Gantry apparatus for a CT system and CT system

Abstract

The utility model relates to a gantry device for CT system. The gantry device includes gantry (2) and motion system (6), wherein: - the gantry (2) includes a plurality of radiation source (5) and radiation detector (4), these radiation sources and radiation detector are arranged on the plane around the main axis (8) respectively, and wherein, the gantry (2) is settled to, so that the gantry can be moved transversely by means of motion system (6), - motion system (6) has guide element (S) and is designed to, so that the gantry (2) can be moved linearly parallel to the main axis (8) of the gantry by means of guide element (S). In addition, the utility model further includes CT system.

Description

Technical Field

[0001] This utility model relates to a gantry device for a CT system and a CT system. Background Technology

[0002] Computed tomography (CT) is an imaging method established in medicine. In a CT examination, a person or the object to be examined is moved onto the recording unit of the CT system on a bed. The recording unit then rotates around the object being recorded and generates multiple images, which are then processed into a three-dimensional image stack according to established methods.

[0003] In some medical examinations or applications, it may be advantageous that the gantry of the CT system can be moved toward and away from the patient, or moved from the side (from the right or left side, or from the side of the head or feet) above the patient, such as in interventional CT or CT on the operating table. This allows for simpler, faster, and more efficient examinations.

[0004] The gantry can be moved, for example, via a carriage. However, in this case, the structure must be designed so that the tube and detector module (DMS) can rotate around the patient to record complete image data. This has historically typically meant complex, heavy, and expensive technical solutions to achieve this functionality. Furthermore, precise adjustment of such a mobile gantry along its axis of rotation is quite complex. The correct recording position can sometimes only be achieved after multiple adjustments.

[0005] Current systems, if any, offer very limited mobility, especially when it comes to use at different stations and in different spaces. Furthermore, there is limited patient accessibility, as either not every station can be used, or not every possible patient placement can be accommodated. In many systems, there are no rack openings or the openings are too small. Additionally, it is currently not possible to easily record the volumetric area along the axis of rotation. Utility Model Content

[0006] The objective of this invention is to describe a gantry device for a CT system and a CT system that avoid the aforementioned disadvantages.

[0007] This task is accomplished using the rack equipment and the CT system according to the present invention.

[0008] The gantry device according to this utility model for a CT system includes a gantry and a motion system, wherein:

[0009] - The frame includes multiple radiation sources and radiation detectors, which are arranged in a plane around the main axis, and the frame is positioned such that it can move laterally by means of a motion system.

[0010] - The motion system has guiding elements and is designed so that the frame can move linearly parallel to the main axis of the frame by means of the guiding elements.

[0011] The gantry includes components responsible for image recording, namely radiation source and detector assemblies. Unlike conventional rotating gantry (which typically have a single radiation source and a single radiation detector and therefore must rotate), the gantry according to this invention includes multiple radiation sources and radiation detectors. The radiation sources and detectors are arranged such that images can be recorded using corresponding pairs of radiation sources and detectors (or multiple sets of radiation detectors). Here, these elements are not necessarily static (but this is a preferred embodiment), but are movable to enable operation of specific recording angle ranges (this is another preferred embodiment).

[0012] Here, the term "multiple" is understood to mean at least two, with significantly more than two being preferred. The radiation detectors can, for example, form a closed loop that can be read locally. During reading, the granularity of the loop can be understood as individual radiation detectors, where multiple radiation detectors are combined into a group for image recording. In a preferred rack, the radiation source element has at least 10 radiation sources, particularly at least 36. The radiation source element may also include 100 or more radiation sources.

[0013] If, for example, there are 36 radiation sources, images with viewing angle differences of 10° can be recorded. If these radiation sources are now rotated 10° around the main axis (corresponding to the rotation axis in a conventional CT gantry), images can be recorded from even more viewing angles. The more radiation sources there are, the less motion is required to generate sufficient images. For this purpose, it is preferable that each radiation source can be manipulated individually.

[0014] The radiation sources are preferably arranged at regular intervals. This has the advantage that recording can be performed from multiple recording angles without rotating the radiation source elements.

[0015] The preferred radiation source is a nanotube field emitter. This source is small, inexpensive, and emits X-ray radiation of suitable intensity for examination.

[0016] It should generally be noted that when recording images, the radiation source used for this purpose and the radiation detector or array of radiation detectors used for this purpose are positioned opposite each other in the rack.

