Medical equipment and SPECT system

Abstract

The utility model relates to medical equipment and an SPECT system. The medical equipment comprises a storage bin, a mechanical arm and a picking mechanism. The storage bin is used for being arranged on the rack and used for storing a plurality of parts to be replaced. The mechanical arm is used for being rotationally arranged on the rack and comprises at least two joint modules capable of relatively rotating, and the picking mechanism is arranged at the end, away from the rack, of the mechanical arm and used for grabbing a to-be-replaced part; and the mechanical arm is used for driving the picking mechanism to move between the storage bin and the mounting part. When replacement is not needed, the at least two joint modules can rotate relatively so that the at least two joint modules can be folded together, meanwhile, the mechanical arm is rotationally connected with the rack, that is, the whole folded mechanical arm can rotate relative to the rack so that the whole mechanical arm can be retracted to the rack, and therefore the occupied space of the mechanical arm is reduced; and meanwhile, the storage bin is also arranged on the rack, so that the mechanical arm only needs to move in a small space, and collision with obstacles is avoided.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to medical devices and SPECT systems. Background Technology

[0002] Single-photon emission computed tomography (SPECT) is one of the most commonly used diagnostic imaging techniques. The collimator is the core component of SPECT; both clinical and preclinical SPECT rely on different collimators for radiotracer localization. A single SPECT device is typically equipped with multiple collimators to adapt to different application scenarios.

[0003] Because some collimators are quite heavy, loading equipment is generally used to assist in their installation in related technologies. For example, the collimator is placed on a trolley, the trolley is moved manually to the SPECT probe, and then the collimator is slid into the probe rail or mounted on the probe manually.

[0004] However, using the method of replacing the small car requires, on the one hand, leaving space in the field for the placement of the small car and the movement channel for the small car, which occupies a large area; on the other hand, during the process of moving the small car, it is easy to collide with obstacles in the field. Utility Model Content

[0005] Therefore, it is necessary to provide a medical device and SPECT system to address the problems of large space occupation and easy collision with obstacles when using a small vehicle for replacement.

[0006] A medical device includes a frame, a mounting section, and a replacement mechanism. The mounting section is disposed on the outer surface of the frame, and a part to be replaced is mounted on the mounting section. The replacement mechanism includes:

[0007] A storage compartment, disposed on the rack, is used to store multiple replacement parts;

[0008] A robotic arm, one end of which is rotatably mounted on the frame, comprising at least two sequentially rotatably connected joint modules; and

[0009] A picking mechanism is disposed at one end of the robotic arm away from the frame, and the picking mechanism is used to pick up and release the part to be replaced;

[0010] The robotic arm is used to drive the picking mechanism to move between the storage compartment and the mounting part.

[0011] In one embodiment, the storage compartment has a plurality of compartments arranged sequentially along a first direction, the entrance of each compartment being located on one side of the corresponding compartment along a second direction, and the picking mechanism being used to pick up or release the replacement part at the entrance position, wherein the first direction and the second direction are set at an angle.

[0012] In one embodiment, the entrance to each of the compartments is located above the corresponding compartment, and the height of the compartment is less than or equal to the height of the part to be replaced.

[0013] In one embodiment, each of the compartments is provided with a first sensor, which is used to detect whether the part to be replaced is placed in the compartment.

[0014] In one embodiment, the rack has a first storage cavity, and the storage compartment is movable relative to the first storage cavity, so that the storage compartment has a storage state located in the first storage cavity and a use state located outside the first storage cavity.

[0015] In one embodiment, the picking mechanism is a gripper assembly, a magnetic assembly, or a suction cup assembly.

[0016] In one embodiment, the frame has a second storage cavity, and the robotic arm can retract into the second storage cavity.

[0017] In one embodiment, the frame is provided with multiple robotic arms, and the robotic arms are arranged in a one-to-one correspondence with the storage compartment and the mounting part.

[0018] In one embodiment, the robotic arm includes three joint modules that are rotatably connected in sequence.

