CN101632590B - Device and method for preventing movement interferences - Google Patents
Device and method for preventing movement interferences Download PDFInfo
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- CN101632590B CN101632590B CN2008101170038A CN200810117003A CN101632590B CN 101632590 B CN101632590 B CN 101632590B CN 2008101170038 A CN2008101170038 A CN 2008101170038A CN 200810117003 A CN200810117003 A CN 200810117003A CN 101632590 B CN101632590 B CN 101632590B
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Abstract
The invention discloses a device for preventing the generation of movement interferences, which is applicable to the field of medical X ray diagnosis and/or treatment. On the basis of the prior medical X ray diagnosis and/or treatment devices, the device further comprises an ultrasonic target detector arranged on an X ray source and/or an X ray prober, and the ultrasonic target detector is used for controlling N (positive integer) self ultrasonic transmitting and receiving sensors to perform ultrasonic transmission and echo signal receiving respectively according to a working mode of time-sharing scanning driving and time-sharing scanning receiving, and controlling the movement of each component in the device for preventing the generation of the movement interferences according to the received echo signals and the movement interference azimuth information determined according to the positions of the ultrasonic transmitting and receiving sensors during the time-sharing scanning. The invention simultaneously discloses a method for preventing the generation of the movement interferences. By applying the device and the method, the movement interference probably to be generated can be prevented accurately and safely.
Description
Technical field
The present invention relates to medical X-ray diagnosis and/or treatment technology, particularly a kind of apparatus and method that in medical X-ray diagnosis and/or treatment, prevent to produce movement interference.
Background technology
Current, medically, when needs are diagnosed the patient and/or treated, adopt medical X-ray diagnosis shown in Figure 1 and/or therapy equipment usually.As shown in Figure 1, this device comprises a patient support system 11 that is used to support the examine patient, but level or vertical moving; Make the X ray checking device that rotation is moved with respect to patient support system 11.Wherein, x-ray detection device specifically comprises: L type arm 121 and C type arm 122, and C type arm 122 is connected on the L type arm 121 by the C type arm support 125 that is installed on the L type arm 121, and C type arm support 125 can support C type arm 122 and carry out the rotation of R axle; Simultaneously, C type arm 122 also can vertically rotate with respect to L type arm 121, i.e. C axle rotation; One end of C type arm 122 is equipped with x-ray source 123, and the other end is equipped with and can entad does or centrifugal motion with respect to patient support system 11, makes the X-ray detector 124 of axially-movable in other words with C type arm 122 two ends.
When the employing said apparatus is diagnosed the patient and/or is treated, patient support system 11 supports that patients to be detected carry out level or movement in vertical direction, X-ray detector 124 is entad done or centrifugal motion, and C type arm 122 carries out under the situations such as rotation of C axle or the rotation of R axle, all may produce movement interference, that is to say, all may bump between each ingredient or between each ingredient and the patient.Simultaneously, outside invasion object, barrier or operator also may produce movement interference with aforementioned several motions.In a single day and move interference, then may cause damage, even patient or operator are damaged device.So what prevent movement interference is the problem demanding prompt solution in this area.
For this reason, some solutions have been proposed in the prior art.Such as:
1, the electromagnetic object detector of one tape test electrode is set on the basis of medical X-ray shown in Figure 1 diagnosis and/or therapy equipment, comes the motion conditions of each ingredient of checkout gear by this electromagnetic object detector, to prevent to produce movement interference.But can there be certain problem in this solution in actual applications, such as, in clinical radio-frequency ablation procedure, the radiation effects of radio frequency may produce electromagnetic signal and disturb, thereby causes the error signal output of electromagnetic target detector; In addition, the electromagnetic target detector only has high sensitivity reaction to objects such as metal and quasiconductors, and to the high-frequency dielectric object, very insensitive as reactions such as organic glass support framves, thus the movement interference that causes less than these objects may be detected, cause the generation of collision.That is to say that the accuracy in detection of this scheme is difficult to guarantee.
2, adopt the crashproof principle of contact: when C type arm and patient, patient support system or other barrier etc. come in contact, measure the size of contact-impact power, stipulate, then stop or oppositely controlling the motion of C type arm if surpass by ergometer.But this scheme only just is suitable for when contact takes place, and the anticollision safety is relatively poor.
