replacement device. BACKGROUND

[0002] SPECT (Single-Photon Emission Computed Tomography) is one of the commonly used imaging techniques in nuclear medicine, and the collimator is the core component of SPECT. Due to the difference of the imaged organs, different types of collimators are often used to achieve different diagnostic purposes, so it is necessary to replace the collimator in the detector according to the needs.

[0003] In the related art, the replacement efficiency of the collimator is low. CONTENT OF THE UTILITY MODEL

[0004] Therefore, it is necessary to provide a collimator replacement device to solve the problem of low replacement efficiency of the existing collimator replacement method.

[0005] A collimator replacement device applied to a medical imaging device, the collimator replacement device comprising:

[0006] A replacement vehicle, the replacement vehicle comprising a vehicle body and a storage cabinet arranged on the vehicle body, the vehicle body being configured with an avoidance slot for avoiding an examination bed of the medical imaging device; the storage cabinet is provided with at least two storage slots for storing a to-be-detached collimator and a to-be-installed collimator;

[0007] Wherein, at least one of the storage cabinet and the detector of the medical imaging device can move relative to the other to align one of the storage slots with the detector.

[0008] In one embodiment, the collimator replacement device further comprises a moving unit, the moving unit is arranged on the vehicle body, and the moving unit is used to drive the storage cabinet to move relative to the detector.

[0009] In one embodiment, the moving unit comprises a first lifting module arranged on the vehicle body, the first lifting module is used to drive the vehicle body to ascend or descend along the height direction, and the storage cabinet ascends or descends synchronously with the vehicle body.

[0010] In one embodiment, the vehicle body comprises a fixed column and a sliding column slidingly connected to the fixed column, the first lifting module is arranged on the fixed column, and the storage cabinet is arranged on the sliding column.

[0011] The sliding column is connected to the output end of the first lifting module, so as to be driven by the first lifting module and ascend or descend along the height direction.

[0012] In one of the embodiments, the moving unit comprises a second lifting module arranged on the vehicle body, and the storage cabinet is slidingly connected to the output end of the second lifting module, and the second lifting module is configured to drive the storage cabinet to ascend or descend along the height direction.

[0013] In one of the embodiments, the moving unit comprises a first horizontal moving module, and the vehicle body is connected to the output end of the first horizontal moving module, and the first horizontal moving module is configured to drive the vehicle body to move along the horizontal direction, and the storage cabinet moves synchronously with the vehicle body; or,

[0014] The moving unit comprises a second horizontal moving module arranged on the vehicle body, and the storage cabinet is connected to the output end of the second horizontal moving module, and the second horizontal moving module is configured to drive the storage cabinet to move along the horizontal direction.

[0015] In one of the embodiments, the collimator replacement device further comprises a positioning unit in communication connection with the moving unit, and the positioning unit is configured to obtain the respective positions of the storage cabinet and the detector.

[0016] In one of the embodiments, the positioning unit comprises a laser scanner, and the scanning range of the laser scanner covers the storage cabinet and the detector, so as to obtain the respective positions of the storage cabinet and the detector; or,

[0017] The positioning unit comprises a visual collector, and the collection range of the visual collector covers the storage cabinet and the detector, so as to obtain the respective positions of the storage cabinet and the detector; or,

[0018] The positioning unit comprises two inertial measurement units, and the inertial measurement units are configured to measure acceleration and angular velocity; one of the two inertial measurement units is arranged on the collimator, and the other is arranged on the detector.

[0019] In one of the embodiments, at least one of the examination bed and the ground is configured with a guide portion, and the vehicle body is further configured with a matching portion;

[0020] Under the matching action of the matching portion and the guide portion, the vehicle body can move along the length direction of the examination bed.

[0021] In one of the embodiments, the guide portion comprises a guide rail arranged on at least one side surface of the examination bed along the horizontal direction, and the guide rail is provided with a mark; the matching portion is configured to collect the mark; and / or,

[0022] The collimator replacement device further comprises a mounting and dismounting mechanism for dismounting or mounting collimators; and / or,

[0023] The bottom of the vehicle body is provided with multiple rollers; and / or,

[0024] The vehicle body is equipped with reinforcing bars.

[0025] In one embodiment, the vehicle body includes two sets of support columns spaced apart in the horizontal direction, and the space enclosed by the storage cabinet and the two sets of support columns constitutes the clearance groove.

