CN102613980B - Radiological image equipment and automatic following method thereof - Google Patents
Radiological image equipment and automatic following method thereof Download PDFInfo
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- CN102613980B CN102613980B CN201110033884.7A CN201110033884A CN102613980B CN 102613980 B CN102613980 B CN 102613980B CN 201110033884 A CN201110033884 A CN 201110033884A CN 102613980 B CN102613980 B CN 102613980B
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Abstract
The invention discloses an automatic following method of radiological image equipment. The method comprises the steps of: obtaining a detector angle value; determining a handpiece target angle value corresponding to the detector angle value, wherein the target angle value is equal to the sum of the detector angle value and a preset value; and controlling a handpiece to carry out following motion to achieve the target angle. A synchronous following motion of the handpiece or a detector is realized when the angle of the detector or the handpiece in the radiological image equipment changes, the included angle of the X ray direction and the front surface of the detector is unchanged, and the method guarantees that the radiological image equipment is flexible in application and good in shooting effect.
Description
Technical field
The present invention relates to irradiation image equipment.More particularly, the present invention relates to the method that in cantilevered irradiation image equipment, head and detector are followed automatically.
Background technology
In DR photography checks, automatically following is the machine pendulum method for position that a kind of suspension arm form DR is conventional.Current action of following has following several form usually:
1. rabat position is followed: when detector Level Change, the height of head also follows change; Or when nose height changes, detector height follows change; The relative altitude of head and detector is poor, and the difference namely between Dh and Hh remains unchanged (see Fig. 1).
2. a bottom is followed: surface is close to horizontal direction before the detectors; When detector Level Change, the height of head also follows change; Or when nose height changes, detector height follows change; Keep head and detector difference in height constant, namely image source is apart from (abbreviation SID) constant (see Fig. 2).
Existing scheme, when probe angle or head Angulation changes, just can not ensure that head and detector align, and this wants just very not convenient for normotopia shooting for some requirement.Such as, when needing to take the foot of patient, the angle that can adjust detector places foot to facilitate patient, and existing scheme cannot meet the requirement of normotopia shooting.
In prior art, be difficult to realize head or detector automatically following after detector or head Angulation changes.For solving this technical problem, the present invention proposes a kind of automatic pursuit movement pattern newly, the pursuit movement mode that the angle of head and the angle of detector synchronously change, in pursuit movement, the directions of rays of X-ray keeping head to send and the angle of detector front surface remain unchanged.
One aspect of the present invention discloses a kind of automatic follower method of irradiation image equipment, comprising: obtain probe angle value; Determine the head target angle angle value corresponding with probe angle value, target angle angle value=probe angle value+predetermined value; Control head pursuit movement and arrive angle on target.
The present invention discloses a kind of automatic follower method of irradiation image equipment on the other hand, comprises and obtains head angle value; Determine the detector target angle angle value corresponding with head angle value, target angle angle value=head angle value+predetermined value; Detector pursuit movement arrives angle on target.
Another aspect of the invention discloses a kind of automatic follower method of irradiation image equipment, obtains the angle value of detector; Obtain the angle value of head; The angle value of comparator probe and the angle value of head, obtain angu-lar deviation; When angu-lar deviation is non-preset value, drive head or detector motion; When angu-lar deviation is preset value, stop motion.
The present invention also discloses a kind of irradiation image equipment on the one hand, comprise detector, head, column, sky rail, motion-control module, detector is connected with column and can moves along column, head is connected with sky rail and can moves along sky rail, the motion of moving control module for controlling detector and head, head launches X-ray, detecting plate detecting x-ray, detector is provided with angular transducer, and angular transducer obtains probe angle value; Motion-control module determines the head target angle angle value corresponding with probe angle value, target angle angle value=probe angle value+predetermined value; Motion module drives head pursuit movement to angle on target.
Use the automatic follower method of irradiation image equipment disclosed by the invention, following between detector and head under complex situations can be realized, when detector or head angle change, also the synchronous pursuit movement of head or detector can be realized, the angle of X-ray direction and detector front surface is remained unchanged, the method makes irradiation image equipment use more flexible, and shooting effect is better.
