Medical imaging apparatus, medical imaging system

Abstract

The application relates to a medical imaging device and a medical imaging system, comprising: a probe body (1) for performing medical diagnosis or treatment operation on a patient; a flexible tactile sensor layer (2) or an infrared probe (21) covering the outer surface of the probe, which is used for detecting the contact pressure of the flexible tactile sensor layer (2) and the patient or the distance between the infrared probe (21) and the patient in real time; and a control unit (3) in signal connection with the flexible tactile sensor layer (2) or the infrared probe (21).

Description

Technical Field

[0001] This utility model relates to the field of medical imaging technology, specifically to a medical imaging device and a medical imaging system. Background Technology

[0002] In medical imaging technology, many medical imaging devices / systems have corresponding probe components to diagnose patients. Generally speaking, the closer the probe is to the patient, the more accurate the information obtained. If the probe is relatively small, it usually will not cause harm to the patient. However, if the probe is large and its position is movable, it may cause harm to the patient. In the case of a large, moving probe, how to get as close to the patient as possible is a problem that needs careful consideration.

[0003] Therefore, there is a need to provide a convenient and reliable medical imaging device or system that can accurately acquire patient location information and improve image quality. Utility Model Content

[0004] The purpose of this invention is to provide a convenient and reliable medical imaging device or system that can accurately acquire patient location information and improve imaging quality.

[0005] The present invention provides a medical imaging device comprising: a probe body (1) for performing medical diagnosis or treatment on a patient; a flexible tactile sensor layer (2) or an infrared probe (21) covering the outer surface of the probe for real-time detection of the contact pressure between the flexible tactile sensor layer (2) and the patient or the distance between the infrared probe (21) and the patient; and a control unit (3) for signal connection with the flexible tactile sensor layer (2) or the infrared probe (21).

[0006] Optionally, a camera (4) is provided on the side of the probe body (1), and the camera (4) is connected to the control unit via wired / wireless communication.

[0007] Optionally, the control unit (3) is further configured to: calculate the real-time distance between the probe and the patient based on the image data collected by the camera (4); when the real-time distance is greater than a preset distance threshold, control the probe to move at a first speed; when the real-time distance is less than or equal to the preset distance threshold, control the probe to move at a second speed lower than the first speed.

[0008] Optionally, the medical imaging device may also include an emergency braking module (5), which includes a button device (51) held by the patient and an emergency stop controller (52) that is wired / wirelessly connected to the button device (51).

[0009] Optionally, the emergency stop controller (52) is configured to: control the probe body (1) to stop moving in response to a single trigger signal from the button device (51); and control the probe body (1) to move away from the patient in response to a continuous trigger signal from the button device (51).

[0010] Optionally: A mechanical collision switch (6) is provided on the inner side of the flexible tactile sensor layer (2), and the trigger pressure value of the collision switch (6) is greater than a first preset threshold.

[0011] Optionally, the collision switch (6) is connected to the control unit (3) and is configured to forcibly cut off the driving power of the probe body (1) when the flexible tactile sensor layer (2) fails and the pressure value reaches the trigger pressure of the collision switch (6).

[0012] The present invention provides a medical imaging system, including a frame (7) and the medical imaging device described above. The medical imaging device includes two probe bodies (1) arranged opposite to each other. The two probe bodies (1) are detachably connected to the frame (7), and the relative distance between the two probe bodies (1) is adjustable.

[0013] Optionally: The frame includes two drive devices arranged opposite each other, the mounting end of the drive device is detachably connected to the frame, and the free end of the drive device is connected to the probe body.

[0014] Optionally: the drive device includes a motor and a lead screw / guide rail connected to the output end of the motor; the probe body includes a SPECT detector, and the probe body is connected to the lead screw / guide rail.