As seen, prevent to produce the scheme of movement interference though provided some in the prior art in medical X-ray diagnosis and/or therapy equipment, these schemes all have its defective separately, so all be not the ideal style of dealing with problems.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of device that prevents to produce movement interference, can accurately prevent issuable movement interference safely.
Another object of the present invention is to provide a kind of method that prevents to produce movement interference, can accurately prevent issuable movement interference safely.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of device that prevents to produce movement interference, this device are applicable to medical X-ray diagnosis and/or treatment field, comprising:
Can level and the vertical patient support system that is used to support patient to be detected that moves;
Do the X ray checking device that rotation is moved with respect to patient support system, comprise: L type arm and the C type arm that under the support of L type arm, can be rotated, one end of described C type arm is equipped with x-ray source, and the other end is equipped with and can entad does or the X-ray detector of centrifugal motion with respect to patient support system;
This prevents that the device that produces movement interference from also comprising:
Be installed in described x-ray source or described X-ray detector, or the ultrasonic object detector on described x-ray source and the described X-ray detector, comprise N ultrasound emission and receiving sensor in the described ultrasonic object detector, described N is a positive integer, a described N ultrasound emission and receiving sensor are by described X-ray detector or x-ray source, or the peripheral girth of described X-ray detector and x-ray source carries out uniform distribution, and is predefined angle between the axis of movement of the face that transmits and receives of a described N ultrasound emission and receiving sensor and described C type arm;
Described ultrasonic object detector, be used for controlling a described N ultrasound emission and receiving sensor and carry out ultrasound emission and echo-signal respectively and receive, and the position of ultrasound emission and receiving sensor and definite movement interference azimuth information are controlled the motion of each ingredient in the described device that prevents to produce movement interference when scanning according to the described echo-signal that receives and according to timesharing according to the mode of operation that timesharing turntable driving and timesharing scanning receives;
Wherein, further comprise in the described ultrasonic object detector:
Signal processor, be used for controlling a described N ultrasound emission and receiving sensor carries out the reception of ultrasound emission and echo-signal respectively according to the mode of operation that timesharing turntable driving and timesharing scanning receives, and the fundamental signal phase place during according to ultrasound emission and the echo-signal phase place that receives are determined distance measurement value, described distance measurement value and predefined safe threshold values are compared, if described distance measurement value is less than described safe threshold values, ultrasound emission when then scanning according to timesharing and receiving sensor position are determined the movement interference azimuth information and are sent to motion controller;
Described motion controller is used for the described motion that prevents to produce each ingredient of device of movement interference of the movement interference azimuth information control that receives according to described.
A kind of method that prevents to produce movement interference, this method realizes based on the above-mentioned device that produces movement interference that prevents, comprising:
A, N the ultrasound emission of mode of operation control and the receiving sensor that receive according to timesharing turntable driving and timesharing scanning carry out the reception of ultrasound emission and echo-signal respectively;
B, the position of ultrasound emission and receiving sensor and definite movement interference azimuth information are controlled the motion of each ingredient in the described device that prevents to produce movement interference according to the described echo-signal that receives and when scan according to timesharing;
Wherein, described steps A comprises:
For a described N ultrasound emission and receiving sensor are numbered respectively, according to number order, starting a dutycycle at the scanning position of each ultrasound emission and receiving sensor correspondence is 50% transmitting-receiving pulse, the time zone that accounts in described transmitting-receiving pulse, the phase place that sends fundamental signal and preserve described fundamental signal by ultrasound emission and receiving sensor, in the empty time zone of described transmitting-receiving pulse, scanning also receives echo-signal;
Described step B comprises:
Calculate the difference of the phase place of the phase place of fundamental signal of described preservation and the described echo-signal that receives, and calculate distance measurement value according to described difference;
Described distance measurement value and predefined safe threshold values are compared, if described distance measurement value is less than described safe threshold values, the kinestate that the position of ultrasound emission and receiving sensor in the time of then will scanning according to timesharing and definite movement interference azimuth information and record in advance described prevents to produce each ingredient in the device of movement interference compares, determine on described movement interference orientation, to exist the ingredient of motion, and end its motion.
