CN101653640A - High-accuracy control method for walking and positioning of ultrasonic tumour treatment equipment - Google Patents
High-accuracy control method for walking and positioning of ultrasonic tumour treatment equipment Download PDFInfo
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- CN101653640A CN101653640A CN200910307837A CN200910307837A CN101653640A CN 101653640 A CN101653640 A CN 101653640A CN 200910307837 A CN200910307837 A CN 200910307837A CN 200910307837 A CN200910307837 A CN 200910307837A CN 101653640 A CN101653640 A CN 101653640A
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Abstract
The invention discloses a high-accuracy control method for the walking and the positioning of ultrasonic tumour treatment equipment. The method comprises the following control steps: a computer sendsout a target displacement instruction pulse according to a type-B ultrasonic diagnosis positioning image; a servo actuating mechanism walks and moves according to the instruction pulse; an absolute value encoder feeds back a displacement amount pulse signal of the servo actuating mechanism to the computer; the computer carries out the difference value check on walking pulses which are sent out andfed back; the computer sends out a modification difference value of a check displacement amount according to a difference value check result of the walking pulses which are sent out and fed back; andthe modification difference value of the check displacement amount modifies the target displacement instruction pulse to form closed-loop control and accurately find a treatment position. By adoptingthe computer to carry out the accurate closed-loop walking control on a treatment point position, the invention achieves the safe, effective and optimal treatment effect.
Description
Technical field
The present invention relates to the control of armarium high accuracy field, especially ultrasonic tumour treatment equipment and walk, locate high-accuracy control method.
Background technology
High-strength focusing ultrasonic therapy is regarded as the new and high technology of 21 century oncotherapy, has carried out extensive studies in the world, and China is in the first place in the world at the applied research of this technical field, and has obtained gratifying achievement in clinical practice.This high intensity focused ultrasound non-invasive therapy equipment is the bonded equipment of multidisciplinary, the high-grade, precision and advanced engineering of a kind of collection, its version and the accuracy that walks, positioning accuracy is directly connected to the treatment fixed position.At present, ultrasonic tumour treatment equipment displacement transmission detent mechanism is open loop control or half-closed loop control, it only is the command pulse that walks that object computer sends, and being actually the position of not gone to setting, displacement mechanism do not feed back the detection affirmation, very strict high-intensity focus supersonic tumor treatment is and is dangerous to the treatment positioning requirements like this, if quilt is treated walking of knub position and is located inaccurate, will cause the damage of normal structure during treatment, bring great misery to the patient, even serious malpractice takes place.
Summary of the invention
The purpose of this invention is to provide a kind of ultrasonic tumour treatment equipment and walk, locate high-accuracy control method.
It is as follows to the present invention includes particular content:
Ultrasonic tumour treatment equipment walks, locatees high-accuracy control method, comprises following controlled step:
1, computer sends the displacement of targets command pulse according to B ultrasonic diagnosis positioning image;
2, servo actuator is according to the command pulse motion that walks;
3, absolute value encoder feedback servo actuator displacement amount pulse signal is to computer;
4, computer carries out the difference verification to the digit pulse of sending and feed back of walking;
5, computer sends the correction difference of verification displacement according to the pulse difference check results of sending and feed back that walks;
6, the displacement of targets command pulse in the 1st step of correction difference correction of verification displacement forms closed loop control, realizes accurate locating therapy position.
As a kind of improvement of the present invention, described servo actuator connects precision speed reduction device and accurate ball drive lead screw composite set.Described absolute value encoder is a high precision photoelectric shaft angle absolute value encoder, and its resolution is 360 °/32.
Photoelectricity shaft angle absolute value encoder is a kind of shaft angle (the position)-digital converter that the analog quantity of the angular displacement of rotating shaft or straight-line displacement is transformed into digital quantity output, provides some unique angle metric data.
For satisfying the displacement detecting requirement of micro-stepping amount, by using servo-driver in conjunction with precision speed reduction device and accurate ball drive lead screw composite set, step-by-step impulse quantity is increased amplification, can obtain the mobile detection pulse that walks of micro-stepping amount like this at high precision photoelectric shaft angle absolute value encoder outfan, and mechanism's translational speed is adjustable separately, what of mechanism displacement amount are then carried out the digital signal feedback of mobile displacement by high precision photoelectric shaft angle absolute value encoder, computer closed loop control software carries out the difference verification to feedback signal, carry out the correction of displacement and send the revision directive umber of pulse according to the verification difference again, displacement mechanism can be accurately positioned on the tram that needs treatment, thereby finish walking and locating of whole treatment anchor point, realize high-precision operation with closed ring of displacement mechanism and control.