Summary of the invention
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the rabat position follower method of irradiation image equipment;
Fig. 2 is the schematic diagram of the next follower method of bed of irradiation image equipment;
Fig. 3 is the schematic diagram of the follower method of the present invention's detailed description of the invention;
Fig. 4 is the schematic diagram of the follower method of another detailed description of the invention of the present invention;
Fig. 5 is the flow chart of the follower method of one embodiment of the invention;
Fig. 6 is the flow chart of the follower method of one embodiment of the invention;
Fig. 7 is the flow chart of the follower method of one embodiment of the invention;
Fig. 8 is the flow chart of the follower method of one embodiment of the invention:
Fig. 9 is the flow chart of the follower method of one embodiment of the invention.
Detailed description of the invention
Other aspects and advantages of the present invention will become apparent from reading the following description.
" the detector front surface " mentioned herein refers to that detector accepts the surface of X-ray incidence.
" detector and head align " mentioned herein refers to that the angle of the X-ray that head sends and detector front surface remains unchanged, and comprises X-ray vertical with detector front surface and have fixing differential seat angle.
" probe angle " mentioned herein refers to horizontal line for limit, and the vertical line that detector front surface is outwards launched is the angle value on whole limit; When detector front surface is towards time right, this angle value is 0; When detector front surface is towards time upper, this angle value is+90; In pursuit movement, the angle mentioned has identical implication (as Fig. 3).
" the head angle " mentioned herein refers to horizontal line for limit, and the ray sent outside head Vertical dimension is the angle value that whole limit is formed; When the X-ray direction level of head transmitting is towards time left, this angle value is 0; When head launch X-ray direction straight down time, this angle value is+90; In pursuit movement, the angle mentioned has identical implication (as Fig. 3).
" front and back position " mentioned herein refers to detector or the head horizontal level relative with column." front and back position value " refers to the numerical value of detector or the horizontal range between head and column.
The automatic follower method of irradiation image equipment disclosed by the invention is followed in process at detector and head, preferentially ensures the state that detector and head are in angle and align.
A specific embodiment of the present invention as shown in Figure 3, after probe angle changes, detector front surface vertical axis and horizontal angle value change, sensor obtains the angle value Da of detector, this probe angle value Da is sent to a motion-control module (not shown), and motion-control module determines the head target angle angle value Ha corresponding with probe angle value according to this angle value.In the present embodiment, head target angle angle value Ha is set to equal probe angle value Da.After determining head target angle angle value Ha, motion-control module drives head to turn to this angle on target.If during original state, between detector and head, just there is the angle difference that predetermined, then the target angle angle value Ha=probe angle value Da+ predetermined value of head.
The automatic follower method of another detailed description of the invention disclosed by the invention, while ensureing that angle is followed, the height of head or detector or front and back position also can change, and ensure that the X-ray that head sends remains unchanged at the subpoint of detector front surface; Or while ensureing that angle is followed, by adjusting height or the front and back position of detector or head, ensure that, in pursuit movement process, image source is apart from remaining unchanged.The object height of detector or head or front and back position value can embodiment intermediate cam functional relationship calculate below, also adjustment location can be carried out by the sensoring of installation in addition or laser sensor, such as keep following in process initial image source apart from constant by range sensor, keep following detector and head in process by the multiple induction apparatuss arranged on the detector to align, subpoint remains unchanged.The mode calculated by trigonometric function is comparatively easy.
As shown in Figure 4 and Figure 5, the automatic follower method of one embodiment of the invention comprises:
Obtain probe angle value Da, detector height value Dh, obtain the initial image source distance SID presetting or calculate,
The computer head marks angle value Ha=Da,
According to Ha, Dh and SID computer head height angle value Hh, concrete computing formula is Hh=Dh+SID*sin (Ha),
Motion-control module drives head to arrive object height and angle on target.