As seen, adopt technical scheme of the present invention, ultrasonic object detector is installed on X ray checking device, is comprised N ultrasound emission and receiving sensor in this ultrasonic object detector, and this N ultrasound emission and receiving sensor distribute according to the particular form that the present invention sets; In the course of the work, the mode of operation that ultrasonic object detector receives according to timesharing turntable driving and timesharing scanning controls this N ultrasound emission and receiving sensor carries out the reception of ultrasound emission and echo-signal respectively, and the position of ultrasound emission and receiving sensor and definite movement interference azimuth information are controlled the motion of each ingredient in the device that prevents to produce movement interference of the present invention when scanning according to the echo-signal that receives and according to timesharing.Compared with prior art, scheme of the present invention not only can realize contactless crashproof, and the realization of this scheme do not influence by radio frequency can, has guaranteed the accuracy of detection signal; In addition, because there is not the material selectivity in ultrasound wave only to interfering the shape generation effect of object, so can there not be the phenomenon of the movement interference that some object of omission causes.In a word, scheme of the present invention can accurately detect the object that may cause movement interference safely, thereby prevents the generation of movement interference.
Description of drawings
Fig. 1 is the composition structural representation of existing medical X-ray diagnosis and/or therapy equipment.
Fig. 2 prevents to produce the composition structural representation of the device embodiment of movement interference for the present invention.
Fig. 3 is the composition structural representation of ultrasonic object detector in the embodiment of the invention.
Fig. 4 is the arrangement mode sketch map of N ultrasound emission and receiving sensor in the embodiment of the invention.
Fig. 5 is the upward view of Fig. 4.
Fig. 6 prevents to produce the flow chart of the method embodiment of movement interference for the present invention.
Fig. 7 is the waveform sketch map of timesharing scanning work pattern correspondence in the embodiment of the invention.
The specific embodiment
For making purpose of the present invention, technical scheme and advantage clearer, below with reference to the accompanying drawing embodiment that develops simultaneously, the present invention is described in further detail.
At problems of the prior art, a kind of scheme that prevents to produce movement interference is proposed among the present invention, this scheme is applicable to medical X-ray diagnosis and/or treatment field.Specific implementation comprises: on the basis of existing medical X-ray diagnosis and/or therapy equipment, at x-ray source or X-ray detector, or the ultrasonic object detector of installation on x-ray source and the X-ray detector, comprise N ultrasound emission and receiving sensor in this ultrasonic object detector, wherein N is a positive integer.N ultrasound emission and receiving sensor are pressed X-ray detector or x-ray source, or the peripheral girth of X-ray detector and x-ray source carries out uniform distribution, and be predefined angle between the axis of movement of the face that transmits and receives of this N ultrasound emission and receiving sensor and C type arm, such as 135 °.The mode of operation that ultrasonic object detector receives according to timesharing turntable driving and timesharing scanning controls this N ultrasound emission and receiving sensor carries out the reception of ultrasound emission and echo-signal respectively, and the fundamental signal phase place during according to ultrasound emission and the echo-signal phase place that receives are determined distance measurement value, the movement interference azimuth information is determined in the position of ultrasound emission and receiving sensor when scanning according to timesharing, control the motion of each ingredient in the whole device according to distance measurement value size and movement interference azimuth information, thereby can within certain safe distance, end to produce the move toward one another of collision, promptly prevent the generation of movement interference.
In addition, can also interfere azimuth information to indicate and alarm according to distance measurement value and fortune merit, that is: connect a display device, in display device, demonstrate the three-dimensional simulation image of forming structure about the integral body that prevents to produce the device of movement interference of the present invention, and show in position that according to movement interference azimuth information and distance measurement value an analog obstacle thing is (among the present invention, the object that may cause movement interference is referred to as barrier), simultaneously, this barrier will be indicated and report to the police, such as can this barrier being set to the flicker form and sounding, thereby the azimuth-range that makes the operator can observe barrier intuitively reminds the operator to take care.
