CN102117051B - Multi-leaf collimator control system - Google Patents
Multi-leaf collimator control system Download PDFInfo
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- CN102117051B CN102117051B CN 200910239532 CN200910239532A CN102117051B CN 102117051 B CN102117051 B CN 102117051B CN 200910239532 CN200910239532 CN 200910239532 CN 200910239532 A CN200910239532 A CN 200910239532A CN 102117051 B CN102117051 B CN 102117051B
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Abstract
The invention relates to a multi-leaf collimator control system, comprising an industrial control computer, and a main controller connected with the industrial control computer, wherein the main controller is connected with a blade and cabinet controller which controls and connects with a blade and cabinet driver; the blade and cabinet driver is in driving connection with a blade and cabinet motor which is in transmission connection with a blade and a cabinet body; the blade and the cabinet body are provided with position detectors which are connected with the blade and cabinet controller to form a feedback loop; and the driver is connected with the blade and cabinet controller by a current detector to form a feedback loop. The multi-leaf collimator control system is controlled by the industrial control computer, realizes the closed-loop feedback adjustment by using an encoder or a linear scale, and improves running precision of the blade and the cabinet body; moreover, the control process is stable, reliable, convenient and rapid.
Description
Technical field
The present invention relates to the medical electronics technical field, more particularly, relate to a kind of multi-leaf collimator control system.
Background technology
Multi-diaphragm collimator is as the utility appliance of medical computerized linear accelerator or Co 60 machine, have automatically suitable shape and transfer strong function, in use, the user operates on it by opertaing devices such as computing machines, the realization of its control procedure relies on its a cover control system, therefore, the performance of multi-diaphragm collimator depends on the whether good of control system.
The control object of the control system of the multi-diaphragm collimator that prior art provides only limits to the blade of negligible amounts, and casing is fixed, and the launched field that often forms is less, and automaticity is relatively poor, and its control method seems relatively backward, inconvenient operation.
Summary of the invention
The technical problem to be solved in the present invention is, and is few for existing control object, casing is fixed, the defective of control operation inconvenience, and a kind of multi-leaf collimator control system is provided.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of multi-leaf collimator control system, it comprises: the master controller of industrial computer, the described industrial computer of connection, described main controller controls is connected with SFC (Split Flap Controller), described SFC (Split Flap Controller) control linkage vane drive device, described vane drive device drives and connects paddle motor, the described paddle motor blade that is in transmission connection, be provided with position detecting device on the described blade, described position detecting device connects described SFC (Split Flap Controller) and forms backfeed loop, and described driver also connects described SFC (Split Flap Controller) by current sensing means and forms backfeed loop.
Wherein, preferred, described master controller also control linkage has the case control device, and described case control device passes through motion controller connect box driver, described casing driver drives connect box motor, and described casing motor-driven connects described casing;
Described casing motor is connected to form backfeed loop by grating scale and described motion controller, described casing driver by electric current/high-temperature detection device with shown in the case control device be connected to form backfeed loop, described paddle motor connects described SFC (Split Flap Controller) by scrambler and forms backfeed loop.
Wherein, preferred, this multi-leaf collimator control system also comprises power module,
Described power module comprises: transformer and output interface, described transformer comprise the transformer of 36V/20V, the transformer of 36V/15V, the transformer of 36V/12V and the transformer of 36V/5V;
The input end access 36V DC voltage of described each transformer, the output terminal of described each transformer accesses described output interface.
Wherein, preferred, this multi-leaf collimator control system also comprises the control desk system, and described control desk system comprises:
Security transformer, described security transformer is connecting valve power supply, the first gauge tap, the second gauge tap respectively;
Automatically controlled control interface plate connects respectively described Switching Power Supply, the first gauge tap, the second gauge tap, described automatically controlled control interface plate and operation keyboard and control platform control linkage;
Described automatically controlled control interface plate and described industrial computer carry out control linkage;
Described the first gauge tap connects the ac/dc transformer that is output as the 36V DC voltage.
Wherein, preferred, this multi-leaf collimator control system also comprises: the on-line debugging system, described on-line debugging system comprises: host scm, connect described host scm from single-chip microcomputer, describedly connect a plurality of from single-chip microcomputer and select chip;
Described host scm also is connected with and adds 1 button, subtracts 1 button and digital display device;
Described each sheet selects chip to comprise that 16 select 1 output port, and described each sheet selects the input interface that also is provided with on the chip for the signal input.
Wherein, preferred, described master controller is by the described SFC (Split Flap Controller) of serial communication bus control linkage and case control device.
Wherein, preferred, described motor is direct current generator.
Wherein, preferred, be provided with limit switch on the described casing, described limit switch signal connects described case control device.