[0026] The aforementioned collimator replacement equipment features a clearance groove on the replacement vehicle to allow it to pass over and over the inspection bed. This means at least a portion of the inspection bed is positioned within the clearance groove, eliminating the need to move the inspection bed. The replacement vehicle can be moved automatically or manually along the length of the inspection bed until the storage slot for the collimator to be removed aligns with the detector. This facilitates the removal of the collimator from the detector and its placement in the storage slot. The storage slot containing the collimator to be installed is then aligned with the detector, allowing for easy installation of the collimator onto the detector. The replacement process eliminates the need to move the inspection bed, saving operating space and eliminating the steps and time required for moving the inspection bed, thus improving the efficiency of collimator replacement. Attached Figure Description

[0027] Figure 1 A schematic diagram illustrating the application of a collimator replacement device according to an embodiment of this application in a medical imaging device;

[0028] Figure 2 for Figure 1 The diagram shown illustrates the collimator replacement equipment in its first state.

[0029] Figure 3 for Figure 1 The diagram shown illustrates the collimator replacement equipment in its second state.

[0030] Figure 4 A schematic diagram of the collimator replacement device provided in the first embodiment of this application;

[0031] Figure 5 A schematic diagram of the collimator replacement device provided in the second embodiment of this application;

[0032] Figure 6 A schematic diagram of the collimator replacement device provided in the third embodiment of this application;

[0033] Figure 7 A schematic diagram of the collimator replacement device provided in the fourth embodiment of this application;

[0034] Figure 8 This is a schematic diagram of the collimator replacement device provided in the fifth embodiment of this application.

[0035] 100, replacement vehicle; 101, vehicle body; 110, support column; 111, fixed column; 112, sliding column; 113, reinforcing rod; 114, roller; 120, storage cabinet; 121, storage groove; 130, avoiding groove; 200, moving unit; 210, first lifting module; 220, second lifting module; 230, first horizontal moving module; 240, second horizontal moving module; 300, matching part; 400, guiding part; 410, guide rail; 500, medical imaging equipment; 510, examination bed; 520, detector; 530, collimator; 600, positioning unit. DETAILED DESCRIPTION

[0036] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of ways other than those described herein, and by persons skilled in the art without departing from the scope of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0037] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "multiple" appears, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0039] In this application, unless otherwise explicitly specified and limited, if there are terms such as "mount", "connect", "connect", "fix" and the like, these terms should be interpreted in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0040] In this application, unless otherwise explicitly specified and limited, if there are terms such as "mount", "connect", "connect", "fix" and the like, these terms should be interpreted in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0041] It should be noted that if an element is referred to as "fixed to" or "disposed to" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are for illustrative purposes only and are not the only embodiment.

[0042] SPECT is one of the commonly used imaging techniques in nuclear medicine, and the collimator is the core component of SPECT. Due to the difference in imaging organs, different types of collimators are often used to achieve different diagnostic purposes, so it is necessary to replace the collimator in the detector according to the needs. In the related art, the collimator needs to be removed after the examination bed is removed, and then the collimator replacement vehicle is used to replace the collimator. Since the examination bed needs to be moved, not only more operation time and operation steps are required, but also the position of the examination bed may change, resulting in low efficiency of replacing the collimator.

[0043] Based on this, an embodiment of the present application provides a collimator replacement device which can solve the above problems. In the following, an embodiment of the collimator replacement device provided by the present application will be described in detail with reference to the accompanying drawings.

[0044] Reference Figures 1 to 3As shown in the figure, an embodiment of the present application provides a collimator replacement device, which is applied to a medical imaging device 500; wherein the medical imaging device 500 comprises a detector 520 and an examination bed 510 for carrying a scanning object. Taking the medical imaging device 500 as an example of a SPECT device, the detector 520 is used to detect single photons (gamma rays) emitted by a radioisotope and convert the gamma rays into electrical signals. The detector 520 is installed with a collimator 530 on the side facing the scanning object, and the collimator 530 is used to limit the path of the gamma rays entering the detector 520, so as to ensure that only gamma rays from a specific direction are detected, thereby improving the spatial resolution. At the same time, the collimator 530 can reduce the influence of scattered rays and improve the clarity and contrast of the image. The collimator replacement device is used to remove the collimator 530 installed on the detector 520 and install another collimator 530 on the detector 520.