Beneficial effect of the present invention:
This ultrasonic tumour treatment equipment walks, locatees high-accuracy control method and treats walking and locating of displacement mechanism exactly with a kind of advanced person's digital signal acquiring, control technology, the doctor can carry out accurate closed loop control scanning and location according to the scope of needs of patients area for treatment images acquired, by computer the point of care position is carried out accurately the closed loop control that walks automatically, make treatment reach safe and effective optimum efficiency.
Description of drawings
The present invention will illustrate by example and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is a FB(flow block) sketch map of the present invention.
The specific embodiment
Disclosed all features in this description, or the step in disclosed all methods or the process except mutually exclusive feature and/or step, all can make up by any way.
Disclosed arbitrary feature in this description (comprising any accessory claim, summary and accompanying drawing) is unless special narration all can be replaced by other equivalences or the alternative features with similar purpose.That is, unless special narration, each feature is an example in a series of equivalences or the similar characteristics.
Ultrasonic tumour treatment equipment as shown in Figure 1 walks, locatees high-accuracy control method, comprises following controlled step:
1, computer sends the displacement of targets command pulse according to B ultrasonic diagnosis positioning image;
2, servo actuator connects precision speed reduction device and accurate ball drive lead screw composite set, and servo actuator is according to the command pulse motion that walks;
3, resolution is that 360 °/32 high precision photoelectric shaft angle absolute value encoder feedback servo actuator displacement amount pulse signal is to computer;
4, computer carries out the difference verification to the digit pulse of sending and feed back of walking;
5, computer sends the correction difference of verification displacement according to the pulse difference check results of sending and feed back that walks;
6, the displacement of targets command pulse in the 1st step of correction difference correction of verification displacement forms closed loop control, realizes accurate locating therapy position.
The present invention is not limited to the aforesaid specific embodiment.The present invention expands to any new feature or any new combination that discloses in this manual, and the arbitrary new method that discloses or step or any new combination of process.
Claims (3)
1. ultrasonic tumour treatment equipment walks, locatees high-accuracy control method, it is characterized in that: described control method may further comprise the steps:
(1) computer sends the displacement of targets command pulse according to B ultrasonic diagnosis positioning image;
(2) servo actuator is according to the command pulse motion that walks;
(3) absolute value encoder feedback servo actuator displacement amount pulse signal is to computer;
(4) computer carries out the difference verification to the digit pulse of sending and feed back of walking;
(5) computer sends the correction difference of verification displacement according to the pulse difference check results of sending and feed back that walks;
(6) the displacement of targets command pulse in (1) step of correction difference correction of verification displacement forms closed loop control, realizes accurate locating therapy position.
2. ultrasonic tumour treatment equipment according to claim 1 walks, locatees high-accuracy control method, it is characterized in that: described servo actuator connects precision speed reduction device and accurate ball drive lead screw composite set.
3. ultrasonic tumour treatment equipment according to claim 2 walks, locatees high-accuracy control method, it is characterized in that: described absolute value encoder is a high precision photoelectric shaft angle absolute value encoder, and its resolution is 360 °/32.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910307837A CN101653640A (en) | 2009-09-28 | 2009-09-28 | High-accuracy control method for walking and positioning of ultrasonic tumour treatment equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910307837A CN101653640A (en) | 2009-09-28 | 2009-09-28 | High-accuracy control method for walking and positioning of ultrasonic tumour treatment equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101653640A true CN101653640A (en) | 2010-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910307837A Pending CN101653640A (en) | 2009-09-28 | 2009-09-28 | High-accuracy control method for walking and positioning of ultrasonic tumour treatment equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297233A (en) * | 2016-07-29 | 2017-01-04 | 纳恩博（北京）科技有限公司 | A kind of information transferring method and equipment |
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2009
- 2009-09-28 CN CN200910307837A patent/CN101653640A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297233A (en) * | 2016-07-29 | 2017-01-04 | 纳恩博（北京）科技有限公司 | A kind of information transferring method and equipment |
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Open date: 20100224 |