[0015] The beneficial effects of this invention are as follows: the flexible tactile sensor layer or infrared probe provides real-time physical parameter feedback, and the control unit achieves rapid response through algorithms, forming an adaptive control system, thereby maintaining the optimal contact state during diagnosis or treatment, ensuring patient comfort and optimizing imaging quality. Attached Figure Description

[0016] Figure 1 A schematic diagram of the medical imaging device provided in the embodiments of this application;

[0017] Figure 2 A schematic diagram of a medical imaging device provided in another embodiment of this application;

[0018] Figure 3 This is a schematic diagram of the control method of the medical imaging device according to an embodiment of this application;

[0019] Figure 4 A schematic diagram of a medical imaging system provided in an embodiment of this application;

[0020] Figure 5 A schematic diagram of a medical imaging system provided in an embodiment of this application. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] Figure 1-3 This is a schematic diagram of a medical imaging device according to some embodiments of this specification. The medical imaging device includes: a probe body 1 for performing medical diagnostic or treatment operations on a patient; a flexible tactile sensor layer 2 or an infrared probe 21 covering the outer surface of the probe for real-time detection of the contact pressure between the flexible tactile sensor layer 2 and the patient or the distance between the infrared probe 21 and the patient; and a control unit 3, which is signal-connected (wired / wireless) to the flexible tactile sensor layer 2 or the infrared probe 21.

[0028] The core structure of the device includes a probe body 1, a flexible tactile sensor layer 2 or an infrared probe 21, and a control unit 3. The probe body 1, as the main actuator, is directly responsible for medical operations such as diagnostic imaging or therapeutic interventions. Its physical position is located at the front end of the device, in contact with or close to the patient's body. The flexible tactile sensor layer 2 tightly covers the outer surface of the probe body 1, forming a sensing film for real-time monitoring of pressure changes between the probe and the patient's skin. The infrared probe 21 serves as an alternative, installed at the same position on the probe surface for non-contact measurement of the real-time distance between the probe and the patient. Both provide real-time feedback signals. The control unit 3 is connected to the sensor layer or infrared probe signal via wired or wireless means, receives detection data, and outputs control commands.

[0029] This device is based on a closed-loop control mechanism: when the flexible tactile sensor layer 2 detects a change in pressure, or the infrared probe 21 measures a change in distance, the control unit 3 immediately processes these signals and dynamically adjusts the movement of the probe body to ensure that the operation is performed within a safe range. This closed-loop control mechanism can significantly improve the safety and accuracy of medical operations, avoid damage to patient tissues caused by excessive probe pressure or improper distance, and reduce human error. The flexible tactile sensor layer 2 or the infrared probe 21 provides real-time physical parameter feedback, and the control unit 3 achieves rapid response through algorithms (such as threshold comparison), forming an adaptive control system to maintain the optimal contact state during diagnosis or treatment, ensuring patient comfort and optimizing imaging quality. For example, the flexible tactile sensor layer 2 is made of pressure-sensitive material, which can accurately capture micro-pressure changes, while the infrared probe 21 uses the principle of infrared ranging to ensure reliability in non-contact scenarios. The control unit 3 integrates a microprocessor to process signals and drive the probe actuator to achieve efficient and automated position adjustment.

[0030] In some embodiments: the control unit is configured to: control the probe body 1 to move toward the patient when the pressure value detected by the flexible tactile sensor layer 2 is lower than a first preset threshold; control the probe body 1 to stop moving and perform medical diagnosis or treatment operations when the pressure value reaches or exceeds the first preset threshold; or control the probe body 1 to move toward the patient when the distance between the infrared probe 21 and the patient is greater than a first distance (not reaching the outer layer position of the infrared probe); control the probe body 1 to stop moving and perform medical diagnosis or treatment operations when the distance between the infrared probe 21 and the patient is less than the first distance (reaching the outer layer position of the infrared probe) and greater than a second distance (not reaching the inner layer position of the infrared probe).

