CN102613980A - Radiological image equipment and automatic following method thereof - Google Patents
Radiological image equipment and automatic following method thereof Download PDFInfo
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- CN102613980A CN102613980A CN2011100338847A CN201110033884A CN102613980A CN 102613980 A CN102613980 A CN 102613980A CN 2011100338847 A CN2011100338847 A CN 2011100338847A CN 201110033884 A CN201110033884 A CN 201110033884A CN 102613980 A CN102613980 A CN 102613980A
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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 head and detector are followed automatically in the cantilevered irradiation image equipment.
Background technology
In DR photography inspection, following automatically is a kind of suspension arm form DR machine pendulum method for position commonly used.The present action of following has following several kinds of forms usually:
1. follow the rabat position: when the detector Level Change, the height of head is also followed change; Perhaps when the head Level Change, the detector height is followed change; The relative altitude of head and detector is poor, i.e. the (see figure 1) that remains unchanged of difference between Dh and the Hh.
The bed the next following: at the detector front surface near horizontal direction; When the detector Level Change, the height of head is also followed change; Perhaps when the head Level Change, the detector height is followed change; Keep head and detector difference in height constant, promptly image source is apart from (being called for short SID) constant (see figure 2).
Existing scheme when probe angle or the change of head angle, just can not guarantee that head and detector align, and this is just very not convenient for some requires to want the normotopia shooting.For example, in the time need taking patient's foot, can adjust the angle of detector and place foot to make things convenient for the patient, existing scheme can't satisfy the requirement that normotopia is taken.
Summary of the invention
In the prior art, be difficult to realize head or detector following automatically after detector or the change of head angle.For solving this technical problem; The present invention proposes a kind of new automatic pursuit movement pattern; The pursuit movement mode that the angle of head and the angle of detector change synchronously, in pursuit movement, the directions of rays of the X ray that the maintenance head sends 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 the probe angle value; Confirm the head angle on target value corresponding, angle on target value=probe angle value+predetermined value with the probe angle value; The pursuit movement of control head arrives angle on target.
The present invention discloses a kind of automatic follower method of irradiation image equipment on the other hand, comprises obtaining the head angle value; Confirm the detector angle on target value corresponding, angle on target value=head angle value+predetermined value with the head angle value; The 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 the angular deviation value; When the angular deviation value is non-preset value, drive head or detector motion; When the angular deviation value is preset value, stop motion.
The present invention also discloses a kind of irradiation image equipment on the one hand, comprises detector, head, column, day rail, motion-control module, and detector is connected with column and can moves along column; Head is connected with a day rail and can moves along the sky rail; The motion of moving control module for controlling detector and head, head emission X ray, detecting plate detecting x-ray; Detector is equipped with angular transducer, and angular transducer obtains the probe angle value; Motion-control module is confirmed the head angle on target value corresponding with the probe angle value, angle on target value=probe angle value+predetermined value; Motion module drives the head pursuit movement to angle on target.
Use the automatic follower method of irradiation image equipment disclosed by the invention; Can realize following under the complex situations between detector and the head; When detector or head angle change, also can realize the synchronous pursuit movement of head or detector, make the angle of X ray direction and detector front surface remain unchanged; It is more flexible that this method is used irradiation image equipment, and shooting effect is better.
Description of drawings
Fig. 1 is the sketch map of the rabat position follower method of irradiation image equipment;
Fig. 2 is the sketch map of the next follower method of bed of irradiation image equipment;
Fig. 3 is the sketch map of the follower method of a specific embodiment of the present invention;
Fig. 4 is the sketch map of the follower method of another specific embodiment 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.
The specific embodiment
Others of the present invention and advantage will become obvious after description and the specific embodiments below the reading.
" the detector front surface " mentioned among this paper is meant that detector accepts the incident surface of X ray.
" detector and head align " mentioned among this paper is meant that the X ray that head sends and the angle of detector front surface remain unchanged, comprise X ray vertical with the detector front surface with fixed differential seat angle is arranged.
" probe angle " mentioned among this paper is meant that with horizontal line be the limit, and the detector front surface outwards vertical line of emission is the angle value on whole limit; When detector front surface during towards the right side, this angle value is 0; When the detector front surface towards last time, this angle value is+90; In pursuit movement, the angle of mentioning has identical implication (like Fig. 3).
" the head angle " mentioned among this paper is meant that with horizontal line be the limit, and the ray that head vertically outwards sends is the angle value that whole limit forms; When the X ray direction level of head emission during towards a left side, this angle value is 0; When the X ray direction of head emission straight down the time, this angle value is+90; In pursuit movement, the angle of mentioning has identical implication (like Fig. 3).
" front and back position " mentioned among this paper is meant detector or head and column opposing horizontal position." front and back position value " is meant the numerical value of the horizontal range between detector or head and the column.
The automatic follower method of irradiation image equipment disclosed by the invention is the following in the process of detector and head, guarantees that preferentially detector and head are in the state that angle aligns.