Wherein, preferred, be provided with photoelectric sensor on the described blade, described photo-sensor signal will connects described SFC (Split Flap Controller).
Implement technical scheme of the present invention, have following beneficial effect: this multi-leaf collimator control system is controlled by industrial computer, and utilize scrambler or grating scale to realize the close-loop feedback adjusting, improved the running precision of blade and casing, and control procedure is reliable and stable, convenient and swift.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
The control system structural drawing of the multi-diaphragm collimator that Fig. 1 provides for the embodiment of the invention;
The power module structure synoptic diagram that Fig. 2 provides for the embodiment of the invention;
The control desk system architecture synoptic diagram that Fig. 3 provides for the embodiment of the invention;
The structural representation of the on-line debugging system that Fig. 4 provides for the embodiment of the invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
The embodiment of the invention provides a kind of multi-leaf collimator control system, as shown in Figure 1, this control system comprises: industrial computer 201, the master controller 202 that connects described industrial computer 201, described master controller 202 control linkages have SFC (Split Flap Controller) 203, described SFC (Split Flap Controller) 203 control linkage vane drive devices 204, described vane drive device 204 drives and connects paddle motor 206, described paddle motor 206 is direct current generator, described paddle motor 206 blade 207 that is in transmission connection, be provided with position detecting device 208 on the described blade 207, described position detecting device 208 connects described SFC (Split Flap Controller) 203 and forms backfeed loop, and described vane drive device 204 also connects described SFC (Split Flap Controller) 203 by current sensing means 205 and forms backfeed loop.Described paddle motor 206 connects described SFC (Split Flap Controller) 203 by scrambler 209 and forms backfeed loop.
In the present embodiment; control SFC (Split Flap Controller) 203 is by 206 motions of control vane drive device 204 driven vane motors; and utilize the close-loop feedback between scrambler realization paddle motor 206 and the SFC (Split Flap Controller) 203; adopt speed governing and paddle motor is carried out the position to pid control algorithm and speed is controlled; greatly improved the precision of blade 207 operations; in addition; this vane drive device 204 is installed on the blade 207; in order to protect vane drive device 204; carry out position probing by 208 pairs of these blades 207 of position detecting device; so that this vane drive device 204 is carried out position probing, thereby protect this vane drive device 204, prevent that it is damaged.In addition, can also be by at vane drive device 204 current sensing means 205 being set, for detection of the electric current of vane drive device 204, prevent that paddle motor 206 from burning out because electric current is excessive.
This blade 207 can comprise 60 pairs of blades, and corresponding SFC (Split Flap Controller), vane drive device, paddle motor and feedback control loop be also to should there being 60 groups, thereby forms 60 groups of blade control system.The control of many group blades can be stablized, well be realized to this multi-leaf collimator control system.
In a further embodiment, described master controller 202 also control linkage has case control device 210, described case control device 210 is by motion controller 211 connect box drivers 212, described casing driver drives the 212 casing motors 213 that are dynamically connected, and described casing motor 312 drives and connects described casing 214.
Described casing motor 213 is connected to form backfeed loop by grating scale 215 and described motion controller 211, described casing driver 212 by electric current/high-temperature detection device 216 with shown in case control device 210 be connected to form backfeed loop.Described motion controller 211 can be in the control function of one single chip by software realization motion controller 211 and case control device 210 with described case control device 210.
The control system of this casing is identical with the control mode of blade control system; be to some extent difference of implementation method: 1. adopt grating scale 215 to replace scramblers 209 to consist of the position feedback closed loops; 2. adopt motion controller 211 to finish speed governing and the pid algorithm of casing motor 213; it is specially: in addition; this casing driver 212 is installed on the casing 214; in order to protect casing driver 212; by at casing driver 212 electric current/high-temperature detection device 216 being set; electric current and temperature for detection of casing driver 212; when if electric current or temperature are excessive; stop control, prevent that casing motor 213 from burning out because electric current is excessive.
In above-described embodiment, master controller 202 is by 60 blade controls in these 60 groups of blade control system of serial communication bus control linkage.Between this industrial computer 201, master controller 202 and SFC (Split Flap Controller) 203 and the case control device 210 all being is the communication interface of RS232 by communication interface, under the communications protocol regulation, finish steering order and data transfer, realize the motion control of blade and casing.
In the above-described embodiments, this multi-leaf collimator control system also comprises power module, in the preferred embodiment, as shown in Figure 2, described power module comprises: transformer and output interface, described transformer comprise the transformer 301 of 36V/20V, the transformer 302 of 36V/15V, the transformer 303 of 36V/12V and the transformer 304 of 36V/5V;
Described each transformer 301,302,303,304 input end access 36V DC voltage, described each transformer 301,302,303,304 output terminal access described output interface 305, required voltage: 36v, 20v, 15v, 12v, 5v in this this leafy collimation controller control system of power module output; The control power supply is stable, and power is suitable for 40 pairs, 60 pairs multi-diaphragm collimators, and scope may be wider.As: 36V voltage can be used as the power supply of casing motor 213, and 20V voltage is used as the power supply of large paddle motor, and 15V voltage is used as the power supply of vanelets motor, and 12V voltage is used as the power supply of photoelectric sensor etc.