[0031] The above describes the specific configuration logic of the control unit. Control unit 3 implements a preset threshold control strategy through a built-in program or hardware circuit: In the application scenario of the flexible tactile sensor layer 2, when the detected pressure value is lower than the first preset threshold (indicating that the probe is not fully in contact with the patient), the control unit drives the probe body to move towards the patient to reduce the distance between the probe and the patient; once the pressure value reaches or exceeds the first preset threshold (indicating safe contact), the control unit immediately stops the probe movement and initiates diagnostic or treatment operations; in the application scenario of the infrared probe 21, when the measured distance is greater than the first distance (indicating the probe is too far), the control unit drives the probe to move towards the patient to shorten the distance; when the distance shrinks to a range less than the first distance but greater than the second distance (indicating entry into a safe operating area), the control unit stops moving and performs the operation. The control unit is integrated inside the device and is electrically connected to the probe body driver. The working principle is based on a preset threshold triggering mechanism: the control unit compares sensor data with preset values ​​(such as the first preset threshold or the first distance) in real time, triggering corresponding action logic to achieve automated control. This optimizes probe positioning efficiency and operational reliability, ensuring that the probe only performs medical tasks under safe conditions and preventing injury caused by misoperation. Preset thresholds (such as a first preset threshold and a first distance) are set based on clinical safety standards. The logical configuration of the control unit (such as comparison and response mechanisms) ensures fast and accurate real-time decision-making, reducing human intervention delays and thus maintaining stable operation in dynamic medical environments, improving patient safety and device responsiveness. For example, the first preset threshold can be set to 1-5N to match the tolerance of human tissue. The control unit achieves rapid threshold comparison through digital signal processing, driving the probe motor to perform precise displacement.

[0032] In some embodiments: a camera 4 is provided on the side of the probe body 1, and the camera 4 is connected to the control unit via wired / wireless communication.

[0033] Camera 4 is specifically positioned to the side of probe body 1, attached at a predetermined distance from the side of the probe housing, such as on a wall, ceiling, or support structure, to capture images of probe body 1 and its surrounding environment. Camera 4 connects to the control unit via wired (e.g., cable) or wireless (e.g., Bluetooth or Wi-Fi) communication to transmit image data. The side-mounted design of camera 4 ensures that the field of view covers the area in front of the probe and the patient area, without interfering with probe operation. The working principle is that camera 4 acquires optical images in real time and transmits video or static images to the control unit to assist in visual monitoring. This enhances the device's sensing capabilities and operational assistance, providing additional visual feedback to help the operator monitor the interaction between the probe and the patient, improving positioning accuracy and safety. As an additional sensor, camera 4 expands the data input dimension, forming a multimodal monitoring system in conjunction with the control unit. This overcomes the limitations of single tactile or infrared sensors, thereby improving operational visualization and control accuracy in complex medical scenarios (such as narrow body cavities). For example, camera 4 uses a miniature CCD or CMOS module, with optimized installation to avoid obstruction, and a wireless communication module ensures stable data transmission.

[0034] In some embodiments, the control unit 3 is further configured to: calculate the real-time distance between the probe and the patient based on the image data collected by the camera 4; when the real-time distance is greater than a preset distance threshold, control the probe to move at a first speed; when the real-time distance is less than or equal to the preset distance threshold, control the probe to move at a second speed lower than the first speed.

[0035] Control unit 3 is programmed to perform specific controls using image data from camera 4: First, based on the images captured by camera 4 (e.g., analyzing probe and patient feature points in the image using visual algorithms), the distance between them is calculated in real time. Then, when the calculated distance is greater than a preset distance threshold (indicating the probe is far from the patient), control unit 3 instructs the probe to move towards the patient at a first speed (faster speed); when the distance is less than or equal to the preset distance threshold (indicating approaching the safe operating area), control unit 3 switches to moving the probe at a second speed (slower speed). Control unit 3 implements distance calculation and speed control logic through software algorithms, interacting directly with data from camera 4. The working principle involves image processing and speed adjustment: camera 4 provides continuous image input, control unit 3 applies computer vision algorithms (such as feature matching or depth estimation) to calculate the distance, and dynamically adjusts the speed of the probe drive motor based on the preset threshold. This improves the smoothness and accuracy of probe movement, avoids the risk of collisions caused by rapid approach, and optimizes patient comfort and operational efficiency. The reason for this effect is that camera 4 provides high-resolution spatial information, and the speed grading strategy of control unit 3 (such as the first speed for rapid approach and the second speed for fine adjustment) enables adaptive motion control, ensuring deceleration at critical distances, thereby reducing inertial impact and improving positioning safety and operational smoothness. For example, with a preset distance threshold set at 10 centimeters, control unit 3 calculates the distance by running the OpenCV library through the embedded processor and outputs a PWM signal to control the motor speed.