Below by specific embodiment scheme of the present invention is described in further detail:
Fig. 2 prevents to produce the composition structural representation of the device embodiment of movement interference for the present invention.As shown in Figure 2, this device comprises:
But level and the vertical patient support system 21 that is used to support patient to be detected that moves;
Do the X ray checking device that rotation is moved with respect to patient support system, specifically comprise: L type arm 221 and the C type arm 222 that under the support of L type arm, can be rotated, one end of C type arm 222 is equipped with x-ray source 223, and the other end is equipped with and can entad does or the X-ray detector 224 of centrifugal motion with respect to patient support system 21;
Be installed in x-ray source 223 or X-ray detector 224, or the ultrasonic object detector 23 on x-ray source 223 and the X-ray detector 224 (being illustrated in two positions shown in the figure all installs).
In actual applications, the concrete installation site of ultrasonic object detector 23 can determine as required, but where no matter is installed in, and its operation principle all is the same.If according to shown in Figure 2, ultrasonic object detector 23 all is installed on x-ray source 223 and X-ray detector 224, the work of these two ultrasonic object detectors 23 is independent of each other so, carries out work according to mode of the present invention separately.
Fig. 3 is the composition structural representation of ultrasonic object detector 23 in the embodiment of the invention.As shown in Figure 3, comprising:
N (N 〉=1) individual ultrasound emission and receiving sensor 231, this N ultrasound emission and receiving sensor 231 are by the order of numbering from 1 to N, at X-ray detector 224 or x-ray source 223, or the peripheral girth of X-ray detector 224 and x-ray source 223 carries out uniform distribution, and be 135 ° of angles between the axis of movement of the face that transmits and receives of this N ultrasound emission and receiving sensor 231 and C type arm 222, shown in Figure 4 and 5.Wherein, Fig. 4 is the arrangement mode sketch map of N ultrasound emission and receiving sensor, and Fig. 5 is the upward view of Fig. 4.Certainly, the concrete value of the angle of being mentioned is not limited to technical scheme of the present invention only for illustrating here.
In addition, further comprise in the ultrasonic object detector 23: signal processor 232, N the ultrasound emission of mode of operation control and the receiving sensor 231 that are used for receiving according to timesharing turntable driving and timesharing scanning carry out the reception of ultrasound emission and echo-signal respectively, and the fundamental signal phase place during according to ultrasound emission and the echo-signal phase place that receives are determined distance measurement value, distance measurement value and predefined safe threshold values are compared, if distance measurement value is less than the safety threshold values, ultrasound emission when then scanning according to timesharing and receiving sensor 231 positions are determined the movement interference azimuth information and are sent to motion controller 233;
Wherein, further comprise in the signal processor 232: azimuth encoder 1, electronic sweep generator 2, anti T-R device 3, emission driver 4, analog multiplexer 5, memory element 6, echo receptor 7, Ranging Processor 8, motion hinder comparator 9, orientation processor 10 and electron scanning switch 11; Certainly, in actual applications, realize under the control of the program product that the concrete function of these ingredients all need be in microprocessor.