Further among the embodiment, in order to make things convenient for the operation of this multi-leaf collimator control system, with the convenient control that realizes blade and casing, this multi-leaf collimator control system also comprises such as Fig. 3 control desk system, and described control desk system comprises:
Security transformer 401, this security transformer 401 incoming transports electricity, and the alternating current of the stable 220V of output safety, described security transformer 401 is connecting valve power supplys 402, the first gauge tap 403, the second gauge tap 405 respectively;
Be used for providing control interface to be connected automatically controlled control interface plate 406 with power interface and connect respectively described Switching Power Supply 402, the first gauge tap 403, the second gauge tap 405, described automatically controlled control interface plate 406 and operation keyboard and control platform 407 control linkages;
Described automatically controlled control interface plate 406 carries out control linkage with described industrial computer 201;
Described the first gauge tap 403 connects the ac/dc transformer 404 that is output as the 36V DC voltage, the power module of these transformer 404 output 36V voltages in Fig. 2.
Switching Power Supply 402 by automatically controlled control interface plate 406 to operation keyboard and control platform 407 provide+5V ,+power supply of 24V, as: the 5V power supply offers the single-chip microcomputer of operation keyboard and control platform 407, the 24V power supply offers operation keyboard and controls the lamp of platform 407, button etc., in addition, by the switch on and off of this operation keyboard and control platform 407 control the first gauge tap 403 and the second gauge tap 405, for the power module among Fig. 2 and industrial computer 201 provide corresponding power supply.Operation keyboard and control platform 407 are by automatically controlled control interface plate 406 operation industrial computers 201, to realize the control to blade and casing.The user operates multi-diaphragm collimator by the control desk system, by industrial computer 201, operating operation keyboard and control platform 407, and the control desk system that consists of of the electric cabinet 400 of control, satisfies the ergonomics requirement, more practical, convenient and safety.
In a further embodiment, this multi-leaf collimator control system also comprises: the on-line debugging system, and as shown in Figure 4, described on-line debugging system comprises: host scm 503, connect described host scm 503 from single-chip microcomputer 504, describedly connect a plurality of from single-chip microcomputer 504 and select chip 507;
Described host scm 503 also is connected with and adds 1 button 501, subtracts 1 button 502 and digital display device 506, and this adds 1 button 501 and subtract 1 button 502 and is used for input coding; This digital display device 506 is pilot lamp or charactron, is used for showing the coding of different singlechip groups.
Described each sheet selects chip 507 to comprise that 16 select 1 output port, and described each sheet selects the input interface 505 that also is provided with on the chip 507 for the signal input.
This on-line debugging system is used for finishing the control system program burn writing, can show with pilot lamp or charactron the coding of different singlechip groups, makes whole control scheme more perfect.Contain 1 host scm in this on-line debugging system, 4 each selects chip from 4 to 4 sheets of single-chip microcomputer output from single-chip microcomputer, and each sheet selects chip to export 16 bit slices and selects signal, therefore can selectively every group of input signal be outputed to 16 single-chip microcomputers.
Preferably, the motor in above-described embodiment is direct current generator.
In addition, further among the embodiment, be provided with limit switch on the described casing 214, described limit switch signal connects described case control device 210.Totally 6 of the limit switches of casing 214, the spacing benchmark in initialization and when operation as casing 214.
In addition, further among the embodiment, be provided with photoelectric sensor on the described blade 207, described photo-sensor signal will connects described SFC (Split Flap Controller) 203.Photoelectric sensor is totally 2 on this each blade 207, and blade 207 when being used for initialization can send look-at-me according to the restriction position of blade 207, realizes self-protection and initialization.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. multi-leaf collimator control system, it is characterized in that, comprise: industrial computer, the master controller that connects described industrial computer, described main controller controls is connected with SFC (Split Flap Controller), described SFC (Split Flap Controller) control linkage vane drive device, described vane drive device drives and connects paddle motor, the described paddle motor blade that is in transmission connection, be provided with position detecting device on the described blade, described position detecting device connects described SFC (Split Flap Controller) and forms backfeed loop, described vane drive device also connects described SFC (Split Flap Controller) by current sensing means and forms backfeed loop, described paddle motor connects SFC (Split Flap Controller) by scrambler and forms backfeed loop, and adopts speed governing and pid control algorithm that position and the speed of paddle motor are controlled; Described master controller also control linkage has the case control device, and described case control device passes through motion controller connect box driver, described casing driver drives connect box motor, and described casing motor-driven connects described casing;
Described casing motor is connected to form backfeed loop by grating scale and described motion controller, described casing driver is connected to form backfeed loop by electric current/high-temperature detection device and described case control device, and described case control device adopts motion controller to finish speed governing and the pid algorithm of casing motor; On one single chip, realize the control function of motion controller and case control device by software.