[0017] Rack equipment may not have as many radiation detectors as a radiation source. The number of radiation detectors may vary. However, the radiation detectors (or arrays of radiation detectors) should be large enough to cover the beam cone of the radiation source or the desired recording area.

[0018] The radiation detector and the radiation source are arranged on planes surrounding the main axis. The plane with the radiation detector and the plane with the radiation source can be in the same position, or they can be slightly moved relative to each other along the main axis of the CT system. If, for example, there is a complete detector ring surrounding 360°, it is advantageous for the two planes to be moved relative to each other so that the radiation source does not have to pass through the radiation detector to radiate onto the object to be recorded, or the radiation source is located in front of the radiation detector.

[0019] Preferably, the radiation source and radiation detector are arranged concentrically around the main axis. The main axis is an axis that extends through the center point of the rack and is parallel to the normal vector of the surface on which the rack is located; therefore, as mentioned above, it corresponds to the rotation axis of a conventional rack.

[0020] To adjust or set the optimal recording position and to record a volumetric area, the frame (mechanical) is positioned so that it can move laterally by means of a motion system. This means that the frame can move at least linearly parallel to its main axis, but can also move orthogonally to it. For this purpose, the motion system has guiding elements, such as rails, on which the frame can move linearly. The frame can be supported on the rails, for example, by rollers.

[0021] The CT system according to this invention includes a gantry assembly according to this invention. In addition to the gantry, the CT system may also have a control device for controlling recording and a calculation and display unit for calculating and displaying the recorded CT images.

[0022] Further, particularly advantageous designs and modifications of this invention are derived from the following description, wherein a claim of one class of claims may be modified in part by analogy to a claim of another class of claims and description, and in particular, features of different embodiments or variations may be combined to form new embodiments or variations.

[0023] A preferred frame assembly is characterized in that the motion system has at least two parallel tracks as guiding elements. Furthermore, the motion system includes motion elements connected to the frame and designed for movement along the tracks. This movement is preferably slidable (using sliding bearings) and / or using rollers and / or balls. Alternatively or additionally, the motion system preferably has linear ball bearings, which the frame can utilize or slide with.

[0024] According to a preferred embodiment, the guide element can be fixedly arranged in the inspection room, such as on the floor, walls or ceiling of the inspection room.

[0025] Preferably, the motion system has multiple motors and is designed to electrically move the frame along and / or rotate it about the main axis. For example, the motors may drive wheels of the frame on tracks, or linear motors may move the frame, for example, supported on parallel rods by linear ball bearings or by means of linear ball bearings. The frame may also have wheels that slide in slots (as guiding elements).

[0026] To record images from multiple different recording angles, gantry rotation is not necessarily required. In principle, it is sufficient for the radiation source and / or radiation detector to rotate around a main axis. This can be achieved, in particular, using motion mechanisms within the gantry. Alternatively, the radiation source and / or radiation detector can be manipulated individually along the perimeter of the gantry, for example, in a perimeter-following sequence or in another predetermined sequence. Thus, a series of projected images of the examined object can be generated, ensuring adequate coverage of the object and enabling the reconstruction of a tomographic image dataset, which is also obtained, for example, during circular scans of the object in a system with a rotating gantry.

[0027] Rotation about the main axis is preferably performed in an angle of less than 180° and is used to generate images from different viewpoints. Preferably, the motion occurs in an angle of up to 720° / N, preferably up to 360° / N, among N radiation sources arranged in a circular pattern at regular intervals.

[0028] A preferred rack-mount assembly is characterized in that the radiation source and radiation detector assembly are arranged in a ring around a main axis. The rack is then preferably designed to generate beams from multiple spatial directions through its center to the radiation detectors via the radiation source. The radiation source can rotate at least around the main axis, but is particularly preferably only within an angular range of less than 180°. According to an alternative embodiment, the radiation source and / or radiation detectors are statically arranged in the rack-mount assembly. This eliminates the need for rotating mechanisms, and the rack can be designed to be very narrow.

[0029] A preferred rack device is characterized by having an open ring, such as a C-shaped ring, or a closable ring. For example, a closed ring may have a movable segment that can be disengaged, pivoted, or moved to allow opening along the perimeter of the ring. This is highly advantageous for lateral table movement, such as positioning the ring in an inspection position around the object being inspected. The opening of the rack is preferably greater than 60 cm, more preferably greater than 80 cm, allowing the rack to be easily moved over a person from the right or left side. This can be easily achieved since rotation of the rack can, in principle, be omitted. For example, a portion of the ring of the rack may be designed to be pivotable, wherein this portion preferably also includes a radiation source and a radiation detector, and cables are guided into this portion from the side, connecting it to the rest of the ring (via hinges if necessary). This foldable rack can be achieved even when the radiation detector and / or radiation source are movable within a specific angular range (less than 180°).