After whole device worked on power, the ultrasound emission that azimuth encoder 10 scans current needs and the bearing mark of receiving sensor No. 231 offered electronic sweep generator 2; Here the bearing mark of being mentioned number typically refers to the numbering of each ultrasound emission and receiving sensor 231, such as the number in 1 to N, according to the order of numbering from 1 to N each ultrasound emission and receiving sensor 231 is scanned.Electronic sweep generator 2 is according to the bearing mark that receives number, ultrasound emission that control scans with current needs and receiving sensor 231 corresponding electron scanning switches 11 are closed, and dutycycle of scanning position startup of ultrasound emission that scans at current needs and receiving sensor 231 correspondences is 50% transmitting-receiving pulse.In actual applications, can be this transmitting-receiving pulse and certain guard time is set at interval.The benefit of Chu Liing is like this: can make ultrasound emission and receiving sensor 231 when being converted to accepting state by emission state, can be arranged certain recovery time; Can also prevent to think the fundamental signal concussion of emission by mistake to be echo-signal receives in addition.Anti T-R device 3 is used to control analog multiplexer 5 to be finished the duplex of ultrasound emission and receiving sensor 231 is switched; In the transmitting-receiving pulse enable, anti T-R device 3 control analog multiplexers 5 are in emission state, as shown in Figure 3, emission driver 4 produces the fundamental signal of intrinsic fundamental frequency, analog multiplexer 5 by being in emission state and the ultrasound emission that scans with current needs and the receiving sensor 231 corresponding electron scanning switches 11 that are in closed condition are transmitted into ultrasound emission and the receiving sensor 231 that current needs scan, and then by ultrasound emission and receiving sensor 231 this fundamental signal are launched; When the fundamental signal that will produce in will launching driver 4 was launched, analog multiplexer 5 was kept at the phase place of this fundamental signal in the memory element 6; When transmitting-receiving the accounting for of pulse after the end of extent, anti T-R device 3 control analog multiplexers 5 are in accepting state, and the echo-signal that the ultrasound emission that will scan by current needs and the electron scanning switch 11 that is in closed condition of receiving sensor correspondence receive sends to echo receptor 7.Afterwards, the difference of the phase place of the echo-signal that receives in fundamental phase of preserving in Ranging Processor 8 calculating storaging units 6 and the echo receptor 7, and according to this difference calculating distance measurement value, sending to motion and hindering comparator 9.Wherein, the account form of distance measurement value is:
D represents distance measurement value,
The expression phase difference value, 340m/s is the velocity of sound.Motion hinders comparator 9 distance measurement value and the predefined safe threshold values that receives is compared, if distance measurement value less than the safety threshold values, then notify party bit processor 10 is to motion controller 233 transmission movement interference azimuth informations.The concrete value of safe threshold values can be provided with according to actual needs or rule of thumb.Orientation processor 10 is after the notice that receives motion obstruction comparator 9, position according to the bearing mark that is received from azimuth encoder 1 number definite current ultrasound emission that scans and receiving sensor 231, and determine the movement interference azimuth information according to described position, the movement interference azimuth information of determining is sent to motion controller 233.Because the distribution situation of each ultrasound emission and receiving sensor is in advance as can be known, so known bearing mark number, also just equal to have known the positional information of ultrasound emission and receiving sensor 231, and then can know the azimuth information at barrier place, i.e. movement interference azimuth information.
Further comprise in the motion controller 233: state identifier 12, move analyzer 13 and program control switch group 14 in opposite directions.
State identifier 12 is used for writing down the kinestate that prevents to produce each ingredient of device of movement interference shown in Figure 2.After the analyzer 13 in opposite directions of moving receives movement interference azimuth information from orientation processor 10, determine on the movement interference orientation, to exist the ingredient of moving according to the information of record in the state identifier 12, and send abort commands to the program control switch corresponding with the ingredient that has motion.Owing to determined barrier place azimuth information in advance, what the analyzer 13 in opposite directions of moving so will be done is exactly to analyze there is which motion on this orientation, such as, whether patient support system 21 is making move toward one another to barrier, if, then end the motion of patient support system 21, thereby avoid the generation of colliding.Program control switch group 14 is made up of M program control switch, and each program control switch is connected on respectively in the motion control circuit of the kinestate that is used for controlling each ingredient of device that prevents to produce movement interference shown in Figure 2; Each program control switch is converted to open mode receiving autokinesis in opposite directions after the abort commands of analyzer 13 by closed condition.That is to say that under the state, each program control switch is set to closed condition usually, thereby each ingredient that guarantees its correspondence can operate as normal.
In addition, in the embodiment of the invention, for the ingredient that may cause movement interference, employing be the mode of ending its motion.But in actual applications, also can adopt other control mode to reach the purpose that same preventing produces movement interference.Such as, a deceleration device 15 is set in motion controller 233, be used to receive the autokinesis speed governing order of analyzer 13 in opposite directions, reduce the rotating speed of the motion actuating motor corresponding with the ingredient that on the movement interference orientation, has motion according to this order.Perhaps, a plurality of different safe threshold values can also be set, the distance measurement value that calculates is compared the different corresponding different motion actuating motor rotating speeds of safe threshold values with different safe threshold values respectively.That is to say that when safe threshold values was big more, rotating speed can be corresponding fast more, safe threshold values more hour, rotating speed is low more, takes place to prevent collision.