2. multi-leaf collimator control system as claimed in claim 1 is characterized in that, also comprises power module,
Described power module comprises: transformer and output interface, described transformer comprise the transformer of 36 V/transformer of 20 V, the transformer of 36V/15V, 36V/12 V and the transformer of 36V/5 V;
The input end access 36V DC voltage of described each transformer, the output terminal of described each transformer accesses described output interface.
3. multi-leaf collimator control system as claimed in claim 1 is characterized in that, also comprises the control desk system, and described control desk system comprises:
Security transformer, described security transformer is connecting valve power supply, the first gauge tap, the second gauge tap respectively;
Automatically controlled control interface plate connects respectively described Switching Power Supply, the first gauge tap, the second gauge tap, described automatically controlled control interface plate and operation keyboard and control platform control linkage;
Described automatically controlled control interface plate and described industrial computer carry out control linkage;
Described the first gauge tap connects the ac/dc transformer that is output as the 36V DC voltage.
4. multi-leaf collimator control system as claimed in claim 1 is characterized in that, also comprises: the on-line debugging system, described on-line debugging system comprises: host scm, connect described host scm from single-chip microcomputer, describedly connect a plurality of from single-chip microcomputer and select chip;
Described host scm also is connected with and adds 1 button, subtracts 1 button and digital display device;
Described each sheet selects chip to comprise that 16 select 1 output port, and described each sheet selects the input interface that also is provided with on the chip for the signal input.
5. multi-leaf collimator control system as claimed in claim 1 is characterized in that, described master controller is by the described SFC (Split Flap Controller) of serial communication bus control linkage and case control device.
6. multi-leaf collimator control system as claimed in claim 1 is characterized in that described motor is direct current generator.
7. multi-leaf collimator control system as claimed in claim 1 is characterized in that be provided with limit switch on the described casing, described limit switch signal connects described case control device.
8. multi-leaf collimator control system as claimed in claim 1 is characterized in that be provided with photoelectric sensor on the described blade, described photo-sensor signal will connects described SFC (Split Flap Controller).
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| CN 200910239532 CN102117051B (en) | 2009-12-31 | 2009-12-31 | Multi-leaf collimator control system |
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| CN 200910239532 CN102117051B (en) | 2009-12-31 | 2009-12-31 | Multi-leaf collimator control system |
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| CN102117051A CN102117051A (en) | 2011-07-06 |
| CN102117051B true CN102117051B (en) | 2013-04-24 |
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Cited By (1)
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| CN102755696B (en) * | 2012-07-09 | 2015-12-16 | 清华大学 | For multi-diaphragm collimator and the control method thereof of tomography radiotherapy and dynamic intensity-modulated radiation therapy |
| CN103337272B (en) * | 2013-06-27 | 2016-02-03 | 东软飞利浦医疗设备系统有限责任公司 | X-ray collimator and collimation thereof crack width adjustment method |
| CN104689490B (en) * | 2015-03-17 | 2017-12-19 | 清华大学 | The school resetting of zero control system and control method of multi-leaf optical grating |
| CN105425646B (en) * | 2015-12-25 | 2017-12-05 | 成都伊贝基科技有限公司 | A kind of multi-leaf optical grating soft readjustment formula encoder closed-loop control system |
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| CN110290831B (en) * | 2017-03-21 | 2021-04-20 | 深圳市奥沃医学新技术发展有限公司 | Multi-leaf collimator and radiotherapy device |
| CN107272659B (en) * | 2017-07-25 | 2020-04-24 | 上海联影医疗科技有限公司 | Multi-leaf collimator and state monitoring method thereof |
| CN107929955A (en) * | 2017-11-24 | 2018-04-20 | 沈阳东软医疗系统有限公司 | Radiotherapy apparatus, multi-leaf optical grating and its blade construction |
| CN108211134B (en) * | 2017-12-11 | 2021-01-12 | 上海联影医疗科技股份有限公司 | Multi-leaf collimator initialization method, computer storage medium and radiation therapy system |
| CN108628174A (en) * | 2018-06-28 | 2018-10-09 | 深圳市艾华联盟科技有限公司 | A kind of multi-leaf optical grating two close cycles motion control method based on fuzzy |
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