Multi-degree-of-freedom image examination equipment and medical image examination system

Abstract

The utility model provides a multi-degree-of-freedom image examination device and a medical image examination system, and the multi-degree-of-freedom image examination device comprises a radiation source which is used for emitting X-rays; the detection panel is used for receiving the X rays; the first driving module and the second driving module are respectively used for driving the radiation source and the detection panel to move and rotate in multiple directions in the space, and are respectively configured to be capable of acquiring the real-time position information of the radiation source in the space and the detection panel; and the control unit is in communication connection with the first driving module and the second driving module, so that the relative direction and distance of the radiation source and the detection panel at each imaging moment meet specific conditions. According to the utility model, a larger space range can be covered, the requirement of manual adjustment is reduced, the optimal imaging view can be obtained more efficiently, the imaging efficiency is improved, and the system can adapt to more complex operation scenes, can realize more imaging functions and is suitable for more clinical scenes.

Description

TECHNICAL FIELD

[0001] The utility model belongs to medical image inspection equipment technical field, concretely relates to a kind of multi-degree of freedom image inspection equipment and medical image inspection system. BACKGROUND

[0002] C-arm X-ray imaging equipment is a kind of medical equipment widely used in operating room and interventional therapy, mainly used for intraoperative fluoroscopy, fracture reduction, vascular intervention and other operations. Although C-arm equipment has important value in clinic, its design and function still have some limitations, mainly including the following problems: due to the limitation of mechanical structure, the existing equipment has limited degrees of freedom, so that doctors need to manually adjust the position and angle of the equipment, and manual operation increases the workload of doctors and may affect the efficiency and accuracy of imaging;The function of the existing equipment is single, limited to fluoroscopy;And the moving range of the existing equipment is limited, which is difficult to adapt to the examination needs of patients of different sizes. SUMMARY

[0003] In view of the above shortcomings of the prior art, the purpose of the utility model is to provide a kind of multi-degree of freedom image inspection equipment and medical image inspection system, to solve the problems of mechanical mechanism limitation, single function and not good adaptation to different patients of existing C-arm X-ray imaging equipment.

[0004] To achieve the above object and other related purposes, the utility model provides a kind of multi-degree of freedom image inspection equipment, comprising:

[0005] Ray source for emitting X-ray;

[0006] Detection panel for receiving X-ray;

[0007] First drive module for driving the ray source to move and rotate in multiple directions in space, the first drive module is configured to be able to obtain the real-time position information of the ray source in space;

[0008] Second drive module for driving the detection panel to move and rotate in multiple directions in space, the second drive module is configured to be able to obtain the real-time position information of the detection panel in space;

[0009] Control unit, with the first drive module and second drive module communication connection, so that the relative direction and distance of the ray source and the detection panel at each imaging moment meet certain conditions.

[0010] In an embodiment of the utility model, the first drive module and / or the second drive module includes a mobile trolley and a multi-degree of freedom mechanical arm installed on the mobile trolley, and the ray source or the detection panel is installed at the end of the multi-degree of freedom mechanical arm.

[0011] In one embodiment of the utility model, still include the fixed track for limiting the moving trolley movement track.

[0012] In one embodiment of the utility model, the fixed track includes ground rail or overhead rail.

[0013] In one embodiment of the utility model, the movement track limited by the fixed track is arc track.

[0014] In one embodiment of the utility model, still include the position detection unit for detecting the moving trolley position.

[0015] In one embodiment of the utility model, the position detection unit includes encoder or magnetic induction sensor.

[0016] In one embodiment of the utility model, still include the wireless charging module for the wireless charging of first drive module and / or second drive module.

[0017] The utility model also proposes a kind of medical image examination system, including the multi-degree of freedom image examination equipment as described in any one of above embodiment.

[0018] The utility model proposes a kind of multi-degree of freedom image examination equipment and medical image examination system, with following beneficial effects:

[0019] By designing first drive module and second drive module to drive the movement of ray source and detection panel in any direction in space, the problem that the mechanical structure of traditional C arm equipment limits its degree of freedom, doctor needs to manually adjust equipment direction, increases the problem of work burden, makes the equipment can cover larger space range, reduces the demand of manual adjustment, doctor can more efficiently obtain best imaging field of view, improves imaging efficiency, and can adapt to more complex surgical scene, improves the applicability of equipment, meanwhile, the multi-degree of freedom movement design of ray source and detection panel can cover larger patient body size range, reduces the imaging difficulty caused by equipment limitation, improves the adaptability to different body size patients, improves the universality of equipment.

