CN102686001B - X-ray apparatus and the method for the motor control for X-ray apparatus - Google Patents

Abstract

The present invention relates to a kind of X-ray apparatus (1), have and according to relative layout above x-ray source (3) and the C arc (2) of X-ray detector (4) can be installed, be used at least one actuator (5 relative to supporting arrangement (15) location C arc (2), 6) and be used for controlling the control device (13) of this at least one actuator (5,6).Described X-ray apparatus (1) includes at least one sensor (11,12), it gathers the deformation of C arc (2) in the primary importance of C arc (2) and is transferred in output signal, wherein, the deformation of C arc (2) can be affected by that applied by operator and directly or indirectly effect in the second position of C arc (2) power (7,8).Control device (13) and affect actuator (5,6) according to the output signal of sensor (11,12).Additionally, invention further describes a kind of method (70) of motor control for X-ray apparatus.

Description

X-ray apparatus and the method for the motor control for X-ray apparatus

Technical field

The present invention relates to a kind of X-ray apparatus, have and according to relative layout, x-ray source can be installed thereon With the C arc of X-ray detector, for relative at least one actuator of supporting arrangement location C arc and use In the control device controlling this at least one actuator.

Background technology

Currently used multiple X in medical diagnosis in angiography, cardiology and neurological and interventional systems Ray equipment or X-ray apparatus are as the basis for imaging.X-ray equipment is generally constructed with C arc, Also referred to as C-arm.C arc generally includes x-ray source and the connection support by the usually metal of C-shaped configuration exists The relative X-ray detector on position.C arc can be arranged on so-called support or be arranged on ceiling (Decke) on.Also can motor-driven multiple kinematic axiss, constitute x-ray source relative with X-ray detector In the flexible positioning of patient checking object, be such as positioned on patient table.The assembly of C arc and its upper installation The movement of location also referred to as C arc.

Usual multiple personnel in work up or medical science get involved, such as doctor, nurse or Medical Technology assistant, In inspection chamber busy.Exemplary in Fig. 1 reflecting this situation, patient 1016 crouches in inspection in this case Checking on platform 1015 and by X-ray apparatus 1001, this X-ray apparatus includes and is mounted in support C arc 1002 on 1014.Common working method require participate in medical personnel structurized work division and The different operating region of each personnel is at the classifying rationally in treatment space.Such as, the treatment main position of doctor 1004 In the side of patient 1016, nurse 1003 is near treatment doctor 1004, and the working range of anaesthetist 1005 is to suffer from The head of person 1016, assistant nurse 1006 has the action radius of maximum and responds in working region 1007. It is understood that during checking the action radius of personnel changes, it is possible to intersect.In order to ensure smoothly Therapeutic process, the position of X-ray apparatus must with change situation mate.The also requirement of different camera sites Reorientating of C arc 1002.Freely positionable medical X ray system can occur, need at this multiple Miscellaneous motion is reorientated, the personnel that the movement needs of described complexity is well trained, in order to utilize common Operation device, the operation such as arranged on examining table rod or button 1010 quickly and targeted specifically carry out this Point.Following situation additionally can occur, i.e. simply move, such as, change the height of X-ray detector, Can be carried out by the personnel being but remote from operating device 1010.

Position and the attitude of C arc is controlled by operation module up to now, and this operation module is generally configured behaviour Make rod and/or button.These modules are arranged on examining table or patient table is upper, on handbarrow or individually Space (control space) in.Additionally, there is also there is limited location probability be usually placed in X The fixing operation switch that ray detector is other.Have C arc system balanced weight and maneuverable machinery The additional lever of device or handle, emergency, such as in the system failure time be used for freeing patient.? Commercial Application it is also known that, radio operation module, described operation module are connected to system by dedicated radio link. The program is it is meant that operating element or the system that is fixedly mounted on really position and put or must be by user Carry.

From a kind of X-ray apparatus known in DE102009004766A1, its components is by X-ray apparatus The model that reduces arrange, wherein the manipulation to model component part is transferred to corresponding components Adjust.The defect of this device is, reduces model and is arranged on the position of central authorities and the most only by a people behaviour Vertical.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of X-ray apparatus, and it realizes X-ray apparatus The dispersion of motion and visual control.In addition a kind of method also providing motor control for X-ray apparatus.

The basic ideas of the present invention are a kind of X-ray apparatus, have and can pacify according to relative layout thereon Fill x-ray source and the C arc of X-ray detector, be used at least one execution relative to supporting arrangement location C arc Mechanism and for controlling the control device of this at least one actuator.X-ray apparatus includes that at least one senses Device, it gathers the deformation of C arc in the primary importance of C arc and is transferred in output signal, wherein C arc Deformation can be by that applied by operator and directly or indirectly effect in the second position of C arc power Affect.Control device and affect actuator according to the output signal of sensor.