[0036] In some embodiments, the device further includes an emergency braking module 5, which includes a button device 51 held by the patient and an emergency stop controller 52 that is wired / wirelessly connected to the button device 51.

[0037] The emergency braking module 5 is independently configured and includes two core components: a button device 51, which is held by the patient (like a small remote control) for easy direct operation; and an emergency stop controller 52, fixed inside or outside the device, connected to the button device 51 via wired (e.g., a connecting cable) or wireless (e.g., radio frequency) communication. The button device 51 is designed for portability, allowing the patient to hold it, while the emergency stop controller 52 is integrated near the control unit to ensure rapid response. The working principle is that when the patient triggers the button device 51 (e.g., presses a button), a signal is generated and sent to the emergency stop controller 52, which immediately interrupts the probe's movement. This enhances the patient's safety control, provides emergency intervention, and quickly stops the probe in unexpected situations (e.g., patient discomfort), preventing injury. This is achieved because the button device 51 gives the patient active control, and the emergency stop controller 52 achieves millisecond-level braking through direct hardware-level response (e.g., cutting off power or sending a braking command), compensating for the potential delay of the automatic system and thus ensuring personal safety in critical scenarios. For example, the button device 51 uses a wireless transmission module; after receiving the signal, the emergency stop controller 52 activates a relay to disconnect the probe drive circuit.

[0038] In some embodiments, the emergency stop controller 52 is configured to: control the probe body 1 to stop moving in response to a single trigger signal from the button device 51; and control the probe body 1 to move away from the patient in response to a continuous trigger signal from the button device 51. The emergency stop controller 52 has specific response logic: when the button device 51 sends a single trigger signal (e.g., a brief press), the emergency stop controller 52 instructs the probe body 1 to immediately stop all movement; when the button device 51 continuously triggers (e.g., a long press), the emergency stop controller 52 controls the probe body 1 to move away from the patient (i.e., retract). The emergency stop controller 52 implements these responses through internal control circuitry or a program and is directly connected to the probe drive system. Its operating principle is based on signal type differentiation: a single trigger signal triggers the emergency stop function, and a continuous signal triggers the retraction action. The emergency stop controller 52 parses the button signal pattern and outputs corresponding control commands. It provides a tiered safety response, not only stopping the probe but also actively retracting it, minimizing risk, especially protecting the patient from secondary injury in emergency situations. The dual-mode configuration (stop and retraction) of the emergency stop controller 52 covers scenarios with different risk levels. It distinguishes intentions based on signal duration, ensuring response flexibility and comprehensiveness, thereby improving overall safety redundancy. For example, the emergency stop controller 52 uses a microcontroller to detect signal duration; a single signal activates the brake, while a continuous signal drives the motor to reverse.

[0039] In some embodiments, a mechanical collision switch 6 is provided inside the flexible tactile sensor layer 2, and the trigger pressure value of the collision switch 6 is greater than a first preset threshold. The mechanical collision switch 6 is physically located inside the flexible tactile sensor layer 2, i.e., between the sensor layer and the probe body, and its trigger pressure value is set to be higher than the first preset threshold (e.g., greater than 5N). The collision switch 6 is embedded below the sensor layer to ensure it serves as a backup trigger point in case of sensor failure. As a mechanical safety device, the collision switch 6 activates its mechanical structure (e.g., a spring or contact) directly when pressure exceeds its trigger value (e.g., a hard impact). This adds a redundant safety layer, providing hardware-level protection in case of electronic sensor failure, preventing damage caused by excessive pressure on the probe. The mechanical characteristics of the collision switch 6 (e.g., passive operation) ensure high reliability, and the trigger pressure value exceeding the electronic threshold (first preset threshold) serves as a last line of defense, thereby ensuring absolute safety in extreme situations (e.g., sensor failure). For example, the collision switch 6 uses a microswitch design with a trigger value set to 6N, directly connected in series to the probe power circuit.