As shown in 4 and Fig. 6, the automatic follower method of one embodiment of the invention comprises:
Obtain probe angle value Da, detector front and back position value Dx, obtain the initial image source distance SID presetting or calculate,
The computer head marks angle value Ha=Da,
Calculate head front and back position value Hx according to Ha, Dx and SID, concrete computing formula is Hx=Dx+SID*cos (Ha),
Motion-control module drives head to arrive target front and back position and angle on target.
As shown in figs. 4 and 7, the automatic follower method of one embodiment of the invention comprises:
Obtain probe angle value Da, detector height value Dh and front and back position value Dx, obtain the initial front and back position value Hx of head
0,
The computer head marks angle value Ha=Da,
According to Ha, Dh, Dx and Hx
0calculate the object height value Hh of head, concrete computing formula is Hh=Dh+ (Hx
0-Dx) * tag (Ha),
Motion-control module drives head to arrive object height and angle on target.
As shown in Figure 4 and Figure 8, the automatic follower method of one embodiment of the invention comprises:
Obtain probe angle value Da, detector height value Dh and front and back position value Dx, obtain the elemental height value Hh of head
0,
The computer head marks angle value Ha=Da,
According to Ha, Dh, Dx and Hh
0calculate the target front and back position value Hx of head, specific formula for calculation is Hx=Dx+ (Hh
0-Dh) * ctg (Ha),
Motion-control module drives head to arrive target front and back position and angle on target.
As shown in 4 and Fig. 9, the automatic follower method of one embodiment of the present of invention comprises:
Obtain probe angle value Da, detector height value Dh, detector front and back position value Dx, obtain the initial image source distance SID presetting or calculate,
The computer head marks angle value Ha=Da,
According to Ha, Dh, Dx and SID computer head absolute altitude angle value Hh, specific formula for calculation is Hh=Dh+SID*sin (Ha),
Mark front and back position value Hx according to Ha, Dh, Dx and SID computer head, specific formula for calculation is Hx=Dx+SID*cos (Ha),
Motion-control module drives head to arrive angle on target, object height and target front and back position, such detector and head are in the process of following, remain that angle aligns, X-ray is at the subpoint of detector and image source apart from remaining unchanged, and the effect of shooting is ideal.
Angle value, height value or front and back position value can be obtained by sensor, also can be obtained by the calculating of known parameters.Motion-control module can comprise controller and drive motors, and controller accepts parameter signal that sensor transmits and calculates desired value, and the signal of desired value is passed to drive motors, and drive motors drives head or detector motion; Also can be other motion control method, as long as can learn and drive detector motion to arrive angle on target, height or front and back position.
The invention also discloses a kind of method that detector follows head motion, after order is followed in acquisition, obtain the angle value Ha of head, determine the target angle angle value Da=Ha of detector, motion-control module drives sonde rotary to Da angle.Equally, follow the method for detector motion with reference to above-mentioned head, adjustment detector height or front and back position, realize X-ray constant or/and initial constant the aligning of image distance is followed at detector front surface subpoint.
The present invention again discloses a kind of automatic follower method of irradiation image equipment, comprises the angle value obtaining detector and head, compares the differential seat angle obtaining both, when differential seat angle is non-preset value, drive detector or head motion, when differential seat angle is preset value, detector or head stop motion.When this preset value is 0, the X-ray that head sends is vertical with detector front surface.Equally, also with reference to the method for above-described embodiment, adjustment detector height or front and back position, realize X-ray constant or/and keep constant the aligning of initial image distance to follow at detector front surface subpoint.
The invention also discloses a kind of irradiation image equipment, comprise detector, head, column, sky rail, motion-control module, detector is connected with column and can moves along column, head is connected with sky rail and can moves along sky rail, the motion of moving control module for controlling detector and head, head launches X-ray, detecting plate detecting x-ray, detector is provided with angular transducer, and angular transducer obtains probe angle value; Motion-control module determines the head target angle angle value corresponding with probe angle value, target angle angle value=probe angle value+predetermined value; Motion module drives head pursuit movement to angle on target.Equally, the motion-control module of this equipment also comprises the device that can realize above-described embodiment method.