[0045] Referring to Figure 4 and Figure 7 As shown in the figure, an embodiment of the present application provides a collimator replacement device, which comprises a replacement vehicle 100, and the replacement vehicle 100 comprises a vehicle body 101 and a storage cabinet 120 arranged on the vehicle body 101. The vehicle body 101 is configured with an avoidance groove 130 for avoiding the examination bed 510 of the medical imaging device 500. The storage cabinet 120 is provided with at least two storage grooves 121 for storing the collimator 530 to be removed and the collimator 530 to be installed. At least one of the storage cabinet 120 and the detector 520 of the medical imaging device 500 can move relative to the other, so as to align one of the storage grooves 121 with the detector 520.

[0046] Referring to Figure 4 As shown in the figure, in one embodiment, the vehicle body 101 comprises two groups of support columns 110 arranged in a horizontal direction, and the storage cabinet 120 and the space surrounded by the two groups of support columns 110 form the avoidance groove 130. That is, during the movement of the replacement vehicle 100 relative to the examination bed 510, the examination bed 510 is located between the two groups of support columns 110 distributed in the horizontal direction.

[0047] The collimator replacement device, since the vehicle body 101 of the replacement vehicle 100 is provided with the avoidance groove 130 for avoiding the examination bed 510, the replacement vehicle 100 can cross the examination bed 510 and pass above the examination bed 510, that is, at least part of the examination bed 510 is arranged in the avoidance groove 130, without moving the examination bed 510. The replacement vehicle 100 can be driven in an automatic or manual manner to move along the length direction of the examination bed 510 until the storage groove 121 for containing the collimator 530 to be removed and the detector 520 are aligned, so as to facilitate the collimator 530 to be removed on the detector 520 to be removed and placed in the storage groove 121; and then the storage groove 121 containing the collimator 530 to be installed and the detector 520 are aligned (that is, the distance between the two in the horizontal direction and the height direction is zero, and only have a spacing in the length direction of the examination bed 510), so as to facilitate the collimator 530 to be installed to be installed on the detector 520. During the replacement process, the examination bed 510 does not need to be moved, the operation space is saved, the operation step of moving the examination bed 510 and the time required for moving the examination bed 510 are omitted, and thus the replacement efficiency of the collimator 530 is improved.

[0048] In the process of aligning the storage groove 121 of the target position with the detector 520, the storage groove 121 can be aligned with the detector 520 by moving the replacement vehicle 100, or the storage groove 121 can be aligned with the detector 520 by moving the detector.

[0049] As shown in Figure 3 In an embodiment, when the replacement vehicle 100 crosses the examination bed 510, the examination bed 510 can be lowered by the lifting module of the examination bed 510 until the examination bed 510 can be completely located in the avoidance groove 130, so that the examination bed 510 and the vehicle body 101 are in height misalignment, reducing the possibility of interference between the two, so that the replacement vehicle 100 is more easily passed above the examination bed 510. In other embodiments, the first lifting module 210 can be arranged on the replacement vehicle 100, and the vehicle body 101 is lifted by the first lifting module 210, so as to expand the space surrounded by the avoidance groove 130, and reduce the possibility of interference between the replacement vehicle 100 and the examination bed 510. The first lifting module 210 can be a linear motor, a screw motor, an electric push rod or a telescopic cylinder.

[0050] As shown in Figure 3 and Figure 4 In one of the embodiments, at least one of the examination bed 510 and the ground is configured with a guide portion 400, and the vehicle body 101 is further configured with a matching portion 300; under the cooperation of the matching portion 300 and the guide portion 400, the vehicle body 101 can move along the length direction of the examination bed 510 to approach the detector 520. For example, in Figure 3In the embodiment shown, the guide portion 400 is arranged on at least one side surface of the examination table 510 in the horizontal direction, for example, the guide portion 400 is arranged on both side surfaces of the examination table 510 in the horizontal direction. Through the cooperation of the guide portion 400 and the matching portion 300, the movement of the vehicle body 101 in the length direction of the examination table 510 is guided, and the movement reliability of the examination table 510 is improved.

[0051] In one embodiment, the guide portion 400 includes a guide rail 410 arranged on at least one side surface of the examination table 510 in the horizontal direction, and the guide rail 410 is provided with a mark; the matching portion 300 is used to collect the mark. For example, the guide rail 410 is embedded with a magnetic mark such as a magnetic strip, and the matching portion 300 is a magnetic sensor. The replacement vehicle 100 detects the position of the magnetic strip through the magnetic sensor to realize the automatic movement of the replacement vehicle 100. In another embodiment, the guide rail 410 can also be marked with an optical mark (such as black and white lines or a two-dimensional code), and the matching portion 300 is a camera or a photoelectric sensor. The replacement vehicle 100 detects the position of the mark through the camera or the photoelectric sensor to realize the automatic movement.