[0019] A SPECT system includes a frame, a probe, and a replacement mechanism. The probe is mounted on the outer surface of the frame and has a collimator. The replacement mechanism includes:

[0020] A storage compartment, disposed on the rack, is used to store multiple collimators;

[0021] A robotic arm, one end of which is rotatably mounted on the frame, comprising at least two sequentially rotatably connected joint modules; and

[0022] A pickup mechanism is disposed at one end of the robotic arm away from the frame, and the pickup mechanism is used to pick up and release the collimator;

[0023] The robotic arm is used to move the picking mechanism between the storage compartment and the probe.

[0024] In the aforementioned medical equipment and SPECT system, the robotic arm is mounted on a frame, and a pickup mechanism at the end of the robotic arm is used to connect with the part to be replaced. When the part to be replaced needs to be replaced, the robotic arm moves the pickup mechanism to the mounting section, and then the pickup mechanism connects to the part to be replaced located on the mounting section. The robotic arm, through the pickup mechanism, moves the part to be replaced to the storage compartment and places it in the storage compartment. After that, the pickup mechanism releases the part to be replaced. Then, the pickup mechanism connects to another part to be replaced, and the robotic arm, through the pickup mechanism, moves the other part to be replaced to the mounting section, thus completing the replacement of the part. When replacement is not needed, at least two joint modules can rotate relative to each other, so that at least two joint modules can fold together. At the same time, the robotic arm is rotatably connected to the frame, meaning that the folded robotic arm can rotate relative to the frame, so that the entire robotic arm can be retracted onto the frame, thereby reducing the space occupied by the robotic arm. Since the storage compartment is also located on the frame, the robotic arm only needs to move within a small space, avoiding collisions with obstacles. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a medical device in its stowed state in one embodiment;

[0026] Figure 2 This is a schematic diagram of the structure of a robotic arm picking up a part to be replaced from the mounting part in one embodiment;

[0027] Figure 3 This is a schematic diagram of the structure when the robotic arm places the part to be replaced into the storage compartment in one embodiment.

[0028] Reference numerals: 100, frame; 110, mounting section; 120, part to be replaced; 130, first storage cavity; 200, storage compartment; 210, compartment body; 220, entrance; 230, first sensor; 300, robotic arm; 310, joint module; 400, picking mechanism. Detailed Implementation

[0029] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0030] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0031] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0035] See Figures 1-3 An embodiment of this application provides a medical device including a frame 100, a mounting part 110, and a replacement mechanism. The mounting part 110 is disposed on the outer surface of the frame 100, and a replacement part 120 is mounted on the mounting part 110. The replacement mechanism includes a storage compartment 200, a robotic arm 300, and a picking mechanism 400. The storage compartment 200 is disposed on the frame 100 and is used to store multiple replacement parts 120. The robotic arm 300 is rotatably disposed on the frame 100 and includes at least two joint modules 310 that are rotatably connected in sequence. The picking mechanism 400 is disposed at one end of the robotic arm 300 away from the frame 100 and is used to grasp or release the replacement part 120. The robotic arm 300 is used to drive the picking mechanism 400 to move between the storage compartment 200 and the mounting part 110.

[0036] In this embodiment, a robotic arm 300 is mounted on a frame 100, and a pickup mechanism 400 at the end of the robotic arm 300 is connected to the replacement part 120. When the replacement part 120 needs to be replaced, the robotic arm 300 moves the pickup mechanism 400 to the mounting part 110, and then the pickup mechanism 400 connects to the replacement part 120 located on the mounting part 110. The robotic arm 300 moves the replacement part 120 to the storage compartment 200 through the pickup mechanism 400, and after placing the replacement part 120 in the storage compartment 200, the pickup mechanism 400 releases the replacement part 120. Then, the pickup mechanism 400 connects to another replacement part 120 in the storage compartment 200, and the robotic arm 300 moves the other replacement part 120 to the mounting part 110 through the pickup mechanism 400, thus completing the replacement of the replacement part 120. When no replacement is needed, at least two joint modules 310 can rotate relative to each other so that at least two joint modules 310 can be folded together. At the same time, the robotic arm 300 is rotatably connected to the frame 100, that is, the folded robotic arm 300 can rotate relative to the frame 100 so that the entire robotic arm 300 can be retracted onto the frame 100, thereby reducing the space occupied by the robotic arm 300. Meanwhile, the storage compartment 200 is also set on the frame 100. Therefore, the robotic arm 300 only needs to move within a small space to avoid collisions with obstacles.