[0040] In some implementations: the collision switch 6 is connected to the control unit 3 and is configured to forcibly cut off the driving power supply to the probe body 1 when the flexible tactile sensor layer 2 fails and the pressure value reaches the trigger pressure of the collision switch 6. The collision switch 6 is connected to the control unit 3 (e.g., through electrical wiring), and its configuration logic is as follows: when the flexible tactile sensor layer 2 fails (e.g., signal loss or error), and the collision switch 6 detects that the pressure has reached its trigger pressure, the collision switch 6 directly and forcibly cuts off the driving power supply to the probe body 1 (e.g., disconnects the circuit). The collision switch 6 is located inside the sensor layer as described above and is hardwired to the control unit 3. The control unit 3 monitors the sensor status, and once a failure is determined, the collision switch 6 becomes the master trigger; when pressure triggers the collision switch 6, its mechanical action (e.g., opening the contacts) immediately interrupts the power supply. This strengthens the fail-safe mechanism, ensuring that dangerous operations are prevented through hardware in the event of a complete failure of the electronic system, protecting the patient from serious harm. The collaborative design of the collision switch 6 and the control unit 3 provides dual protection: the control unit 3 handles soft failures, the collision switch 6 handles hard failures, and the forced power-off mechanism (e.g., physically cutting off the power supply) avoids any delay, thereby achieving zero-risk operation in critical moments. For example, the collision switch 6 outputs a signal to the control unit 3 or is directly connected in series with the power line, which activates the circuit breaker relay when triggered.

[0041] In some implementations: the first preset threshold is set based on the following: a clothing contact pressure range of 0.1-1N, and a human tissue safe contact pressure range of 1-5N. The first preset threshold is set based on a specific pressure range: a clothing contact pressure range of 0.1-1N (representing the low-pressure zone when the probe contacts clothing), and a human tissue safe contact pressure range of 1-5N (representing the safe upper limit for direct contact with skin or tissue). The threshold setting guides the behavior of the control unit 3, ensuring that it does not accidentally trigger movement when in contact with clothing and maintains safe operation when in contact with tissue. Optimizing the reasonableness of the threshold improves control accuracy and avoids malfunctions or risks caused by inappropriate thresholds. The pressure range is based on real medical data (such as biomechanical testing) to ensure that the threshold (e.g., set as a lower limit of 1N and an upper limit of 5N) matches the actual scenario, thereby distinguishing between harmless contact (clothing) and risky contact (tissue) in automatic control, improving system adaptability and safety. For example, the first preset threshold is set to 2N as the trigger point, and the control algorithm is calibrated based on this range.

[0042] Figure 4-5 This is a medical imaging system according to some embodiments of the present specification, including a gantry 7 and the medical imaging device described above. The medical imaging device includes two probe bodies 1 arranged opposite to each other. The two probe bodies 1 are detachably connected to the gantry 7, and the relative distance between the two probe bodies 1 is adjustable.

[0043] The system comprises a rack 7 and a medical imaging device, specifically two probe bodies 1 arranged opposite each other (e.g., symmetrically). The two probe bodies 1 are detachably connected to the rack 7 via clips or bolts, and the relative distance between them is adjustable (e.g., via a sliding rail mechanism). The rack 7 serves as a support frame, upon which the probe bodies 1 are mounted. The rack 7 provides a stable foundation, the detachable connection allows for modular replacement, and the distance adjustment mechanism (e.g., manual or electric adjustment) allows the probes to adapt to different patient body types. This enables a multi-functional imaging system, supporting simultaneous bilateral operation, improving diagnostic coverage and efficiency, while the adjustable distance enhances adaptability. The oppositely arranged probe bodies 1 (e.g., for stereo imaging) provide comprehensive data acquisition, the detachable connection simplifies maintenance, and the distance adjustment mechanism (e.g., linear guides) ensures flexible configuration, thereby improving system versatility and performance in diverse clinical needs. For example, the rack 7 may employ a metal frame, with the probe bodies 1 connected via sliders, supporting motor-driven distance adjustment.