[0020] By configuring first drive module and second drive module to obtain the real-time position information of ray source and detection panel in space, the position of ray source and detection panel is accurately controlled, the accuracy and consistency of imaging are ensured, imaging error caused by improper equipment position is reduced, and the reliability of diagnosis is improved.

[0021] Through multi-degree-of-freedom design and precise control, the device can realize more imaging functions, for example, can replace a digital X-ray photography system, a small C-arm and a ceiling type X-ray device, can enrich clinical applications, adapt to more clinical scenes, such as whole body X-ray photography, and can improve imaging quality.

[0022] Through the communication connection of the control unit and the first driving module and the second driving module, centralized control of the device is realized, the demand for manual operation is reduced, the intelligent level of device operation is improved, the position of the device is quickly adjusted, and the working efficiency of doctors is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0024] Figure 1 It is a schematic view of the rail mounting mode of the multi-degree-of-freedom image examination device in an embodiment of the present application.

[0025] Figure 2 It is a schematic view of the hanging cabinet mounting mode of the multi-degree-of-freedom image examination device in an embodiment of the present application.

[0026] Figure 3 It is a schematic view of the use state of the multi-degree-of-freedom image examination device in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The embodiments of the present application will be described below through specific concrete examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present specification. The present application can also be implemented or applied through other different concrete embodiments, and each detail in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present application.

[0028] It should be noted that the diagrams provided in the present embodiment only illustrate the basic concept of the present application in a schematic manner, and only the components related to the present application are shown in the diagrams, not the number, shape and size of the components when actually implemented. The shape, number and proportion of each component in actual implementation can be randomly changed, and the layout pattern of the components can also be more complex.

[0029] The existing C-arm device is usually composed of a C-shaped mechanical arm, and an X-ray tube and a detector are installed at both ends of the mechanical arm. Due to the structural limitations of the mechanical arm, the movement range of the device is limited, and 360-degree free rotation cannot be achieved, which makes it necessary for the doctor to manually adjust the position and angle of the device to obtain the best imaging field of view in some complex surgeries. And due to the limited degrees of freedom of the device, the doctor needs to manually rotate the direction of the device to adapt to different patient positions and surgical needs, which increases the workload of the doctor and may affect the efficiency and accuracy of imaging. The existing C-arm device has a single function and is mainly used for real-time fluoroscopy, which cannot provide high-quality digital X-ray images, which limits its application in clinical scenarios that require high-resolution images, and cannot be combined with other imaging techniques, nor can it perform three-dimensional reconstruction and other advanced imaging functions. For example, the column type X-ray device usually has a larger movement range and higher imaging quality, suitable for X-ray examination of various parts of the body, however, due to the limitations of its structure and function, the C-arm device cannot completely replace the column type device, especially when full-body X-ray photography (such as chest radiography) is required. For patients with larger or obese body types, the mechanical arm of the existing C-arm device may not be able to completely cover the examination site of the patient, making imaging difficult, in addition, the limited movement range of the device makes it difficult to adapt to the examination needs of patients of different body types. Therefore, the purpose of the present application is to provide a multi-degree-of-freedom image examination device and a medical image examination system to solve the problems of the existing C-arm X-ray imaging device due to mechanical mechanism limitations, single function and poor adaptation to different patients.