[0030] Preferred rack equipment includes a robotic holding device designed to enable the rack to move along a non-linear trajectory in space. This robotic holding device is preferably equipped with parallel or serial kinematics and preferably includes a robotic arm or a hexapod.

[0031] Preferred rack-mount equipment has inherent X-ray protection, preferably in the form of a lead cover for the rack or a portion thereof.

[0032] Preferred rack-mount equipment includes interfaces for integrating external devices, particularly for image and command transmission for optical tracking, external software for image processing, or an image display in space.

[0033] Preferred rack-mount equipment includes user operating elements, such as manual controllers or data interfaces for control commands on the side of mobile devices (e.g., tablets).

[0034] A preferred gantry device is characterized in that the motion system has a rotary joint, which allows the gantry to be tilted about an axis orthogonal to the gantry's main axis, preferably by means of a motor. The main axis of the gantry can be tilted in a simple manner by means of this rotary joint. Preferably, the rotary joint contacts a guide element so that even after rotation, the gantry can continue to move parallel to its main axis. The rotary joint allows the gantry to be rotated from a position for examining a recumbent patient to a position for examining a standing patient.

[0035] Preferred rack equipment includes a handle with a force sensor for force-assisted movement of the rack. Therefore, the rack can also be moved manually, or, if necessary, with motor support.

[0036] Preferred rack equipment includes collision sensors, wherein the rack equipment is particularly preferred and designed for sensor-assisted collision avoidance or positioning. The collision sensors prevent the rack from colliding during its movement. This is used to protect both the rack and the patient.

[0037] The preferred rack-mount equipment is characterized in that the motion system is additionally designed to move the rack, preferably by means of a motor, in a direction orthogonal to the rack's main axis. Therefore, the rack can be more accurately adjusted to the optimal inspection position and volumetric areas can be recorded in a simple manner. The motion system may also have guiding elements for this movement.

[0038] The preferred rack equipment includes a chassis, preferably an omnidirectional chassis. This chassis allows the rack equipment to be easily transported to the next inspection location. The rack's motion system is used for fine-tuning after positioning and recording of volumetric areas. The chassis can preferably be locked for inspection, thus preventing unnecessary movement of the rack during inspection. Particularly preferably, the chassis includes support devices for the rack.

[0039] Preferred rack equipment includes a preferred rechargeable battery system for supplying power to the rack and preferred motor.

[0040] Preferred rack equipment includes a radio system for wirelessly transmitting image data.

[0041] This invention addresses several problems in X-ray-based CT imaging, particularly during interventions such as minimally invasive or catheter-based interventions or punctures, and surgeries such as minimally invasive or open surgical interventions. High image quality, especially high spatial and temporal resolution, and any selectable 3D volume length can be achieved. This is accomplished through a large number of radiation sources and radiation detectors that can move within specific angular ranges when necessary.

[0042] Because the system is very lightweight and relatively thin, and can be easily designed with openings, it allows for excellent patient accessibility, which is particularly advantageous for surgery and anesthesia. The mobile and movable system is independent of the patient table and patient placement used. The system also allows for simple and safe operation without altering the patient position or equipment access. Attached Figure Description

[0043] This utility model will now be described in detail again with reference to the accompanying drawings and embodiments. Here, in the different drawings, the same parts are given the same reference numerals. These drawings are generally not to scale. Wherein:

[0044] Figure 1 A rough schematic diagram of a CT system according to the prior art is shown.

[0045] Figure 2 The rack assembly according to the present invention is shown as viewed from the main axis.

[0046] Figure 3 The rack assembly according to the present invention is shown as viewed from one side of the main axis.

[0047] Figure 4 The rack equipment on the robotic arm is shown.

[0048] Figure 5 The rack equipment on the chassis is shown.

[0049] Figure 6 The rotating rack equipment on the chassis is shown.

[0050] Figure 7 The frame on the track is shown. Detailed Implementation

[0051] Figure 1 A computed tomography (CT) system 1 with a radiation detector 4 and a radiation source 5 is shown. The radiation source 5 is configured to irradiate the radiation detector 4 with radiation. The CT system 1 shown includes a gantry 2 with a rotor 3. The rotor 3 includes an X-ray source 5 as the radiation source 5 and a radiation detector 4 configured to detect X-ray radiation.