To sum up, the automatic follower method of irradiation image of the present invention, detector can be realized and the real-time angle of head aligns, by height or the front and back position of adjustment detector or head, also keep X-ray constant or/and keep image source apart from constant at the subpoint of detector front surface.Utilize this follower method, following between detector and head is more flexible, and can realize multi-angle, multi-faceted following, shooting effect is better.
All data, image, instrument, reagent and step are herein interpreted as illustrative and nonrestrictive.Although describe the present invention in conjunction with above-mentioned specific embodiments, many amendments and other change are apparent for those skilled in the art.All this amendments and other change also fall in the spirit and scope of the present invention.In addition, " embodiment " or " another embodiment " described in above many places etc. represent different embodiments, can certainly by its all or part of combination in one embodiment.
Claims (6)
1. an automatic follower method for irradiation image equipment, comprising:
Obtain probe angle value; Described probe angle value is with horizontal line for limit, and the vertical line that detector front surface is outwards launched is the angle value on whole limit;
Determine the head target angle angle value corresponding with described probe angle value, described target angle angle value=described probe angle value+predetermined value;
Control described head pursuit movement and arrive described angle on target;
Also comprise the height value obtaining initial image source distance and detector, according to height value and the probe angle value computer head absolute altitude angle value of initial image source distance, detector, control described head pursuit movement to described object height;
Or, also comprise the front and back position value obtaining initial image source distance and detector, mark front and back position value according to initial image source apart from the front and back position value of, detector and the probe angle value computer head, control described head pursuit movement to described target front and back position; Described front and back position is the horizontal level that detector or head are relative with column;
Or, also comprise the height value and front and back position value that obtain detector, obtain the initial front and back position value of head, according to the initial front and back position value computer head absolute altitude angle value of the height value of detector, front and back position value and head, control described head pursuit movement to described object height, described front and back position is the horizontal level that detector or head are relative with column;
Or, also comprise the height value and front and back position value that obtain detector, obtain head elemental height value, the elemental height value computer head according to the height value of detector, front and back position value and head marks front and back position value, control described head pursuit movement to described target front and back position, described front and back position is the horizontal level that detector or head are relative with column;
Or, also comprise the height value or front and back position value that obtain described detector and head; Adjust the height of described detector or described head, or change the front and back position of described detector or described head, in described pursuit movement process, X-ray remains unchanged at the subpoint of described detector front surface, and described front and back position is the horizontal level that detector or head are relative with column;
Or, also comprise the height value or front and back position value that obtain described detector and head; Obtain initial image source apart from value; Adjust the height of described detector or described head, or change the front and back position of described detector or described head, in described pursuit movement process, described image source is apart from remaining unchanged, and described front and back position is the horizontal level that detector or head are relative with column.
2. automatic follower method according to claim 1, is characterized in that: described predetermined value is 0.
3. an automatic follower method for irradiation image equipment, comprising:
Obtain head angle value; Described head angle value is with horizontal line for limit, and the ray sent outside head Vertical dimension is the angle value that whole limit is formed;
Determine the detector target angle angle value corresponding with described head angle value, described target angle angle value=described head angle value+predetermined value;
Described detector pursuit movement arrives described angle on target;
Also comprise the height value obtaining initial image source distance and head, according to height value and the head angle value calculating detector object height value of initial image source distance, head, control described detector pursuit movement to described object height;
Or, also comprise the front and back position value obtaining initial image source distance and head, according to front and back position value and the head angle value calculating detector target front and back position value of initial image source distance, head, control described detector pursuit movement to described target front and back position; Described front and back position is the horizontal level that head or detector are relative with column;
Or, also comprise the height value and front and back position value that obtain head, obtain detector initial front and back position value, according to the initial front and back position value calculating detector object height value of the height value of head, front and back position value and detector, control described detector pursuit movement to described object height; Described front and back position is the horizontal level that detector or head are relative with column;
Or, also comprise the height value and front and back position value that obtain head, obtain detector elemental height value, according to the elemental height value calculating detector target front and back position value of the height value of head, front and back position value and detector, control described detector pursuit movement to described target front and back position; Described front and back position is the horizontal level that detector or head are relative with column;
Or, also comprise the height value or front and back position value that obtain described detector and head; Adjust the height of described detector or described head, or change the front and back position of described detector or described head, in described pursuit movement process, X-ray remains unchanged at the subpoint of described detector front surface; Described front and back position is the horizontal level that detector or head are relative with column;
Or, also comprise the height value or front and back position value that obtain described head and detector; Obtain initial image source apart from value; Adjust the height of described head or described detector, or change the front and back position of described head or described detector, in described pursuit movement process, described image source is apart from remaining unchanged; Described front and back position is the horizontal level that detector or head are relative with column.