[0044] In some embodiments: the frame includes two drive units (not shown) arranged opposite each other, the mounting end of the drive unit is detachably connected to the frame 7, and the free end of the drive unit is connected to the probe body 1.

[0045] The frame integrates two drive units, positioned opposite each other (e.g., vertically or horizontally symmetrically). Their mounting ends are detachably connected to the frame 7 via interfaces or mounting bases, while their free ends (e.g., output shafts) are connected to the probe body 1. The drive units are fixed to the frame 7, providing power for probe movement. The drive units (e.g., motors) are anchored to the frame via their mounting ends, and their free ends drive the probe body 1 to move (e.g., linearly or rotaryly), enabling automated adjustment. This enhances system automation; the drive units provide precise power output, support dynamic probe position control, and improve imaging efficiency. The integrated drive units (e.g., servo motors) replace manual operation, and the detachable connection facilitates upgrades and maintenance. The free ends directly link with the probe, ensuring smooth and precise movement, thereby reducing operational burden and improving repeatability in real-time imaging. For example, a stepper motor could be used as the drive unit, with the mounting end fixed with bolts and the free end connected to the probe via a coupling.

[0046] In some embodiments, the drive device includes a motor and a lead screw / rail connected to the motor output; the probe body includes a SPECT detector and is connected to the lead screw / rail.

[0047] The drive unit structure includes a motor (such as a DC or stepper motor) and a lead screw / rail (such as a ball screw or linear guide) directly connected to the motor's output. The probe body is specifically a SPECT detector (single-photon emission computed tomography detector), and the probe body is connected to the lead screw / rail via a mechanical interface (such as a slider or nut). The lead screw / rail of the drive unit provides a linear motion path, and the motor drives its rotation or movement. The motor's rotation output drives the lead screw / rail to move, thereby pushing the probe body to displace along a predetermined trajectory, and the SPECT detector performs the imaging function. This achieves high-precision probe positioning, the lead screw / rail transmission reduces errors, and the specialized SPECT detector improves imaging quality, especially suitable for nuclear medicine applications. The mechanical advantages of the lead screw / rail (such as low friction and high rigidity) ensure smooth movement, the integration of the SPECT detector optimizes image acquisition, and the motor provides controllable power, thereby improving resolution and reliability in complex imaging tasks. For example, the lead screw converts the motor's rotation into linear motion, the guide rail guides the probe's sliding, and the SPECT detector integrates a scintillation crystal and a photomultiplier tube.

[0048] In some implementations: the control unit 3 includes a microcontroller, DSP, or FPGA. The input of the control unit is communicatively connected to the flexible tactile sensor layer 2 or the infrared probe 21 and the camera, and the output of the control unit is connected to the motor controller. The hardware of the control unit 3 includes a microcontroller, digital signal processor (DSP), or field-programmable gate array (FPGA). Its input is connected to the flexible tactile sensor layer 2 or the infrared probe 21 and the camera via a communication interface (such as an ADC or digital bus), and its output is connected to the motor controller (such as a drive circuit). The control unit 3 is integrated within the system's electronic enclosure. The working principle is that the control unit 3 processes multi-source input data (sensor pressure / distance and camera image), calculates (such as a microcontroller algorithm), and outputs instructions to the motor controller to adjust the probe movement. Centralized intelligent control supports complex data processing, improving system response speed and integration. The microcontroller / DSP / FPGA provides powerful processing capabilities, integrates multiple inputs (such as sensors and cameras) to achieve fused perception, and directly drives the motor with the output, ensuring efficient and accurate closed-loop control, thereby optimizing performance and reliability in real-time operation. For example, the FPGA processes image and sensor data and outputs a PWM signal to the motor drive board.