[0030] Please refer to Figure 1As shown, in this embodiment, the multi-degree-of-freedom image inspection device includes a ray source 10 for emitting X-rays, a detection panel 20 for receiving X-rays, a first driving module 30 for driving the ray source 10 to move and rotate in multiple directions in space, which can not only drive the ray source 10 to translate along a straight line direction, but also make the ray source 10 rotate circumferentially about an axis, so as to adjust the position and angle of the ray source in the horizontal or vertical direction. Such multi-degree-of-freedom movement capability enables the ray source 10 to emit X-rays from different angles and positions to adapt to various complex detection scenarios. For example, when performing multi-angle medical examination on a human body, the ray source 10 can flexibly adjust the position and angle, so as to obtain image information from different perspectives, which helps doctors to more comprehensively understand the patient's condition. Meanwhile, the first driving module 30 is also configured to obtain real-time position information of the ray source 10 in space. A second driving module 40 is used to drive the detection panel 20 to move and rotate in multiple directions in space. The second driving module 40 can also realize linear translation and circumferential rotation of the detection panel 20, so that the detection panel 20 can be adjusted accordingly according to the position and angle of the ray source 10, so as to ensure that the X-rays passing through the detected object can be accurately received. Meanwhile, the second driving module 40 is also configured to obtain real-time position information of the detection panel 20 in space. A control unit is in communication connection with the first driving module 30 and the second driving module 40, and is used to control the first driving module 30 and the second driving module 40, so as to control the positions of the ray source 10 and the detection panel 20, so that the relative direction and distance of the ray source 10 and the detection panel 20 at each imaging moment meet certain conditions. In this embodiment, the control unit controls the first driving module 30 and the second driving module 40 according to the real-time position information of the ray source 10 and the detection panel 20 in space, so that when the image inspection device performs inspection, the direction of the ray source 10 and the detection panel 20 is aligned, for example, the ray source 10 and the detection panel 20 are located on both sides of the to-be-detected object, and the central axis of the X-ray beam emitted by the ray source 10 and the central axis of the detection panel 20 are located on the same axis, and the distances between the ray source 10, the detection panel 20 and the to-be-detected object are equal, so as to ensure that the image inspection can be smoothly realized. It should be noted that these certain conditions are pre-set according to different imaging requirements and characteristics of the detected object, for example, for different human body parts such as head, chest, limbs, etc., different ray emission angles and distances between the ray source and the detection panel are required to obtain clear and accurate images.

[0031] Please refer to Figure 1 and Figure 2As shown, in the present embodiment, the first driving module 30 comprises a first mobile trolley 31 and a first multi-degree-of-freedom mechanical arm 32, the first multi-degree-of-freedom mechanical arm 32 is installed on the first mobile trolley 31, the ray source 10 is installed at the end of the first multi-degree-of-freedom mechanical arm 32, the first mobile trolley 31 freely moves in space, driving the ray source 10 to move in space, the first multi-degree-of-freedom mechanical arm 32 is designed as at least a three-degree-of-freedom mechanical arm, for example, which is used to drive the ray source 10 at its end to move, and the movement of the ray source 10 in any direction in space is realized through the cooperation of the first mobile trolley 31 and the first multi-degree-of-freedom mechanical arm 32. Specifically, the first mobile trolley 31 freely moves in the operating room or the examination area through a track, a slide rail or a wireless moving mode, the first multi-degree-of-freedom mechanical arm 32 is designed as a three-degree-of-freedom mechanical arm, which can freely move and rotate in X, Y and Z directions, so as to realize the accurate positioning of the ray source in space, and such design not only can cover a larger examination area, but also can adapt to the examination needs of patients with different body types.

[0032] Please refer to Figure 1 and Figure 2 As shown, in the present embodiment, the second driving module 40 comprises a second mobile trolley 41 and a second multi-degree-of-freedom mechanical arm 42, the second multi-degree-of-freedom mechanical arm 42 is installed on the second mobile trolley 41, the detection panel 20 is installed at the end of the second multi-degree-of-freedom mechanical arm 42, the second mobile trolley 41 freely moves in space, driving the detection panel 20 to move in space, the second multi-degree-of-freedom mechanical arm 42 is designed as at least a three-degree-of-freedom mechanical arm, for example, which is used to drive the detection panel 20 at its end to move, and the movement of the detection panel 20 in any direction in space is realized through the cooperation of the second mobile trolley 41 and the second multi-degree-of-freedom mechanical arm 42. Specifically, the second mobile trolley 41 freely moves in the operating room or the examination area through a track, a slide rail or a wireless moving mode. The second multi-degree-of-freedom mechanical arm 42 is designed as a three-degree-of-freedom mechanical arm, which can freely move and rotate in X, Y and Z directions, so as to realize the accurate positioning of the detection panel 20 in space, and such design not only can cover a larger examination area, but also can adapt to the examination needs of patients with different body types.

[0033] In addition, the first driving module 30 is not limited to the combination of the first mobile trolley 31 and the first multi-degree-of-freedom mechanical arm 32, and the second driving module 40 is not limited to the combination of the second mobile trolley 41 and the second multi-degree-of-freedom mechanical arm 42, as long as the ray source 10 and / or the detection panel 20 can move in any direction in space. For example, in the case where the degrees of freedom of the first multi-degree-of-freedom mechanical arm 32 and the second multi-degree-of-freedom mechanical arm 42 are sufficient, only the first multi-degree-of-freedom mechanical arm 32 and the second multi-degree-of-freedom mechanical arm 42 can be provided. At this time, the first multi-degree-of-freedom mechanical arm 32 and the second multi-degree-of-freedom mechanical arm 42 can be installed on the ground of the examination room or hung on the top surface. Of course, a rotating disc can also be designed, and the first multi-degree-of-freedom mechanical arm 32 and the second multi-degree-of-freedom mechanical arm 42 are installed on the rotating disc.