4. an automatic follower method for irradiation image equipment, comprising:
Obtain the angle value of detector;
Obtain the angle value of head;
The angle value of more described detector and the angle value of described head, obtain angu-lar deviation;
When described angu-lar deviation is non-preset value, drive described head according to follower method automatically as claimed in claim 1 motion;
When described angu-lar deviation is preset value, stop motion.
5. automatic follower method according to claim 4, is characterized in that: described preset value is 0.
6. an irradiation image equipment, comprise detector, head, column, sky rail, motion-control module, described detector is connected with described column and can moves along described column, described head is connected with described sky rail and can moves along described sky rail, the motion of detector and described head described in described moving control module for controlling, described head launches X-ray, described detecting plate detecting x-ray, it is characterized in that: described detector is provided with angular transducer, described angular transducer obtains probe angle value; Described motion-control module determines the head target angle angle value corresponding with described probe angle value, described target angle angle value=described probe angle value+predetermined value; Described motion module drives described head according to follower method pursuit movement automatically as claimed in claim 1 to described angle on target.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103876759A (en) * | 2012-12-20 | 2014-06-25 | 上海联影医疗科技有限公司 | X-ray photogrammetry system and control method thereof |
| JP6255117B2 (en) * | 2014-06-30 | 2017-12-27 | エスゼット ディージェイアイ オスモ テクノロジー カンパニー リミテッドＳＺ ＤＪＩ Ｏｓｍｏ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． | Imaging control method, apparatus, and pan head apparatus |
| CN107981879A (en) * | 2018-01-23 | 2018-05-04 | 深圳市宝润科技有限公司 | Alignment method and collimator apparatus, the readable storage medium storing program for executing of X-ray shooting system |
| JP7243090B2 (en) * | 2018-09-10 | 2023-03-22 | コニカミノルタ株式会社 | radiography system |
| CN111728715A (en) * | 2020-06-08 | 2020-10-02 | 南京伟思医疗科技股份有限公司 | Automatic following mechanism of support |
| CN111773543A (en) * | 2020-06-08 | 2020-10-16 | 南京伟思医疗科技股份有限公司 | Headrest is followed automatically to support |
| CN111728712A (en) * | 2020-06-10 | 2020-10-02 | 南京伟思医疗科技股份有限公司 | Inflatable positioning headrest for transcranial magnetic stimulation and positioning method thereof |
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| US4501011A (en) * | 1982-09-22 | 1985-02-19 | General Electric Company | Angulating lateral fluoroscopic suspension |
| CN2705120Y (en) * | 2004-04-16 | 2005-06-22 | 北京万东医疗装备股份有限公司 | X-ray digital pick up device |
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| US7344304B2 (en) * | 2005-06-14 | 2008-03-18 | Varian Medical Systems Technologies, Inc. | Self-alignment of radiographic imaging system |
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| US4501011A (en) * | 1982-09-22 | 1985-02-19 | General Electric Company | Angulating lateral fluoroscopic suspension |
| CN2705120Y (en) * | 2004-04-16 | 2005-06-22 | 北京万东医疗装备股份有限公司 | X-ray digital pick up device |
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Application publication date: 20120801 Assignee: Shenzhen Mindray Animal Medical Technology Co.,Ltd. Assignor: SHENZHEN MINDRAY BIO-MEDICAL ELECTRONICS Co.,Ltd. Contract record no.: X2022440020009 Denomination of invention: A kind of radiological imaging equipment and its automatic following method Granted publication date: 20150722 License type: Common License Record date: 20220804 |
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