[0052] In other embodiments, the replacement vehicle 100 can also be integrated with a driving mechanism (not shown in the figure), and the driving mechanism is used to drive the replacement vehicle 100 to move automatically along the length direction of the examination table 510. The driving mechanism can be a linear motor, a lead screw motor, an electric push rod, or a telescopic cylinder, etc. Of course, in another embodiment, the replacement vehicle 100 can also be manually driven by an operator to move along the length direction of the examination table 510.

[0053] As shown in the figure, Figure 4 In one embodiment, the collimator replacement device also includes a positioning unit 600, which can be arranged on the replacement vehicle 100 or arranged on the ground, as shown in the figure, Figure 1 In some embodiments, the positioning unit 600 can also be arranged on the medical imaging device 500. The positioning unit 600 is used to obtain the positions of the storage cabinet 120 and the detector 520, and then determine the relative position of the two.

[0054] It can be understood that when the replacement vehicle 100 moves from the end far away from the detector 520 to the end close to the detector 520 of the inspection bed 510, the storage cabinet 120 and the detector 520 can not be in alignment, that is, the two have a relative position which includes the distance between the two in the horizontal direction and the distance between the two in the height direction. By obtaining the distance between the storage cabinet 120 and the detector 520 in the horizontal direction and the height direction through the positioning unit 600, the moving distance of the storage cabinet 120 or the detector 520 in the horizontal direction and the height direction can be determined, and by moving the storage cabinet 120 or the detector 520, the storage slot 121 on the storage cabinet 120 and the detector 520 can be aligned, facilitating the disassembly or installation of the collimator 530.

[0055] It should be noted that when the detector 520 is provided with a mounting slot for mounting the collimator 530, aligning the storage slot 121 and the detector 520 means aligning the geometric center of the storage slot 121 and the geometric center of the mounting slot, so as to shorten the moving path of the collimator 530, improve the efficiency of installation and disassembly, and further improve the replacement efficiency.

[0056] In a specific embodiment, the positioning unit 600 can be a laser scanner, and the scanning range of the laser scanner covers the storage cabinet 120 and the detector 520. By scanning the storage cabinet 120 and the detector 520 through the laser scanner, the feature points (such as edges or geometric centers, etc.) of the two can be extracted, so as to calculate the relative position of the storage cabinet 120 and the detector 520, that is, the distance between the two in the horizontal direction and the height direction.

[0057] In another embodiment, the positioning unit 600 can be a visual collector, and the collection range of the visual collector covers the storage cabinet 120 and the detector 520. The visual collector can be a structured light camera. The structured light camera generates three-dimensional point cloud data by projecting a specific light pattern (such as a grid or a stripe) and capturing its deformation on the target object, so as to obtain the three-dimensional shape and position of the target object. By scanning the storage cabinet 120 and the detector 520 through the structured light camera, the positions of the storage cabinet 120 and the detector 520 can be obtained, and the relative position of the two can be further obtained.

[0058] In other embodiments, the positioning unit 600 can include two inertial measurement units for measuring acceleration and angular velocity. One of the two inertial measurement units is arranged on the collimator 530, and the other is arranged on the detector 520, so as to measure the acceleration and angular velocity of the collimator 530 and the detector 520, respectively. The positions of the collimator 530 and the detector 520 are calculated by integration, so as to obtain the relative position of the two.

[0059] It can be understood that the positioning unit 600 can also not be provided, and the relative position between the storage cabinet 120 and the detector 520 is determined by manual observation, so that the storage cabinet 120 or the detector 520 is moved to align the two.

[0060] Referring to Figure 4 In an embodiment, as shown, the vehicle body 101 includes a plurality of support columns 110 arranged in an array, and the storage cabinet 120 is connected to the top of each support column 110. The storage cabinet 120 can have a cuboid structure, and the plurality of support columns 110 support the storage cabinet 120 to make the stress distribution of the storage cabinet 120 more uniform and ensure the stability during conveying. Further, as shown, Figure 4 As shown, along the length direction of the examination bed 510, a reinforcing rod 113 is arranged between two adjacent support columns 110 to further enhance the structural strength of the vehicle body 101.