[0037] It should be noted that the mounting part 110 can be a probe mounting part 110, a detector mounting part 110, or a collimator mounting part 110 on the frame 100. Correspondingly, the replacement part 120 can be a probe, a detector, or a collimator. In this application, the replacement part is taken as a collimator, and the collimator mounting part 110 is specifically the probe, that is, the collimator is mounted on the probe. When the probe works in different application scenarios, different collimators need to be replaced.

[0038] In some embodiments, the storage compartment 200 has a plurality of compartments 210 arranged sequentially along a first direction OX, and the entrance 220 of each compartment 210 is located on one side of the corresponding compartment 210 along a second direction OY. The first direction OX and the second direction OY are set at an angle, and the picking mechanism 400 is used to pick up or release the replacement part 120 at the entrance 220 position.

[0039] In this embodiment, multiple compartments 210 are arranged sequentially along the first direction OX, and each compartment 210 is provided with an entrance 220 on one side along the second direction OY. The first direction OX is set at an angle to the second direction, so as to avoid the entrance 220 being blocked by the replacement part 120. When the picking mechanism 400 picks up or releases the replacement part 120 at the entrance 220, it will not interfere with the replacement part 120 already in the compartment 210.

[0040] In some embodiments, the second direction OY is the height direction of the rack 100, the entrance 220 of each compartment 210 is located above the corresponding compartment 210, and the height of the compartment 210 is less than or equal to the height of the part to be replaced 120.

[0041] Specifically, the first direction OX is the width direction of the frame 100. Multiple compartments 210 are arranged sequentially along the width direction of the frame 100. The height of the compartment 210 is less than or equal to the height of the replacement part 120. That is, the upper part of the replacement part 120 is flush with the upper part of the compartment 210, or the upper part of the replacement part 120 extends out of the compartment 210, so that the picking mechanism 400 can connect to the replacement part 120 from the upper part of the replacement part 120.

[0042] Of course, in other embodiments, the first direction OX can also be the length direction of the frame 100, that is, multiple compartments 210 are arranged sequentially along the length direction of the frame 100, and the picking mechanism 400 is used to pick up the replacement part 120 from the upper part of each compartment 210.

[0043] In some embodiments, each compartment 210 is provided with a first sensor 230, which is used to detect whether there is a replacement part 120 placed in the compartment 210.

[0044] In this embodiment, the first sensor 230 can be a photoelectric switch, a micro switch, or a pressure sensor. Taking the pressure sensor as an example, when a replacement part 120 is provided in the compartment 210, if the pressure sensor outputs pressure, it indicates that the replacement part 120 is present in the compartment 210; if the pressure sensor detects a pressure value of zero, it indicates that the replacement part 120 is not present in the compartment 210. The pressure sensor is signal-connected to the robotic arm 300, and the robotic arm 300 can select the compartment containing the replacement part 120 based on the signal from the pressure sensor.

[0045] In some embodiments, the rack 100 is provided with a first storage cavity 130, and the storage compartment 200 is movable relative to the first storage cavity 130 so that the storage compartment 200 has a storage state located in the first storage cavity 130 and a use state located outside the first storage cavity 130.

[0046] In this embodiment, when replacement is not required, the storage compartment 200 is stored within the first storage cavity 130, i.e., in a stored state, which facilitates reducing the volume of the frame 100. When replacement is required, the storage compartment 200 is moved outside the first storage cavity 130, so that the robotic arm can drive the picking mechanism 400 to pick up the replacement part 120 from the storage compartment 200.