X-ray apparatus thus includes known assembly, such as: have the C of x-ray source and X-ray detector Arc, at least one controlled to be brought into by C arc the actuator of desired locations by controlling device, wherein expect position Put and relate to supporting arrangement, such as with the supporting arrangement of the sleeping examining table form thereon of patient.Actuator is led to The control crossing control device is affected the most as follows, i.e. operator (such as doctor, nurse or medical science Technical assistant) on a position of C arc, apply a power, i.e. and operator press this position relative to C arc Put, thus this C arc (position that the power of being not only is acted on) slight curvature or deformation.General its at C arc On his position, the deformation of C arc is measured by sensor.Control device and then consider sensor output signal Under conditions of control actuator.The power effect of C arc can directly be carried out by operator, i.e. operator Press relative to the position on C arc.But, when operator are such as relative to X-ray detector, X-ray Source or relative to X-ray apparatus fix with C arc be connected other assemblies pressing time, power can also indirect action In C arc.It is important for the present invention that the location of X-ray equipment no longer middle ground is carried out by operating device, But start by measuring the deformation caused by the pressing on multiple possible positions of C arc.Thus, C arc Structure mostly become a kind of operating element, i.e. C arc can only from a position, may can only be by a people Operate this restriction no longer to exist.By using less sensor, compared with the scheme realizing similar effect, Cost and the complexity of execution can be reduced.Finally, this operational concept is intuitively, from without to behaviour The training that expense is big is carried out, as needed for such as passing through for button or operation rod as personnel.

Controlling device can be electronic computer.Actuator, also referred to as executor, such as, include motor, There is actuating device, hydraulic pressure or pneumatic regulation transmission or their group etc. if desired.Actuator allows C arc Location, that wherein can carry out translating, that rotate or the translation-rotary movement of mixing.Sensor is such as Can be resistance, piezoelectricity, optics, inductance or the sensor of electric capacity.

Sensor is preferably implemented as strain gauge, especially as uniaxial strain gage or multi-axial strain gauge.It is abbreviated as The strain gauge of DMS is for gathering stretching or the measurement apparatus of compression.The measurement effect most commonly used It is metal material or the change of the semi-conducting material resistance when deformation.Other embodiments are electric capacity, pressure Electricity, stress optic or mechanical strain gauge.It is generally configured in thin plastic-substrates by there are 3 μm extremely The metal strain meter measuring grating that the resistance wire of 8 μ m thick is constituted is its electricity the most altered when little deformation Hinder and be thus best suited for as strain transducer.Measurable action direction according to stress state is (single Axle, twin shaft, three axles or the stress state in space) distinguish single shaft or multi-axial strain gauge.Other can With the embodiment that uses such as by Hottinger Baldwin Messtechnik GmbH, Darmstadt, " the An Introduction to Measurements using Strain of the 1989 Karl Hoffmann published Gages " in be given.

According to the another kind of preferred implementation of the present invention, actuator produces C by controlling the impact of device The change of arc position, wherein, the direction of position change is included on the direction of the power applied by operator Component.

In other words, by actuator, such as motor so that C arc attempts to press the side of C arc operator Move upward.Because the prespecified usual direction of motion by axle of actuator, translate shifting in other words Dynamic probability, so being sufficient that, the direction of motion is consistent with the one-component of force direction.As a result, operator Member obtains following impression, i.e. its power applied makes C arc move the most in the direction of the force.This is right Move the method the most intuitively of C arc with supporting in motor.The method improve safety simultaneously, because position Change so orientation so that C arc dodge this power and when operator no longer apply power to C arc motion stop. Improving further of safety is achieved by, i.e. C arc and movement when C arc collides or encounters barrier In opposite direction and the most also force direction with operator deform on the contrary, so that the motion of C arc is slack-off Or stop.

In a kind of favourable extension, the speed of the position change of C arc depends on the intensity of C arc blow, wherein The intensity of C arc blow gathers by sensor.Especially, at speed and the C of collection of C arc position change Positive correlation is there is between arc blow intensity.In other words, translational speed depends on being become by the C arc of sensor acquisition Shape and when detecting the big deformation of C arc to move than the more speed when collecting little deformation.In this example As can be based on linear relationship or according to the correspondence of a kind of deformation-velocity amplitude pair inquiring about sheet form.According to C arc Geometrical property and the location of sensor, can between deformation intensity and the size of power applied by operator There is different relations.Such as can there is linear relationship, i.e. C arc blow is proportional to the power of applying. But deformation can also depend on the position of applying power, when such as leverage has and affects.Utilize this spy Levying, moving method is more directly perceived, because thus give between the intensity and translational speed of power is easy to understand Relation.