[0061] As shown, Figure 4 In an embodiment, the bottom of the vehicle body 101 is provided with a plurality of rollers 114, for example, in the embodiment shown, Figure 4 The number of rollers 114 is four, and the rollers 114 roll on the ground to make the replacement vehicle 100 move smoothly on the ground. In some embodiments, the rollers 114 can be guide wheels, which are configured as guide wheels to move along the length direction of the examination bed 510, further improving the movement stability of the replacement vehicle 100.

[0062] Referring to Figure 5 or Figure 6 In one embodiment, the collimator replacement device further includes a moving unit 200, and the moving unit 200 is used to drive the storage cabinet 120 to move relative to the detector 520. When the collimator 530 installed on the detector 520 needs to be removed, the moving unit 200 can align the storage slot 121 storing the collimator 530 to be removed with the detector 520; after the removal is completed, the moving unit 200 aligns the storage slot 121 storing the collimator 530 to be installed with the detector 520, so as to shorten the movement path of the collimator 530 and improve the replacement efficiency.

[0063] Referring to Figure 5 In one embodiment, the moving unit 200 includes a first lifting module 210 arranged on the vehicle body 101, and the first lifting module 210 is used to drive the vehicle body 101 to ascend or descend along the height direction. When the replacement vehicle 100 moves from the end of the examination bed 510 away from the medical imaging device 500 (i.e., the left end of the examination bed 510 as shown) Figure 1 to the end of the examination bed 510 close to the medical imaging device 500 (i.e., the right end of the examination bed 510 as shown) Figure 3When the right end of the inspection bed 510 is shown, the horizontal distance between the storage cabinet 120 and the detector 520 can be zero, and the distance between them only exists in the vertical direction, that is, the storage cabinet 120 is just below the detector 520; moreover, the storage slot 121 for storing the collimator 530 to be disassembled and the storage slot 121 for storing the collimator 530 to be installed are arranged vertically, for example, the storage slot 121 for storing the collimator 530 to be disassembled is just above the storage slot 121 for storing the collimator 530 to be installed.

[0064] In this way, the vehicle body 101 can be raised by the first lifting module 210, so that the storage slot 121 for storing the collimator 530 to be disassembled is aligned with the detector 520, and then the collimator 530 can be disassembled manually or by using a disassembly mechanism (such as a robotic arm). After disassembly, the vehicle body 101 can be raised again by the first lifting module 210, so that the storage slot 121 for storing the collimator 530 to be installed is aligned with the detector 520, so as to facilitate the installation of the collimator 530. The first lifting module 210 can be a linear motor, a lead screw motor, an electric push rod, or a telescopic cylinder, etc.

[0065] See Figure 5 As shown, in one embodiment, the vehicle body 101 includes a plurality of arrayed support columns 110. Each support column 110 includes a fixed column 111 and a sliding column 112 slidably connected to the fixed column 111. A first lifting module 210 is disposed on the fixed column 111, and a storage cabinet 120 is disposed on the sliding column 112. The sliding column 112 is connected to the output end of the first lifting module 210. Thus, when the first lifting module 210 is activated, it can directly drive the sliding column 112 to move along the height direction, thereby driving the storage cabinet 120 disposed on the sliding column 112 to move synchronously, thereby raising the storage slot 121 to a predetermined height and aligning it with the detector 520. At the same time, the first lifting module 210 can also drive the vehicle body 101 to move upward, thereby increasing the space of the clearance slot 130 formed by the vehicle body 101 and the storage cabinet 120, so as to reduce the possibility of interference between the vehicle body 101 and the inspection bed 510.

[0066] like Figure 4 As shown, in one embodiment, one of the fixed post 111 and the sliding post 112 is provided with a telescopic hole, and at least part of the other is inserted through the telescopic hole. For example, in Figure 4In the embodiment shown, the sliding column 112 is configured with a telescopic hole, and the fixed column 111 is arranged in the telescopic hole, that is, the sliding column 112 is sleeved outside the fixed column 111. By moving the sliding column 112 up and down relative to the fixed column 111, the height of the vehicle body 101 and the storage cabinet 120 changes. Of course, in other embodiments, the fixed column can be provided with a telescopic hole, and the sliding column is sleeved inside the fixed column. By moving the sliding column up and down relative to the fixed column, the height of the vehicle body changes.