Need to prove, when ultrasound emission and receiving sensor 231 do not receive echo-signal (not having movement interference at scanning position) or receive echo-signal but the distance measurement value that calculates during greater than the safety threshold values, electronic sweep generator 2 in the signal processor 232 will continue ultrasound emission and the receiving sensor 231 on next scanning position of scanning, be detected the operation that above-mentioned termination campaign is carried out in the back until movement interference.In addition, 2 pairs of N ultrasound emission of electronic sweep generator and receiving sensor 231 will be defined within the specific limits from the time of implementation that 1 to N order scans this process according to numbering, bump and can not in time detect with the position that prevents from not to be scanned.Specifically being provided with of this time need be determined according to the movement velocity of each ingredient in the device shown in Figure 2.
Based on above-mentioned introduction, Fig. 6 prevents to produce the flow chart of the method embodiment of movement interference for the present invention.As shown in Figure 6, may further comprise the steps:
Step 601: N the ultrasound emission of mode of operation control and the receiving sensor that receive according to timesharing turntable driving and timesharing scanning carry out the reception of ultrasound emission and echo-signal respectively.
Fig. 7 is the waveform sketch map of timesharing scanning work pattern correspondence in the embodiment of the invention.With reference to shown in Figure 7, for N ultrasound emission and receiving sensor are numbered respectively, as from 1 to N, according to number order, starting a dutycycle at the scanning position of each ultrasound emission and receiving sensor correspondence is 50% transmitting-receiving pulse, in the time zone that accounts for of this transmitting-receiving pulse, by ultrasound emission and receiving sensor transmission fundamental signal and the phase place of preserving fundamental signal, in the empty time zone of transmitting-receiving pulse, scanning also receives echo-signal.Wherein, the transmitting-receiving pulse is set to have certain guard time t1 at interval.
Step 602: the position of ultrasound emission and receiving sensor when scan according to the echo-signal that receives and according to timesharing and definite movement interference azimuth information are controlled the motion of each ingredient in the described device that prevents to produce movement interference.
The specific implementation of this step comprises: the difference of the phase place of the fundamental signal of calculate preserving and the phase place of the echo-signal that receives, and promptly among Fig. 7
And calculate distance measurement value according to this difference, i.e. the product of the calculated difference and the velocity of sound, the result who obtains is distance measurement value; Distance measurement value and predefined safe threshold values are compared, if distance measurement value is less than the safety threshold values, the kinestate that the preventing of the position of ultrasound emission and receiving sensor in the time of then will scanning according to timesharing and definite movement interference azimuth information and record in advance produces each ingredient in the device of movement interference compares, determine on the movement interference orientation, to exist the ingredient of motion, and end its motion.
The concrete workflow of method shown in Figure 6 please refer to the respective description among Fig. 2～5 shown device embodiment, repeats no more herein.
In a word, adopt technical scheme of the present invention, not only can realize contactless crashproofly, and the realization of this scheme do not influence by radio frequency can, guaranteed the accuracy of detection signal; In addition, because there is not the material selectivity in ultrasound wave only to interfering the shape generation effect of object, so can there not be the phenomenon of the movement interference that some object of omission causes.That is to say that scheme of the present invention can accurately detect the object that may cause movement interference safely, thereby prevent the generation of movement interference.