[0052] Rotor 3 can rotate about axis of rotation 8. Patient P is placed on patient bed L and can move along axis of rotation 8 through gantry 2. Computation unit 9 is configured to control CT system 1 and / or generate image datasets based on signals detected by radiation detector 4.

[0053] Typically, a dataset of (raw) X-ray images of patient P is recorded from multiple angles using a radiation detector 4. Subsequently, a (final) image dataset can be reconstructed based on the (raw) X-ray image dataset using mathematical methods, such as filtered projections or iterative reconstruction methods.

[0054] The computing unit 9 serves as a control device 9 for controlling the CT system 1. Input devices 10 and output devices 11 are connected to the computing unit 9. For example, input devices 10 and output devices 11 can display the generated image dataset B through user interaction.

[0055] Figure 2The rack assembly 3 according to the present invention, viewed from the main axis, is shown. The rack assembly includes a rack 2 and a motion system 6, shown here from the side, as this motion system should be able to achieve movement parallel to the main axis 8. The rack 2 here includes eighteen radiation sources 5 and a ring composed of radiation detectors 4. The radiation sources 5 and the radiation detector assembly 4 are arranged here in a ring-like manner around the main axis 8 in the form of two concentric rings. Here, the rack 2 is designed to generate beams from multiple spatial directions through its center to the radiation detectors 4 by means of the radiation sources 5. The beam cone is shown here using dashed lines. For recording purposes, a set of radiation detectors 4 illuminated by the beam cone can be used.

[0056] The rack 2 is designed as a closed loop, which can be opened on the right side. This opening O of the rack 2 should be greater than 60 cm. In this configuration, the radiation source 5 and the radiation detector 4 are statically arranged within the rack assembly 3. However, the radiation source and radiation detector can also be rotated 20° around the main axis to record images from multiple angles.

[0057] Figure 3 This shows the view from one side of the main axis 8. Figure 2 The rack equipment 3. As can be seen here, the ring-shaped radiation sources 5 are located on one plane, and the ring of radiation detectors 4 is located on another plane relative to which it moves, such that the radiation detectors 4 do not cover the radiation sources 5. The motion system 6 has (not visible here) guiding elements S and is designed so that the rack 2 can move linearly parallel to the main axis 8 of the rack (in the direction of the double arrows) by means of the guiding elements S.

[0058] Figure 4 A rack device on a robotic arm 12 is shown. This robotic arm is an example of a robotic holding device and is designed to enable the rack 2 to move along a non-linear trajectory in space. In this example, the rack 2 is open and can only record within a limited range of angles in a static structure, or generate images from 360° in a structure that rotates + / -30° around the main axis 8. Rotation of the entire rack 2 is not required here; it is sufficient that the radiation source 5 and the radiation detector 4 can rotate.

[0059] Figure 5 The gantry device 3 on chassis 7 is shown. This chassis can be, for example, an omnidirectional chassis 7, which is preferably lockable for examination. In this example, the gantry 2 can be opened to move from the side over the patient P (see arrow). The diagram shows the opened gantry 2. In the examination position, the loop is closed.

[0060] Figure 6A rotatable gantry device on a chassis is shown. In this example, the motion system 6 has a rotary joint so that the gantry 2 can be tilted about an axis orthogonal to the main axis 8 of the gantry using a motor. Thus, the gantry can be moved from a position (left side) for examining a lying patient P to a position (right side) for examining a standing patient P by a simple rotation (middle).

[0061] Figure 7 A frame 2 is shown, which can move on a track S by means of rollers W. The track S and rollers W represent the motion system 6. In this embodiment, the track S is arranged on the floor of the inspection room.

[0062] Finally, it should be reiterated that the above-described utility model is merely an embodiment, and these embodiments can be modified in various ways by those skilled in the art without departing from the scope of this utility model. Furthermore, the use of the indefinite articles "a" or "an" does not preclude the possibility that the relevant feature may be present multiple times. Similarly, terms such as "unit" do not preclude the possibility that the relevant component consists of multiple interacting sub-components, which may also be spatially distributed if necessary. The term "multiple" is understood to mean "at least one".