[0067] Referring to Figure 6 As shown, in one embodiment, the moving unit 200 includes a second lifting module 220 arranged on the vehicle body 101, and the storage cabinet 120 is slidingly connected to the output end of the second lifting module 220, and the second lifting module 220 is used to drive the storage cabinet 120 to ascend or descend along the height direction. That is, the second lifting module 220 can directly drive the storage cabinet 120 to move up and down to adjust the height difference between the storage groove 121 and the detector 520. Further, the storage cabinet 120 can be slidingly connected to the vehicle body 101 along the height direction, so that the vehicle body 101 can also guide and limit the movement of the storage cabinet 120.

[0068] Referring to Figure 7 As shown, in one embodiment, the moving unit 200 includes a first horizontal moving module 230, and the vehicle body 101 is connected to the output end of the first horizontal moving module 230, and the first horizontal moving module 230 is used to drive the vehicle body 101 to move along the horizontal direction. It can be understood that the output end is a power output end. Taking the first horizontal moving module 230 as an example, the output end is a push rod. Taking the first horizontal moving module 230 as an example, the output end is a piston rod. Specifically, when the first horizontal moving module 230 acts, the vehicle body 101 and the storage cabinet 120 fixedly arranged on the vehicle body 101 can move synchronously along the horizontal direction, for example, in Figure 7 In the view shown, the vehicle body 101 and the storage cabinet 120 move left or right, so that the storage groove 121 of the target position is aligned with the detector 520.

[0069] Among them, the storage groove 121 for storing the collimator 530 to be disassembled and the storage groove 121 for storing the collimator 530 to be installed can be arranged along the horizontal direction. In some embodiments, the two storage grooves 121 are symmetrically distributed along the symmetry plane, for example, in Figure 7From the perspective of [the detector 520], the collimator 530 to be disassembled can be stored in the storage slot 121 on the right, and the collimator 530 to be installed can be stored in the storage slot 121 on the left. Thus, when the collimator 530 is removed from the detector 520 and placed into the storage slot 121 at the target location, the storage cabinet 120 is moved by the first horizontal movement module 230, aligning the storage slot 121 containing the collimator 530 with the detector 520 to facilitate installation of the collimator 530. The first horizontal movement module 230 can be a linear motor, a lead screw motor, an electric actuator, or a telescopic cylinder, etc. Understandably, when the collimator 530 to be disassembled needs to be placed into the storage slot 121, the storage slot 121 at the target location refers to the storage slot 121 where the collimator 530 to be disassembled is stored; when the collimator 530 to be installed needs to be installed into the detector 520, the storage slot 121 at the target location refers to the storage slot 121 where the collimator 530 to be installed is stored.

[0070] See Figure 8 As shown, in one embodiment, the moving unit 200 includes a second horizontal moving module 240 disposed on the vehicle body 101. The storage cabinet 120 is connected to the output end of the second horizontal moving module 240, which drives the storage cabinet 120 to move horizontally. Thus, the second horizontal moving module 240 can directly drive the storage cabinet 120 to move horizontally, aligning the storage slot 121 at the target location with the detector 520. Alternatively, in other embodiments, the first horizontal moving module 230 and the second horizontal moving module 240 may not be provided. The changing vehicle 100 or the storage cabinet 120 slidably connected to the vehicle body 101 can be manually pushed to move horizontally, aligning the storage slot 121 at the target location with the detector 520. The second horizontal moving module 240 can be a linear motor, a lead screw motor, an electric push rod, or a telescopic cylinder, etc.

[0071] In other embodiments, the aforementioned moving unit 200 (i.e., the first lifting module 210, the second lifting module 220, the first horizontal moving module 230, or the second horizontal moving module 240) may also be disposed on the medical imaging device 500 and used to drive the detector 520 to move along the target direction (e.g., the horizontal direction or the height direction) so that the detector 520 is aligned with the storage slot 121 at the target position.

[0072] In some embodiments, the aforementioned mobile unit 200 can be communicatively connected with the aforementioned positioning unit 600, and the relative positions of the storage cabinet 120 and the detector 520 are obtained through the positioning unit 600, that is, the distances of the storage cabinet 120 and the detector 520 in the horizontal direction and the height direction are obtained, and then the distances are fed back to the mobile unit 200, and the mobile unit 200 can drive the storage cabinet 120 or directly drive the storage cabinet 120 to move a corresponding distance in the horizontal direction and the height direction, so as to automatically realize the alignment operation of the storage slot 121 and the detector 520.