[0034] It can be understood that in the embodiment, through the cooperation of the first mobile trolley 31 and the first multi-degree-of-freedom mechanical arm 32, the ray source 10 can move in any direction in space, and through the cooperation of the second mobile trolley 41 and the second multi-degree-of-freedom mechanical arm 42, the detection panel 20 can move in any direction in space, which significantly improves the flexibility of the device. Doctors do not need to manually adjust the position of the device, reducing the operation burden, improving the work efficiency, and the device can adapt to the examination needs of patients of different body types, especially in patients with larger or obese body types. The length and movement range of the mechanical arm can cover the examination site of the patient, ensuring the accuracy and integrity of imaging. The accurate positioning and flexible movement of the ray source 10 and the detection panel 20 enable the device to obtain high-quality digital X-ray images. Through the electric drive system and the intelligent control system, the device can automatically adjust the position and angle of the ray source 10 and the detection panel 20, reducing the need for manual operation by doctors, reducing operation errors, and improving imaging efficiency.

[0035] Please refer to Figure 1 and Figure 2 In the embodiment, a fixed track 101 defining the movement trajectory of the first mobile trolley 31 and the second mobile trolley 41 is further included, wherein the mobile trolleys of the first driving module 30 and the second driving module 40 move along the fixed track 101, and the movement trajectory defined by the fixed track 101 is an arc-shaped trajectory. For example, the fixed track 101 is a ring-shaped fixed track, and the first mobile trolley 31 and the second mobile trolley 41 move along the ring-shaped trajectory defined by the ring-shaped fixed track. Of course, the fixed track 101 can also be designed to define a movement trajectory with a straight or curved profile to adapt to different examination needs. The design of the fixed track 101 provides a stable movement trajectory for the mobile trolley, reducing the imaging instability problem caused by shaking or deviation of the device during movement. It should be noted that the fixed track 101 can be a ground rail installed on the bottom surface of the examination room, or a hanging rail installed on the top surface of the examination room.

[0036] Referring to Figure 1 and Figure 2 In the embodiment, the first driving module 30 is further configured to obtain real-time position information of the radiation source 10 in space, and the second driving module 40 is further configured to obtain real-time position information of the detection panel 20 in space. Specifically, a position detection unit for detecting the position of the mobile trolley is further included. The position detection unit includes an encoder or a magnetic induction device. Of course, the encoder can be a toothed disc encoder. The toothed disc is installed on the fixed track 101, and a detection device is installed on the mobile trolley. When the trolley moves along the fixed track 101, the detection device detects a signal change to obtain the position of the trolley. Of course, the encoder can also be installed on the motor shaft of the mobile trolley. The moving distance of the trolley is calculated by measuring the rotation angle of the motor. The pulse signal output by the encoder is proportional to the rotation of the motor, so that the position of the trolley can be accurately calculated. Alternatively, when it is a magnetic induction device, magnetic markers can be arranged on the fixed track 101, and a magnetic sensor is installed on the mobile trolley. When the mobile trolley passes the magnetic markers, the sensor detects the change of the magnetic signal to determine the position of the trolley. Of course, other positioning systems that can realize indoor positioning, optical sensor detection, inertial navigation system, visual detection and other technical means can also be used to realize trolley positioning. At the same time, the first multi-degree-of-freedom mechanical arm 31 and the second multi-degree-of-freedom mechanical arm 32 are provided with encoders for obtaining the real-time positions of the radiation source 10 and the detection panel 20 at the ends of the mechanical arms. The encoders are installed on the first multi-degree-of-freedom mechanical arm 31 and the second multi-degree-of-freedom mechanical arm 32 to detect the absolute positions of the joints of the mechanical arms. Through high-precision position detection of the encoders, the accurate alignment of the radiation source 10 and the detection panel 20 in space is ensured, and the imaging quality is improved. In order to further improve the accuracy and reliability of position detection, a plurality of sensors can be combined for data fusion. For example, a visual sensor is designed to obtain real-time images of the ends of the mechanical arms through a camera, and the position information of the encoder is combined to realize more accurate position detection. Alternatively, a time laser radar is used to obtain three-dimensional position information of the ends of the mechanical arms through the laser radar, and the data of the encoder is combined to further improve the accuracy of position detection.