[0047] Specifically, a push rod is provided inside the first storage cavity 130. The movable end of the push rod is connected to the storage compartment 200. The bottom of the storage compartment 200 is slidably connected to the first storage cavity 130. When the storage compartment 200 switches from the storage state to the use state, the push rod extends to push the storage compartment 200 out of the first storage cavity 130.

[0048] In some embodiments, the picking mechanism 400 is a gripper assembly, a magnetic suction assembly, or a suction cup assembly. When the picking mechanism 400 is a gripper assembly, the gripper assembly includes a first gripper and a second gripper. The first gripper can move closer to or further away from the second gripper to grip the replacement part 120 from both sides. When the picking mechanism 400 is a magnetic suction assembly, a magnet is provided on the replacement part 120. When the magnetic suction assembly is energized, it magnetically attracts the magnet on the replacement part 120, thereby picking up the replacement part 120. When the gripping assembly is a suction cup assembly, the gripping assembly has suction holes. By evacuating the suction holes to create a negative pressure environment, the replacement part 120 is attracted.

[0049] In some embodiments, the frame 100 has a second storage cavity, into which the robotic arm 300 can retract. When replacement is not required, the robotic arm 300 can be retracted into the second storage cavity by rotating the joint module 310. Of course, to further prevent dust from falling onto the robotic arm 300, a cover plate can also be provided on the second storage cavity, which is covered when the robotic arm 300 is retracted into the second storage cavity.

[0050] In some embodiments, the robotic arm 300 is configured in a one-to-one correspondence with the storage compartment 200 and the mounting part 110.

[0051] In this embodiment, taking a dual-probe SPECT device as an example, the SPECT has two probes, and the collimators on both probes need to be replaced in different application scenarios. Specifically, robotic arms 300 are respectively provided on both sides of the frame 100 along the width direction, and correspondingly, storage compartments 200 are respectively provided on both sides of the frame 100 along the width direction. The robotic arms 300 grasp the collimators in the corresponding storage compartments 200 to replace the corresponding probes.

[0052] In some embodiments, the robotic arm 300 includes three rotatably connected joint modules 310. The three joint modules 310 provide three degrees of freedom, thereby facilitating the robotic arm 300 to drive the gripping mechanism to achieve gripping at different positions and switching between different postures.

[0053] Of course, in other embodiments, the robotic arm 300 may also include three or more joint modules 310 to further improve the flexibility of the robotic arm. For example, the robotic arm 300 includes four joint modules 310 that are rotatably connected in sequence.

[0054] In some embodiments, a second sensor is provided on the mounting portion 110 or the picking mechanism 400. The second sensor is used to detect whether the picking mechanism 400 has picked up the part to be replaced 120. Specifically, the second sensor may be a photoelectric switch, a micro switch, or a pressure sensor provided on the mounting portion 110, or a pressure sensor provided on the picking mechanism 400.

[0055] One embodiment of this application also provides a SPECT system, including a frame 100, a probe, and a replacement mechanism. The probe is disposed on the outer surface of the frame and has a collimator. The replacement mechanism includes a storage compartment 200, a robotic arm 300, and a pickup mechanism 400. The storage compartment 200 is disposed on the frame 100 and is used to store multiple collimators. One end of the robotic arm 300 is rotatably disposed on the frame 100, and the robotic arm 300 includes at least two sequentially rotatably connected joint modules 310. The pickup mechanism 400 is disposed at the end of the robotic arm 300 away from the frame 100 and is used to pick up and release collimators. The robotic arm 300 is used to drive the pickup mechanism 400 to move between the storage compartment 200 and the probe.