[0073] In combination Figures 1 to 3 As shown in the drawings, in one embodiment, the collimator replacement device further comprises a mounting and dismounting mechanism (not shown in the drawings) for dismounting or mounting the collimator 530, wherein the mounting and dismounting mechanism can be a mechanical arm arranged on the vehicle body 101 or the medical imaging device 500, and the collimator 530 is clamped by a clamping part such as a jaw on the mechanical arm, and then the collimator 530 is mounted or dismounted through the movement of the mechanical arm.

[0074] In other embodiments, the mounting and dismounting mechanism can also comprise a pushing part (not shown in the drawings) and a driving part (not shown in the drawings) for driving the pushing part to move, and the pushing part can abut against the collimator 530 to push the collimator 530 out. For example, in one embodiment, the storage cabinet 120 is provided with a driving part and a pushing part, which can be in the form of an electric push rod, the electric push rod extends into the storage slot 121 and can abut against the collimator 530 to be mounted in the storage slot 121, and through the extension operation of the electric push rod, the collimator 530 is pushed out until the collimator 530 is mounted on the detector 520. Correspondingly, the medical imaging device 500 is provided with an electric push rod, and the output end of the electric push rod can abut against the collimator 530 on the detector 520, and through the electric push rod, the collimator 530 on the detector 520 can be pushed out and sent into the storage slot 121 of the storage cabinet 120.

[0075] In combination Figures 1 to 4 As shown in the drawings, in one embodiment, the collimator replacement device further comprises a mounting and dismounting mechanism (not shown in the drawings) for dismounting or mounting the collimator 530, wherein the mounting and dismounting mechanism can be a mechanical arm arranged on the vehicle body 101 or the medical imaging device 500, and the collimator 530 is clamped by a clamping part such as a jaw on the mechanical arm, and then the collimator 530 is mounted or dismounted through the movement of the mechanical arm.

[0076] After the user selects the collimator 530 replacement process, the system automatically lowers the examination bed 510 to the lowest bed height (or the vehicle body 101 of the replacement vehicle 100 is raised, so that a height difference is formed between the vehicle body 101 and the examination bed 510), and at this time, the replacement vehicle 100 can pass above the examination bed 510 in a straddle mode.

[0077] The cooperation part 300 of the replacement vehicle 100 is automatically matched with the guide part 400 of at least one side of the examination bed 510, so that the replacement vehicle 100 is automatically moved from one end far away from the detector 520 to one end close to the detector 520 (for example, the guide part 400 is embedded with magnetic marks such as magnetic strips, the cooperation part 300 is a magnetic sensor, and the replacement vehicle 100 detects the position of the magnetic strips through the magnetic sensor to realize the automatic movement of the replacement vehicle 100).

[0078] After the replacement vehicle 100 is moved to the position, the storage cabinet 120 is moved under the action of the moving unit 200, so that the storage slot 121 for installing the collimator 530 to be disassembled is aligned with the detector 520 (or the detector 520 is moved to align with the target storage slot 121).

[0079] The collimator 530 on the detector 520 is placed into the target storage slot 121 by using a dismounting mechanism (for example, a mechanical arm);

[0080] The storage cabinet 120 is moved under the action of the moving unit 200, so that the storage slot 121 for installing the collimator 530 to be installed is aligned with the detector 520 (or the detector 520 is moved to align with the target storage slot 121).

[0081] The collimator 530 in the storage slot 121 is installed on the detector 520 by using a dismounting mechanism (for example, a mechanical arm);

[0082] After the replacement is completed, it can be manually confirmed whether the collimator 530 is fixed in place (or a pressure sensor is arranged in the collimator 530 installation slot of the detector 520, when being installed in place, the pressure sensor is pressed by the collimator 530, and a large pressure value is detected; whether the installation is in place is judged according to the pressure sensed by the pressure sensor), and the replacement vehicle 100 returns along the original route.

[0083] In the whole replacement process, the examination bed 510 does not need to be moved, the operation space is saved, the operation steps of moving the examination bed 510 and the time required for moving the examination bed 510 are omitted, and the replacement efficiency of the collimator 530 is improved.