[0037] It can be understood that in the present embodiment, the control unit adjusts the movement trajectory and speed of the mobile trolley according to the real-time position information of the ray source 10 and the detection panel 20, ensures that the ray source 10 and the detection panel 20 are always in the best alignment state, and through position synchronization control, the device can realize high-quality X-ray imaging, reducing imaging blur or distortion caused by position deviation. By real-time acquisition of the position information of the ray source 10 and the detection panel 20, and accurate alignment, the device can significantly improve the imaging accuracy and clarity, reduce the imaging quality problems caused by position deviation, and through accurate position control and synchronization, the device can meet the complex imaging requirements such as multi-angle imaging, three-dimensional reconstruction, etc., further improving the multifunctionality and clinical application value of the device. For example, as shown in Figure 3 When the first multi-degree-of-freedom robot arm 32 and the second multi-degree-of-freedom robot arm 42 drive the ray source 10 and the detection panel 20 to move synchronously from top to bottom, whole body scanning can be realized.

[0038] Please refer to Figure 1 and Figure 2 In the present embodiment, a wireless charging module for wirelessly charging the first driving module 30 and / or the second driving module 40 is also included, which includes a transmitting end and a receiving end. The transmitting end is installed at a fixed position in the examination room, such as the bottom or the top, forming a charging area, and the receiving end is integrated inside the mobile trolley. When the mobile trolley enters the charging area, the transmitting end transmits electrical energy to the receiving end through an electromagnetic field, thereby charging the power module. The wireless charging coil is arranged on the moving plane of the mobile trolley, and the specific position is designed according to the moving path of the device. For example: when the fixed track is installed on the ground rail: the wireless charging coil is arranged on the floor of the examination room, and when the mobile trolley moves along the ground rail, the receiving end coil at the bottom aligns with the transmitting end coil on the ground, realizing wireless charging. When the fixed track 101 is installed on the overhead rail: the wireless charging coil is arranged on the ceiling of the examination room, and when the mobile trolley moves along the overhead rail, the receiving end coil at the top aligns with the transmitting end coil on the ceiling, realizing wireless charging. It can be understood that the arrangement density and coverage range of the wireless charging coil need to be optimized according to the moving speed of the mobile trolley and the charging demand, to ensure continuous charging during movement, and the use of wireless charging technology can improve the movement freedom of the device, reduce the constraints of cables, facilitate the free movement of the first driving module 30 and the second driving module 40 in space, and reduce the maintenance cost of the device, avoiding faults caused by cable wear.

[0039] Of course, the first drive module 30 and the second drive module 40 can also be externally connected to a power source through a cable, for example, when the first drive module 30 and the second drive module 40 move along the fixed track 101, a conductive cable can be arranged on the fixed track 101, and when the first mobile trolley 31 and the second mobile trolley 41 move along the fixed track 101, they are always electrically connected to the conductive cable on the track 101 to provide a power source for the first drive module 30 and the second drive module 40. The conductive cable is connected to the mobile trolley through a sliding contact to ensure that it is always electrically connected to the power source during movement. For example, a sliding contact can be installed at the bottom of the mobile trolley to contact the conductive cable on the track, the contact is made of wear-resistant material to ensure stability during long-term use, and at the same time, an insulating material is coated on the outer layer of the conductive cable to prevent electric shock and short circuit, ensuring the safety of power supply.

[0040] Please refer to Figure 1 and Figure 2 As shown in FIGS. 1-4, the utility model also provides a medical image examination system, which comprises the multi-degree-of-freedom image examination device described in the above embodiments, the ray source 10 emits X rays, the detection panel receives the X rays emitted by the ray source 10 and transmits data to the processor, and the processor can form examination image data according to the received ray data.