[0056] In the SPECT system of this application, when the collimator needs to be replaced, the robotic arm 300 moves the pickup mechanism 400 to the probe. Then, the pickup mechanism 400 connects to the collimator located on the probe. The robotic arm 300 moves the collimator to the storage chamber 200 through the pickup mechanism 400 and places the collimator in the storage chamber 200. After that, the pickup mechanism 400 releases the collimator. Then, the pickup mechanism 400 connects to another collimator in the storage chamber 200. The robotic arm 300 moves the other collimator to the probe through the pickup mechanism 400, thus completing the replacement of the collimator. When no replacement is needed, at least two joint modules 310 can rotate relative to each other so that at least two joint modules 310 can be folded together. At the same time, the robotic arm 300 is rotatably connected to the frame 100, that is, the folded robotic arm 300 can rotate relative to the frame 100 so that the entire robotic arm 300 can be retracted onto the frame 100, thereby reducing the space occupied by the robotic arm 300. Meanwhile, the storage compartment 200 is also set on the frame 100. Therefore, the robotic arm 300 only needs to move within a small space to avoid collisions with obstacles.

[0057] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A medical device, characterized by The medical device includes a frame (100), a mounting section (110), and a replacement mechanism. The mounting section (110) is disposed on the outer surface of the frame (100), and a replacement part (120) is mounted on the mounting section (110). The replacement mechanism includes: A storage compartment (200) is disposed on the rack (100) and is used to store multiple replacement parts (120); A robotic arm (300), one end of which is rotatably mounted on the frame (100), the robotic arm (300) comprising at least two sequentially rotatably connected joint modules (310); and A picking mechanism (400) is disposed at one end of the robotic arm (300) away from the frame (100), and the picking mechanism (400) is used to pick up and release the replacement part (120); The robotic arm (300) is used to drive the picking mechanism (400) to move between the storage compartment (200) and the mounting part (110).

2. The medical device of claim 1, wherein, The storage compartment (200) has a plurality of compartments (210) arranged sequentially along a first direction. The entrance (220) of each compartment (210) is located on one side of the corresponding compartment (210) along a second direction. The picking mechanism (400) is used to pick up or release the replacement part (120) at the entrance (220). The first direction and the second direction are set at an angle.

3. The medical device of claim 2, wherein, The entrance (220) of each of the compartments (210) is located above the corresponding compartment (210), and the height of the compartment (210) is less than or equal to the height of the replacement part (120).

4. The medical device of claim 2, wherein, Each of the compartments (210) is provided with a first sensor (230), which is used to detect whether the replacement part (120) is placed in the compartment (210).

5. The medical device of claim 1, wherein, The frame (100) has a first storage cavity (130), and the storage compartment (200) is movable relative to the first storage cavity (130) so that the storage compartment (200) has a storage state located in the first storage cavity (130) and a use state located outside the first storage cavity (130).

6. The medical device of claim 1, wherein, The picking mechanism (400) is a gripper assembly, a magnetic assembly, or a suction cup assembly.

7. The medical device of claim 1, wherein, The frame (100) has a second storage cavity, and the robotic arm (300) can be retracted into the second storage cavity.

8. The medical device of claim 1, wherein, The frame (100) is provided with a plurality of robotic arms (300), and the robotic arms (300) are provided in a one-to-one correspondence with the storage compartment (200) and the mounting part (110).

9. The medical device of claim 1, wherein, The robotic arm (300) includes three joint modules (310) that are rotatably connected in sequence.

10. A SPECT system characterized by, The system includes a frame (100), a probe, and a replacement mechanism. The probe is disposed on the outer surface of the frame and has a collimator. The replacement mechanism includes: A storage compartment (200) is disposed on the rack (100) and is used to store multiple collimators; A robotic arm (300), one end of which is rotatably mounted on the frame (100), the robotic arm (300) comprising at least two sequentially rotatably connected joint modules (310); and A pickup mechanism (400) is disposed at one end of the robotic arm (300) away from the frame (100), the pickup mechanism (400) being used to pick up and release the collimator; The robotic arm (300) is used to drive the picking mechanism (400) to move between the storage compartment (200) and the probe.

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