In sum, more than be preferred embodiment of the present invention only, be not to be used to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. device that prevents to produce movement interference, this device are applicable to medical X-ray diagnosis and/or treatment field, comprising:
Can level and the vertical patient support system that is used to support patient to be detected that moves;
Do the X ray checking device that rotation is moved with respect to patient support system, comprise: L type arm and the C type arm that under the support of L type arm, can be rotated, one end of described C type arm is equipped with x-ray source, and the other end is equipped with and can entad does or the X-ray detector of centrifugal motion with respect to patient support system;
It is characterized in that this prevents that the device that produces movement interference from also comprising:
Be installed in described x-ray source or described X-ray detector, or the ultrasonic object detector on described x-ray source and the described X-ray detector, comprise N ultrasound emission and receiving sensor in the described ultrasonic object detector, described N is a positive integer, a described N ultrasound emission and receiving sensor are by described X-ray detector or x-ray source, or the peripheral girth of described X-ray detector and x-ray source carries out uniform distribution, and is predefined angle between the axis of movement of the face that transmits and receives of a described N ultrasound emission and receiving sensor and described C type arm;
Described ultrasonic object detector, be used for controlling a described N ultrasound emission and receiving sensor and carry out ultrasound emission and echo-signal respectively and receive, and the position of ultrasound emission and receiving sensor and definite movement interference azimuth information are controlled the motion of each ingredient in the described device that prevents to produce movement interference when scanning according to the described echo-signal that receives and according to timesharing according to the mode of operation that timesharing turntable driving and timesharing scanning receives;
Wherein, further comprise in the described ultrasonic object detector:
Signal processor, be used for controlling a described N ultrasound emission and receiving sensor carries out the reception of ultrasound emission and echo-signal respectively according to the mode of operation that timesharing turntable driving and timesharing scanning receives, and the fundamental signal phase place during according to ultrasound emission and the echo-signal phase place that receives are determined distance measurement value, described distance measurement value and predefined safe threshold values are compared, if described distance measurement value is less than described safe threshold values, ultrasound emission when then scanning according to timesharing and receiving sensor position are determined the movement interference azimuth information and are sent to motion controller;
Described motion controller is used for the described motion that prevents to produce each ingredient of device of movement interference of the movement interference azimuth information control that receives according to described.
2. the device that prevents to produce movement interference according to claim 1 is characterized in that, described predefined angle is 135 degree.
3. the device that prevents to produce movement interference according to claim 1 is characterized in that, described signal processor comprises:
Azimuth encoder is used for providing for electronic sweep generator and orientation processor by predefined procedure the bearing mark number of ultrasound emission that current needs scan and receiving sensor;
Described electronic sweep generator, be used for according to described bearing mark number, the electron scanning switch that ultrasound emission that control scans with described current needs and receiving sensor are corresponding cuts out, and dutycycle of scanning position startup of ultrasound emission that scans at described current needs and receiving sensor correspondence is 50% transmitting-receiving pulse;
Anti T-R device is used in described transmitting-receiving pulse enable, and the control analog multiplexer is in emission state, and after the end of extent, controls described analog multiplexer and be in accepting state when the accounting for of described transmitting-receiving pulse;
The emission driver is used to produce fundamental signal and the ultrasound emission that scans by the described analog multiplexer that is in emission state and with described current needs and the corresponding electron scanning switch that is in closed condition of receiving sensor is transmitted into ultrasound emission and the receiving sensor that described current needs scan;
Described analog multiplexer, be used for when being in emission state, the fundamental signal that produces in the described emission driver is transmitted to ultrasound emission and the receiving sensor that described current needs scan, and the transmitter, phase of described fundamental signal is kept in the memory element; When being in accepting state, send to the echo receptor with being received from the ultrasound emission that described current needs scan and the echo-signal of receiving sensor;
Described memory element is used to preserve the transmitter, phase of described fundamental signal;
Described echo receptor is used to receive the echo-signal from described analog multiplexer;
Ranging Processor is used for calculating the difference of the phase place of the echo-signal that receives in fundamental phase that described memory element preserves and the described echo receptor, and calculates distance measurement value according to described difference, the distance measurement value that calculates is sent to motion hinder comparator;
Described motion hinders comparator, is used for described distance measurement value and predefined safe threshold values are compared, if described distance measurement value less than described safe threshold values, then notifies described orientation processor to send the movement interference azimuth information to described motion controller;
Described orientation processor, be used for after the notice that receives described motion obstruction comparator, position according to the bearing mark that is received from described azimuth encoder number definite current ultrasound emission that scans and receiving sensor, and determine the movement interference azimuth information according to the position of described current ultrasound emission that scans and receiving sensor, the described movement interference azimuth information of determining is sent to described motion controller.
4. the device that prevents to produce movement interference according to claim 3 is characterized in that, described transmitting-receiving pulse is to have the transmitting-receiving pulse at interval of certain guard time.