[0084] The technical features of the above-described embodiments can be combined in any manner. In order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0085] The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A collimator replacement device, characterized in that, Applied to medical imaging equipment (500); the collimator replacement device includes: A replacement vehicle (100) includes a vehicle body (101) and a storage cabinet (120) disposed on the vehicle body (101). The vehicle body (101) is constructed with a clearance groove (130) for avoiding the examination bed (510) of the medical imaging equipment (500). The storage cabinet (120) is provided with at least two storage slots (121) for storing collimators (530) to be disassembled and collimators (530) to be installed. At least one of the storage cabinet (120) and the detector (520) of the medical imaging device (500) is movable relative to the other so that one of the storage slots (121) is aligned with the detector (520).

2. The collimator replacement device according to claim 1, characterized in that, The collimator replacement device also includes a moving unit (200), which is disposed on the vehicle body (101) and is used to drive the storage cabinet (120) to move relative to the detector (520).

3. The collimator replacement device according to claim 2, characterized in that, The mobile unit (200) includes a first lifting module (210) disposed on the vehicle body (101). The first lifting module (210) is used to drive the vehicle body (101) to rise or fall in the height direction, and the storage cabinet (120) rises or falls synchronously with the vehicle body (101).

4. The collimator replacement device according to claim 3, characterized in that, The vehicle body (101) includes a fixed column (111) and a sliding column (112) slidably connected to the fixed column (111). The first lifting module (210) is disposed on the fixed column (111), and the storage cabinet (120) is disposed on the sliding column (112). The sliding column (112) is connected to the output end of the first lifting module (210) so that it can be driven by the first lifting module (210) to rise or fall along the height direction.

5. The collimator replacement device according to claim 2, characterized in that, The mobile unit (200) includes a second lifting module (220) disposed on the vehicle body (101), and the storage cabinet (120) is connected to the output end of the second lifting module (220). The second lifting module (220) is used to drive the storage cabinet (120) to rise or fall in the height direction.

6. The collimator replacement device according to claim 2, characterized in that, The mobile unit (200) includes a first horizontal movement module (230), the vehicle body (101) is connected to the output end of the first horizontal movement module (230), the first horizontal movement module (230) is used to drive the vehicle body (101) to move horizontally, and the storage cabinet (120) moves synchronously with the vehicle body (101); or, The mobile unit (200) includes a second horizontal moving module (240) disposed on the vehicle body (101), and the storage cabinet (120) is connected to the output end of the second horizontal moving module (240). The second horizontal moving module (240) is used to drive the storage cabinet (120) to move in the horizontal direction.

7. The collimator replacement device according to any one of claims 2 to 6, characterized in that, The collimator replacement device also includes a positioning unit (600) that is communicatively connected to the mobile unit (200), the positioning unit (600) being used to obtain the respective positions of the storage cabinet (120) and the detector (520).

8. The collimator replacement device according to claim 7, characterized in that, The positioning unit (600) includes a laser scanner whose scanning range covers the storage cabinet (120) and the detector (520) to obtain the respective positions of the storage cabinet (120) and the detector (520); or, The positioning unit (600) includes a visual acquisition device, the acquisition range of which covers the storage cabinet (120) and the detector (520) to obtain the respective positions of the storage cabinet (120) and the detector (520); or, The positioning unit (600) includes two inertial measurement units (IMUs) for measuring acceleration and angular velocity; one of the IMUs is located in the collimator (530) and the other is located in the detector (520).

9. The collimator replacement device according to any one of claims 1 to 6, characterized in that, At least one of the examination bed (510) and the ground is provided with a guide (400), and the vehicle body (101) is also provided with a mating part (300); With the cooperation of the mating part (300) and the guide part (400), the vehicle body (101) can move along the length direction of the inspection bed (510).

10. The collimator replacement device according to claim 9, characterized in that, The guide portion (400) includes a guide rail (410) disposed on at least one side surface of the examination bed (510) in the horizontal direction, and the guide rail (410) is provided with a mark; the mating portion (300) is used to collect the mark; and / or, The collimator replacement device further includes a disassembly / removal mechanism for disassembling or installing the collimator (530); and / or, The bottom of the vehicle body (101) is provided with a plurality of rollers (114); and / or, The vehicle body (101) is equipped with a reinforcing bar (113).

11. The collimator replacement device according to claim 1, characterized in that, The vehicle body (101) includes two sets of support columns (110) spaced apart in the horizontal direction, and the space enclosed by the storage cabinet (120) and the two sets of support columns (110) constitutes the clearance groove (130).

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