Advantageously, sensor is so-positioned on C arc or is integrated in C arc so that when C arc blow Changing more than other possible location on C arc or possible in C arc of the output signal of sensor Integrated situation.

Depending on the geometrical property of C arc, in the case of External Force Acting, the deformation on the diverse location of C arc is not With strong, i.e. the varying strength of deformation measured respectively by sensor according to the difference of the position on C arc. In order to obtain the big output signal of sensor, it is appropriate that determine such position of C arc, i.e. this position There is in the case of specific power effect the big or deformation of maximum.The determination of this position can be by a series of Measure and carry out, described a series of measurements are measured on multiple positions sensor signal.Alternatively possible Property be, determining such position by the structural analysis of C arc, described position is in the situation of power of application orientation Under there is the deformation bigger than other positions.Such structural analysis can be carried out by mathematical calculation or By the analysis of computer supported, such as based on Finite Element Method (FEM).Can be C arc in its structure The structural analysis of frame for movement model is contemplated that geometry appearance and the material feature of C arc especially.Sensor Location had both related to the position of sensor and had been directed to its orientation, because in the case of given action direction two Parameter all has impact to sensor signal.Sensor may be mounted on C arc, such as by boning or other Fixing means or fixing device, or it can be integrated in the material of C arc.In the selection of sensing station, In addition to sensor is to the big sensitivity of deformation, the selectivity about action direction is also a standard. The most such as it is desirable that, the deformation of C arc can not also provide defeated on the fixed direction of C arc Go out signal.X-ray equipment has the most kinematic axiss, and this point is the most important.It is equally as suitable that multiple lists The sensor of axle work or the sensor of at least one multiaxis work are positioned such that so that the side of the power worked To can be reproduced.Such as can be positioned such that the strain gauge of multiple single shaft so that they are relative to power effect It is that the sensitiveest and from there through single sensor signal linear combination can be more from different directions Existing force direction.In addition other boundary conditions, the best accessibility, simple fixing probability etc. are fixed Also work during level sensor.

Preferably, at least main deformation being gathered C arc by two sensors, wherein the output letter of sensor Number difference be transferred to control device.

The use of two sensors that its output signal is subtracted from each other, unusual according to the location of sensor For have the advantage that, difference signal is relative to such as voltage pulsation, temperature fluctuation, moisture fluctuation, sensing The fluctuation of equipment material or catabiosis are less susceptible to be interfered, or difference signal has more preferable signal level, I.e. signal to noise ratio.In the case of using first sensor, the second sensor (referred to as reference sensor), ginseng Examine sensor can be positioned such that so that the deformation of C arc is not the output letter mainly acting on reference sensor Number.But the output signal of reference sensor at service condition such as temperature or humidity or operating pressure with The mode that one sensor is identical changes in the case of changing.Compensate owing to service condition fluctuates by forming difference The sensor signal caused, thus the sensor signal only caused by C arc blow is changed ability and is located further Reason.Further possibility is, is positioned such that sensor so that the deformation of C arc in reference sensor with Under one sensor situation, opposite way changes, such as, be positioned such that two sensors so that by the deformation of C arc Elongate first sensor and shorten reference sensor.The difference of two sensor signals compensates again by service condition Cause fluctuates and has the double big amplitude of single sensor.

According to another preferred implementation, relative at bridge circuit of the transducer arrangements of X-ray apparatus In branch and the bridge output voltage of bridge circuit is transferred to control device.Bridge circuit, H circuit, H bridge or particularly Wheatstone bridge are for measuring the measurement apparatus that little ohmage changes.Particularly make With in the case of sensor, they are used as measuring transducer.They are prior aries and such as at U. Tietze und Ch.Schenk,“Halbleiter-Schaltungstechnik”,13.Auflage,Springer- Verlag, Berlin, Heidelberg, 2010, after page 1056 in be described.Usually, bridge circuit is by four The individual resistance being referred to as bridge resistor is constituted, and at least one of which bridge resistor is represented by resistance sensor. Resistance connects into the ring of closing or connects into square, and wherein, voltage source is positioned in a diagonal, and voltage Difference (so-called diagonal voltage, bridge voltage or bridge voltage) is measured in another diagonal.? Distinguishing one of them bridge resistor in bridge circuit is that variable 1/4th bridges, two of which bridge resistor are Variable half-bridge and wherein four bridge resistors are variable full-bridges.Constant bridge resistor be typically to have by The balance precision resistance of resistance value according to the order of magnitude of sensor resistance.Using at least two sensor resistance In the case of be preferably carried out its arrange so that resistance changes on the contrary when C arc blow and compensates such as The reverse effect caused due to temperature fluctuation, voltage pulsation or moisture fluctuation.