5. the device that prevents to produce movement interference according to claim 3 is characterized in that, described motion controller comprises:
State identifier is used for writing down the described kinestate that prevents to produce each ingredient of device of movement interference;
Analyzer in opposite directions moves, be used to receive movement interference azimuth information from described orientation processor, kinestate information according to each ingredient in the described device that prevents to produce movement interference that writes down in the described state identifier, determine on described movement interference orientation, to exist the ingredient of motion, and send abort commands to the program control switch corresponding with the ingredient of described existence campaign;
The program control switch group is made up of M program control switch, and each program control switch is connected on respectively in the motion control circuit of the kinestate that is used for controlling described each ingredient of device that prevents to produce movement interference; Each program control switch in opposite directions after the abort commands of analyzer, is converted to open mode by closed condition receiving from described motion.
6. the device that prevents to produce movement interference according to claim 5 is characterized in that, further comprises in the described motion controller:
Arrangements for speed regulation are used to receive from the described motion speed governing order of analyzer in opposite directions, reduce to be used for being controlled at the rotating speed of motion actuating motor that have motion on the described movement interference orientation described prevents to produce each ingredient correspondence of device of movement interference.
7. the device that prevents to produce movement interference according to claim 1 is characterized in that, further comprises in the described device that prevents to produce movement interference:
Display device is used to receive movement interference azimuth information and distance measurement value from described ultrasonic object detector, and indicates and alarm according to described movement interference azimuth information and distance measurement value.
8. method that prevents to produce movement interference, this method realizes based on the described device that produces movement interference that prevents of claim 1, it is characterized in that this method comprises:
A, N the ultrasound emission of mode of operation control and the receiving sensor that receive according to timesharing turntable driving and timesharing scanning carry out the reception of ultrasound emission and echo-signal respectively;
B, the position of ultrasound emission and receiving sensor and definite movement interference azimuth information are controlled the motion of each ingredient in the described device that prevents to produce movement interference according to the described echo-signal that receives and when scan according to timesharing;
Wherein, described steps A comprises:
For a described N ultrasound emission and receiving sensor are numbered respectively, according to number order, starting a dutycycle at the scanning position of each ultrasound emission and receiving sensor correspondence is 50% transmitting-receiving pulse, the time zone that accounts in described transmitting-receiving pulse, the phase place that sends fundamental signal and preserve described fundamental signal by ultrasound emission and receiving sensor, in the empty time zone of described transmitting-receiving pulse, scanning also receives echo-signal;
Described step B comprises:
Calculate the difference of the phase place of the phase place of fundamental signal of described preservation and the described echo-signal that receives, and calculate distance measurement value according to described difference;
Described distance measurement value and predefined safe threshold values are compared, if described distance measurement value is less than described safe threshold values, the kinestate that the position of ultrasound emission and receiving sensor in the time of then will scanning according to timesharing and definite movement interference azimuth information and record in advance described prevents to produce each ingredient in the device of movement interference compares, determine on described movement interference orientation, to exist the ingredient of motion, and end its motion.
9. the method that prevents to produce movement interference according to claim 8 is characterized in that, described transmitting-receiving pulse is to have the transmitting-receiving pulse at interval of certain guard time.
10. the method that prevents to produce movement interference according to claim 8 is characterized in that, describedly calculates distance measurement value according to described difference and comprises:
Calculate the product of the described difference and the velocity of sound, the result who obtains is distance measurement value.
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| FR2972914B1 (en) * | 2011-03-24 | 2014-03-07 | Gen Electric | MOBILE X-RAY APPARATUS WITH ANTICOLLISION DEVICE |
| CN102506926B (en) * | 2011-09-27 | 2014-09-24 | 无锡日联科技有限公司 | Movement anticollision control method for perspective detector |
| CN103157192B (en) * | 2013-03-01 | 2015-08-05 | 山东师范大学 | A kind of medical three dimension skimulated motion platform and skimulated motion method thereof |
| EP3037130B1 (en) * | 2013-10-08 | 2017-12-13 | Hitachi, Ltd. | Device for controlling radiation therapy device, radiation therapy system and program |
| CN112972909B (en) * | 2019-12-13 | 2023-03-14 | 医科达（北京）医疗器械有限公司 | Controller for radiotherapy equipment |
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