A specific embodiment of the present invention is as shown in Figure 3; After probe angle changes; Detector front surface vertical axis and horizontal angle value change; Pick off obtains the angle value Da of detector, and this probe angle value Da is sent out to a motion-control module (figure does not show), and motion-control module is confirmed the head angle on target value Ha corresponding with the probe angle value according to this angle value.In this embodiment, head angle on target value Ha is set to equal probe angle value Da.Confirm after the head angle on target value Ha that motion-control module drives head and turns to this angle on target.If during original state, a predetermined angle difference is just arranged, then the angle on target value Ha=probe angle value Da+ predetermined value of head between detector and the head.
The automatic follower method of another specific embodiment disclosed by the invention, when guaranteeing that angle is followed, the height of head or detector or front and back position also can change, and guarantee that the X ray that head sends remains unchanged at the subpoint of detector front surface; Perhaps when guaranteeing that angle is followed,, guarantee that in the pursuit movement process, image source is apart from remaining unchanged through the height or the front and back position of adjustment detector or head.The object height of detector or head or front and back position value can following embodiment intermediate cam functional relationship calculate; Also can adjust the location through the sensoring or the laser sensor of other installation; For example keep following in the process initial image source apart from constant through range sensor; Keep following through being arranged on a plurality of induction apparatuss on the detector that detector and head align in the process, subpoint remains unchanged.Comparatively easy through the trigonometric function calculation mode.
Like Fig. 4 and shown in Figure 5, the automatic follower method of one embodiment of the invention comprises:
Obtain probe angle value Da, detector height value Dh, obtain preset or the initial image source that calculates apart from SID,
The computer head marks angle value Ha=Da,
According to Ha, Dh and SID computer head height value Hh, concrete computing formula is Hh=Dh+SID*sin (Ha),
Motion-control module drives head and arrives object height and angle on target.
As 4 and shown in Figure 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 preset or the initial image source that calculates apart from SID,
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 and arrives target front and back position and angle on target.
Like Fig. 4 and shown in Figure 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 and arrives object height and angle on target.
Like Fig. 4 and shown in 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, concrete computing formula is Hx=Dx+ (Hh
0-Dh) * ctg (Ha),
Motion-control module drives head and arrives target front and back position and angle on target.
As 4 and shown in Figure 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 preset or the initial image source that calculates apart from SID,
The computer head marks angle value Ha=Da,
Mark height value Hh according to Ha, Dh, Dx and the SID computer head, concrete computing formula is Hh=Dh+SID*sin (Ha),
Mark front and back position value Hx according to Ha, Dh, Dx and the SID computer head, concrete computing formula is Hx=Dx+SID*cos (Ha),
Motion-control module drives head and arrives angle on target, object height and target front and back position; Detector and head are in the process of following like this; Remain angle and align, X ray remains unchanged in the subpoint and the image source distance of detector, and the effect of shooting is ideal.
Angle value, height value or front and back position value can be obtained through pick off, also can obtain through the calculating of known parameters.Motion-control module can comprise controller and drive motors, and controller is accepted the parameter signal that pick off transmits and calculated desired value, the signal of desired value is passed to drive motors, drive motor drives head or detector motion; Also can be other motion control method, as long as can learn that also driving detector moves to angle on target, height or front and back position.
The invention also discloses a kind of detector and follow the method for head motion, obtain follow order after, obtain the angle value Ha of head, confirm the angle on target value Da=Ha of detector, the motion-control module driving detector turns to the Da angle.Equally, follow the method for detector motion with reference to above-mentioned head, the adjustment detector height or front and back position, realize that X ray follows in constant or/and initial constant the aligning of image distance of detector front surface subpoint.
The present invention discloses a kind of automatic follower method of irradiation image equipment again, comprises the angle value that obtains detector and head, relatively obtains both differential seat angles; When differential seat angle is non-preset value; Driving detector or head motion, when differential seat angle is preset value, detector or head stop motion.This preset value is 0 o'clock, and the X ray that head sends is vertical with the detector front surface.Equally, also with reference to the method for the foregoing description, the adjustment detector height or front and back position, realize that X ray is 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, day rail, motion-control module, detector is connected with column and can moves along column; Head is connected with a day rail and can moves along the sky rail; The motion of moving control module for controlling detector and head, head emission X ray, detecting plate detecting x-ray; Detector is equipped with angular transducer, and angular transducer obtains the probe angle value; Motion-control module is confirmed the head angle on target value corresponding with the probe angle value, angle on target value=probe angle value+predetermined value; Motion module drives the head pursuit movement to angle on target.Equally, the motion-control module of this equipment also comprises the device that can realize the foregoing description method.
To sum up; The automatic follower method of irradiation image of the present invention; Can realize that the real-time angle of detector and head aligns,, also keep X ray constant or/and keep image source apart from constant at the subpoint of detector front surface through the height or the front and back position of adjustment detector or head.Utilize this follower method, following between detector and the head is more flexible, can realize multi-angle, multi-faceted following, and shooting effect is better.