[0041] In summary, the utility model has the following beneficial effects:

[0042] By designing the first drive module and the second drive module to drive the ray source and the detection panel to move in any direction in space, the problem of the mechanical structure of the traditional C-arm device limiting its degrees of freedom and the doctor needing to manually adjust the device direction, increasing the work burden, is solved, so that the device can cover a larger space range, reduce the need for manual adjustment, the doctor can more efficiently obtain the best imaging field of view, improve the imaging efficiency, and can adapt to more complex surgical scenarios, improve the applicability of the device, and at the same time, the multi-degree-of-freedom movement design of the ray source and the detection panel can cover a larger patient size range, reduce the imaging difficulty caused by device limitations, improve the adaptability to patients of different sizes, and improve the universality of the device.

[0043] By configuring the first drive module and the second drive module to obtain real-time position information of the ray source and the detection panel in space, the position of the ray source and the detection panel can be accurately controlled to ensure the accuracy and consistency of imaging, reduce imaging errors caused by improper device position, and improve the reliability of diagnosis.

[0044] Through the multi-degree-of-freedom design and accurate control, the device can realize more imaging functions, for example, can replace a digital X-ray photography system, a small C-arm and a ceiling type X-ray device, can enrich clinical applications, adapt to more clinical scenes, such as whole body X-ray photography, and can improve imaging quality.

[0045] The control unit is in communication connection with the first driving module and the second driving module, so that the device can be centrally controlled, the need for manual operation is reduced, the intelligent level of device operation is improved, the device position can be quickly adjusted, and the working efficiency of doctors is improved.

[0046] It should be understood that the phrase "one embodiment", "an embodiment", or "the specific embodiment" appearing in various places throughout this specification are intended to refer to particular feature, structure, or characteristic included in at least one embodiment of the application and not necessarily all embodiments. Thus, the various appearances of the phrases "in one embodiment", "in an embodiment", or "in specific embodiments" in various places throughout this specification are not necessarily referring to the same embodiment of the application. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments without necessarily being included in all embodiments. It will be appreciated that, with regard to the application described and shown herein, other variations and modifications can be made according to the teachings herein and will be considered as part of the application spirit and scope.

[0047] It should also be understood that one or more of the elements illustrated in the drawings can also be implemented in a more separated or more integrated manner, or even removed, as is useful in certain situations, or provided as part of a more general service as is useful in certain situations, depending on a specific application.

[0048] The above description is merely preferred embodiments of the present application and a description of the principles of the technology used, and those skilled in the art should understand that the scope of the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or equivalent features, for example, technical solutions formed by mutual replacement of the above features and technical features disclosed in the present application (but not limited to) having similar functions.

[0049] In addition to the technical features described in the specification, the remaining technical features are known to those skilled in the art, and in order to highlight the innovative features of the present application, the remaining technical features are not described here.

Claims

1. A multi-degree-of-freedom image inspection apparatus, characterized by comprising: The application relates to a multi-freedom degree image inspection device, comprising: a ray source for emitting X rays; a detection panel for receiving X rays; a first driving module for driving the ray source to move and rotate in multiple directions in space, the first driving module being configured to acquire real-time position information of the ray source in space; a second driving module for driving the detection panel to move and rotate in multiple directions in space, the second driving module being configured to acquire real-time position information of the detection panel in space; and a control unit in communication connection with the first driving module and the second driving module, so that the relative direction and distance of the ray source and the detection panel at each imaging moment meet specific conditions. The first driving module and / or the second driving module comprises a moving trolley and a multi-freedom degree mechanical arm installed on the moving trolley, and the ray source or the detection panel is installed at the end of the multi-freedom degree mechanical arm. The application further comprises a fixed track for defining the movement track of the moving trolley. The fixed track comprises a ground track or a hanging track. The movement track defined by the fixed track is an arc track. The application further comprises a position detection unit for detecting the position of the moving trolley.

2. The multi-degree of freedom video inspection apparatus of claim 1, wherein, The position detection unit comprises an encoder or a magnetic induction sensor.

3. The multi-degree of freedom video inspection apparatus of claim 2, wherein, The application further comprises a wireless charging module for wirelessly charging the first driving module and / or the second driving module.

4. The multi-degree-of-freedom image inspection apparatus according to claim 3, characterized by The application further comprises the multi-freedom degree image inspection device according to any one of claims 1 to 8.

5. The multi-degree of freedom video inspection apparatus of claim 3, wherein, ​ 6. The multi-degree of freedom video inspection apparatus of claim 2, wherein, ​ 7. The multi-degree of freedom video inspection apparatus of claim 6, wherein, ​ 8. The multi-degree of freedom image inspection apparatus of claim 1, wherein, ​ 9. A medical image examination system, characterized by ​

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