Claims

1. A gantry device (3) for a CT system (1), characterized in that, Includes a frame (2) and a motion system (6), wherein: - The frame (2) includes a plurality of radiation sources (5) and radiation detectors (4), the radiation sources and the radiation detectors being arranged in a plane surrounding the main axis (8), and wherein the frame (2) is positioned such that the frame can move laterally by means of the motion system (6). - The motion system (6) has a guide element (S) and is designed so that the frame (2) can move linearly parallel to the main axis (8) of the frame by means of the guide element (S).

2. The rack equipment (3) according to claim 1, characterized in that, The motion system (6) has at least two parallel tracks as guide elements (S) and includes a motion element connected to the frame (2) and designed to move along the tracks, or the motion system (6) has a linear ball bearing, and the frame (2) can slide using or with the linear ball bearing.

3. The rack equipment (3) according to claim 1 or 2, characterized in that, The motion system (6) has multiple motors and is designed to electrically move the frame (2) along the main axis (8) and / or rotate it about the main axis (8).

4. The rack equipment (3) according to claim 1 or 2, characterized in that, The radiation source (5) and the radiation detector (4) of the radiation detector assembly are arranged in a ring around the main axis (8), and the rack (2) is designed to generate beams from multiple spatial directions through its center to the radiation detector (4) by means of the radiation source (5), wherein the radiation source (5) and / or the radiation detector (4) are arranged in the rack device (3).

5. The rack equipment (3) according to claim 1 or 2, characterized in that, The frame (2) has an open ring or a closed ring that can be opened.

6. The rack equipment (3) according to claim 1 or 2, characterized in that, Includes a robotic holding device, which is designed to enable the frame (2) to move in space along a non-linear trajectory.

7. The rack equipment (3) according to claim 1 or 2, characterized in that, The rack equipment (3) has inherent X-ray protection.

8. The rack equipment (3) according to claim 1 or 2, characterized in that, This includes interfaces for integrating images and command transmissions for external devices, external software for image processing, or image displays in space.

9. The rack equipment (3) according to claim 1 or 2, characterized in that, Includes user-operated components.

10. The rack equipment (3) according to claim 1 or 2, characterized in that, The motion system (6) has a rotating joint so that the frame (2) can be tilted about an axis orthogonal to the main axis (8) of the frame.

11. The rack equipment (3) according to claim 1 or 2, characterized in that, Includes a handle with a force sensor for force-assisted movement of the frame (2), wherein the frame device (3) is designed for sensor-assisted collision avoidance or positioning.

12. The rack equipment (3) according to claim 1 or 2, characterized in that, The motion system (6) is additionally designed to move the frame (2) in a direction orthogonal to the main axis (8) of the frame.

13. The rack equipment (3) according to claim 1 or 2, characterized in that, Including the chassis (7).

14. The rack equipment (3) according to claim 1 or 2, characterized in that, Includes a battery system for supplying energy to the frame (2) and the motor.

15. The rack equipment (3) according to claim 2, characterized in that, The motion element is designed to slide along the track and / or move by means of rollers and / or balls.

16. The rack equipment (3) according to claim 4, characterized in that, The radiation source (5) and / or the radiation detector (4) are statically arranged in the rack equipment (3).

17. The rack equipment (3) according to claim 5, characterized in that, The opening (O) of the frame (2) is greater than 60cm.

18. The rack equipment (3) according to claim 5, characterized in that, The opening (O) of the frame (2) is greater than 80cm.

19. The rack equipment (3) according to claim 7, characterized in that, The rack equipment (3) has inherent X-ray protection in the form of a lead shroud in the form of the rack (2).

20. The rack equipment (3) according to claim 1 or 2, characterized in that, Includes interfaces for integrating image and command transmission for optical tracking.

21. The rack equipment (3) according to claim 10, characterized in that, The motion system (6) has a rotating joint so that the frame (2) can be tilted about an axis orthogonal to the main axis (8) of the frame by means of a motor.

22. The rack equipment (3) according to claim 11, characterized in that, Including collision sensors.

23. The rack equipment (3) according to claim 12, characterized in that, The motion system (6) is additionally designed with the aid of a motor to move the frame (2) in a direction orthogonal to the main axis (8) of the frame.

24. The rack equipment (3) according to claim 13, characterized in that, The chassis (7) is an omnidirectional chassis (7), which can be locked for inspection and includes support equipment for the frame (2).

25. The rack equipment (3) according to claim 14, characterized in that, This includes radio systems used for wirelessly transmitting image data.

26. The rack equipment (3) according to claim 14, characterized in that, The battery system is rechargeable.

27. A CT system (1), characterized in that, Includes rack equipment (3) according to any one of claims 1 to 26.

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