All data, image, instrument, reagent and step among this paper is interpreted as illustrative and is nonrestrictive.Though combined above-mentioned specific embodiments to describe the present invention, many modifications are conspicuous with other variation to those skilled in the art.All this modifications also fall in the spirit and scope of the present invention with other variation.In addition, above many places described " embodiment " or " another embodiment " etc. represent various embodiment, can certainly be with its all or part of being combined among the embodiment.
Claims (12)
1. the automatic follower method of an irradiation image equipment comprises:
Obtain the probe angle value;
Confirm the head angle on target value corresponding, said angle on target value=said probe angle value+predetermined value with said probe angle value;
Control said head pursuit movement and arrive said angle on target.
2. automatic follower method according to claim 1 is characterized in that: said predetermined value is 0.
3. automatic follower method according to claim 1 and 2; It is characterized in that: also comprise the height value that obtains initial image source distance and detector; The height value and the angle value computer head according to initial image source distance, detector mark height value, control said head pursuit movement to said object height.
4. automatic follower method according to claim 1 and 2; It is characterized in that: also comprise the front and back position value of obtaining initial image source distance and detector; The front and back position value and the angle value computer head according to initial image source distance, detector mark the front and back position value, control said head pursuit movement to said target front and back position.
5. automatic follower method according to claim 1 and 2; It is characterized in that: also comprise height value and the front and back position value of obtaining detector; Obtain the initial front and back position value of head; The initial front and back position value computer head according to height value, front and back position value and the head of detector marks height value, controls said head pursuit movement to said object height.
6. automatic follower method according to claim 1 and 2; It is characterized in that: height value and the front and back position value of obtaining detector; Obtain head elemental height value; The elemental height value computer head according to height value, front and back position value and the head of detector marks the front and back position value, controls said head pursuit movement to said target front and back position.
7. automatic follower method according to claim 1 and 2 is characterized in that: also comprise height value or the front and back position value of obtaining said detector and head; Adjust the height of said detector or said head, perhaps change the front and back position of said detector or said head, in said pursuit movement process, said X ray remains unchanged at the subpoint of said detector front surface.
8. automatic follower method according to claim 1 and 2 is characterized in that: also comprise height value or the front and back position value of obtaining said detector and head; Obtain initial image source apart from value; Adjust the height of said detector or said head, perhaps change the front and back position of said detector or said head, in said pursuit movement process, said image source is apart from remaining unchanged.
9. the automatic follower method of an irradiation image equipment comprises:
Obtain the head angle value;
Confirm the detector angle on target value corresponding, said angle on target value=said head angle value+predetermined value with said head angle value;
Said detector pursuit movement arrives said angle on target.
10. the automatic follower method of an irradiation image equipment comprises:
Obtain the angle value of detector;
Obtain the angle value of head;
The angle value of more said detector and the angle value of said head obtain the angular deviation value;
When said angular deviation value is non-preset value, drive said head or detector motion;
When said angular deviation value is preset value, stop motion.
11. automatic follower method according to claim 10 is characterized in that: said predetermined value is 0.
12. irradiation image equipment; Comprise detector, head, column, day rail, motion-control module; Said detector is connected with said column and can moves along said column, and said head is connected also and can moves the motion of said detector of said moving control module for controlling and said head along said day rail with said day rail; Said head emission X ray; Said detecting plate detecting x-ray is characterized in that: said detector is equipped with angular transducer, and said angular transducer obtains the probe angle value; Said motion-control module is confirmed the head angle on target value corresponding with said probe angle value, said angle on target value=said probe angle value+predetermined value; Said motion module drives said head pursuit movement to said angle on target.
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| CN201110033884.7A CN102613980B (en) | 2011-01-31 | 2011-01-31 | Radiological image equipment and automatic following method thereof |
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| CN201110033884.7A CN102613980B (en) | 2011-01-31 | 2011-01-31 | Radiological image equipment and automatic following method thereof |
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Cited By (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 |
| WO2016000194A1 (en) * | 2014-06-30 | 2016-01-07 | 深圳市大疆创新科技有限公司 | Photographing control method, device and pan-tilt device |
| 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 |
| JP2020039525A (en) * | 2018-09-10 | 2020-03-19 | コニカミノルタ株式会社 | Radiographic 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 |
| 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 |
| 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 |
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Cited By (10)
| 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 |
| WO2016000194A1 (en) * | 2014-06-30 | 2016-01-07 | 深圳市大疆创新科技有限公司 | Photographing control method, device and pan-tilt device |
| 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 |
| JP2020039525A (en) * | 2018-09-10 | 2020-03-19 | コニカミノルタ株式会社 | Radiographic system |
| JP7243090B2 (en) | 2018-09-10 | 2023-03-22 | コニカミノルタ株式会社 | radiography system |
| JP2023060281A (en) * | 2018-09-10 | 2023-04-27 | コニカミノルタ株式会社 | Radiographic system |
| JP7416299B2 (en) | 2018-09-10 | 2024-01-17 | 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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| CN102613980B (en) | 2015-07-22 |
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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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