[0049] In some implementations, the gantry is either ring-shaped or C-shaped. The gantry is designed as a ring (e.g., a closed-loop frame) or a C-shape (e.g., an open-arm structure). The gantry shape determines the overall layout; a ring-shaped gantry provides full-coverage scanning, while a C-shaped gantry facilitates lateral access. Ring-shaped gantry support 360-degree imaging, while C-shaped gantry allow patients to enter from the side, reducing the feeling of confinement. This enhances system adaptability and patient comfort, with different shapes matching different clinical needs (e.g., whole-body or localized scans). Ring-shaped structures provide stable and symmetrical support, while C-shaped structures optimize access convenience, thereby improving usability and user experience in diverse medical environments. For example, C-shaped gantry are used in interventional radiology to facilitate physician operation.

[0050] In some embodiments, the system further includes a scanning bed 8, which supports the object being scanned and can be moved between the two probe bodies 1. The scanning bed supports the patient (the object being scanned) and can be moved (e.g., electrically or manually) to a position between the two probe bodies 1. The scanning bed is positioned below the gantry and aligned with the probe area. The scanning bed carries the patient and its position is adjusted via a moving mechanism (e.g., a slide rail or motor) to ensure the patient is precisely positioned within the probe imaging area. This enhances system functionality, provides integrated patient positioning, and the moving scanning bed ensures accurate alignment, improving imaging quality and efficiency. As an auxiliary component, the movable design of the scanning bed allows for dynamic adjustment of the patient's posture, working in conjunction with the opposing probe bodies 1 to achieve full coverage and seamless scanning, thereby reducing setup time and enhancing result consistency in the diagnostic process. For example, the scanning bed can be equipped with wheels or a linear actuator to move to a central position between the probes.

[0051] 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.

[0052] The above embodiments merely illustrate 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 imaging device, characterized in that, include: The probe body (1) is used to perform medical diagnostic or treatment procedures on the patient; A flexible tactile sensor layer (2) or an infrared probe (21) covering the outer surface of the probe is used to detect in real time the contact pressure between the flexible tactile sensor layer (2) and the patient or the distance between the infrared probe (21) and the patient; The control unit (3) is connected to the flexible tactile sensor layer (2) or the infrared probe (21) via signal connection.

2. The apparatus according to claim 1, characterized in that: A camera (4) is provided on the side of the probe body (1), and the camera (4) is connected to the control unit via wired / wireless communication.

3. The apparatus according to claim 2, characterized in that: The control unit (3) is further configured to calculate the real-time distance between the probe and the patient based on the image data collected by the camera (4); When the real-time distance is greater than the preset distance threshold, control the probe to move at the first speed; When the real-time distance is less than or equal to a preset distance threshold, the control probe moves at a second speed, which is lower than the first speed.

4. The apparatus according to any one of claims 1-3, characterized in that... Also includes: Emergency braking module (5) includes a button device (51) held by the patient and an emergency stop controller (52) that is wired / wirelessly connected to the button device (51).

5. The apparatus according to claim 4, characterized in that: The emergency stop controller (52) is configured to: control the probe body (1) to stop moving in response to a single trigger signal from the button device (51); and control the probe body (1) to move away from the patient in response to a continuous trigger signal from the button device (51).

6. The apparatus according to claim 1, characterized in that: A mechanical collision switch (6) is provided on the inner side of the flexible tactile sensor layer (2), and the trigger pressure value of the collision switch (6) is greater than a first preset threshold.

7. The apparatus according to claim 1, characterized in that: The collision switch (6) is connected to the control unit (3) and is configured to forcibly cut off the driving power of the probe body (1) when the flexible tactile sensor layer (2) fails and the pressure value reaches the trigger pressure of the collision switch (6).

8. A medical imaging system, characterized in that: The device includes a frame (7) and a medical imaging apparatus as described in any one of claims 1-7, the medical imaging apparatus including two probe bodies (1) arranged opposite to each other, the two probe bodies (1) being detachably connected to the frame (7), and the relative distance between the two probe bodies (1) being adjustable.

9. The medical imaging system according to claim 8, characterized in that: The frame includes two drive devices arranged opposite each other. The mounting end of the drive device is detachably connected to the frame, and the free end of the drive device is connected to the probe body.

10. The medical imaging system according to claim 9, characterized in that: The drive device includes a motor and a lead screw / guide rail connected to the output end of the motor; the probe body includes a SPECT detector, and the probe body is connected to the lead screw / guide rail.

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