According to another preferred embodiment of the present invention, consider to pass for controlling the control device of actuator The output signal of sensor and the expected value of the output signal for sensor, wherein, for the output of sensor The expected value of signal calculates by the structural model of C arc and/or x-ray source and/or X-ray detector.

By the motility brought by system of the machinery of modern C arc system, it is moved through commonly used Cheng Zhong, the most such as in the moving process of the effect of the additional power caused not over operator or collision, The little deformed or bent of C arc also occurs.Because these deformation gather also by sensor, so X-ray First the control device of equipment will not distinguish this intrinsic deformation and the deformation caused by External Force Acting.By It considers the geometry appearance of C arc and the structure of the associated assembly of material feature and X-ray apparatus Model, can calculate the expected value of the output signal of sensor in the case of not having External Force Acting.According to this Relatively, such as the difference of expected value and the sensor output value of measurement of output signal of sensor, permissible Derive numerical value and the direction of External Force Acting.Structural model can include analyzing mathematical model, and its parameter is passed through Prespecified, such as obtain from material list or from measurement.Structural model parameter can represent the physics of C arc system Feature, the quality of such as X-ray detector or the elastic module of C arc.It is also contemplated that such structure Model, its parameter (so-called fitting parameter) is not the most corresponding with physical features, and its value is by one Measurement series and optimization method adjust.For rotary motion probability generally between corner and deformation with the There is sine relation in one approximation.Other motions can also have linear, other relations of quadratic sum.

Suitably, when calculating for the expected value of the output signal of sensor, it is considered to C arc and/or X-ray The frame for movement of source and/or X-ray detector, and/or C arc and/or x-ray source and/or X-ray detector The material feature of assembly, and/or C arc and/or x-ray source and/or the position of X-ray detector, and/or The motion of C arc and/or x-ray source and/or X-ray detector, and/or C arc and/or x-ray source and/or X penetrate The model of the acceleration of line detector.The frame for movement of C arc, the material feature of assembly of C arc, the position of C arc Put and be orientated, the acceleration of the motion of C arc and C arc has impact for the deformation of C arc, and is not dependent on External force.If such as accelerating C arc, the then inertia of the quality owing to accelerating when mobile, C arc bends.For Clear interpretation in sensor signal, it is considered to this deformation.Except the modeling of C arc, further contemplate the most in a model The assembly being connected with C arc, such as X-ray detector, x-ray source, handle and other structures, because they In general the same statics to x-ray system and kinetics provide contribution.Usually set up, system and X The kinetics of ray equipment is more modeled more accurately, it is desirable to the quality of value more rises.The consideration of X-ray equipment Dynamic (dynamical) structural model is referred to as the kinetic model of X-ray equipment.With the power applied by operator On the contrary, gravity, acceleration and inertia force can be referred to as cannoncial system power.

Another basic ideas of the present invention relate to a kind of method of motor control for X-ray apparatus, institute State X-ray apparatus and there is the C that can install x-ray source and X-ray detector thereon according to relative layout Arc, for relative to supporting arrangement location at least one actuator of C arc be used for controlling this at least one is held The control device of row mechanism.C arc blow in the primary importance of at least one sensor acquisition C arc and should Deformation is transferred in output signal, and wherein the deformation of C arc can be by that be applied by operator and at C arc The second position on the power of direct or indirect effect affect.Control the device output signal shadow according to sensor Ring actuator.

The method of this motor control being used for X-ray apparatus particularly preferably includes following methods step:

A) by the measured value of measuring cell collection C arc blow in the primary importance of C arc, described measurement unit Part includes at least one sensor, particular at least one strain gauge, and wherein the deformation of C arc can be by by grasping Make that personnel apply and directly or indirectly effect in the second position of C arc power to affect；

B) calculating the expected value of the measured value of C arc blow in the primary importance of C arc, its expected value is by knot Structure model or kinetic model determine, described model considers C arc and/or x-ray source and/or X-ray detector Frame for movement, and/or the material feature of the assembly of C arc and/or x-ray source and/or X-ray detector, and/ Or C arc and/or x-ray source and/or the current location of X-ray detector, and/or C arc and/or x-ray source and/ Or the current kinetic of X-ray detector, and/or currently the adding of C arc and/or x-ray source and/or X-ray detector Speed；

C) it is formed at the measured value of C arc blow in the primary importance of C arc to become with C arc in the primary importance of C arc Difference between the expected value of the measured value of shape；

D) actuator by the ingredient particularly controlling device so calculates control signal so that difference exists Amplification numerically is cancelled；

E) transmission is for the control signal of the particularly regulating element of the ingredient of actuator；

F) method step a) is repeated to e), until meeting interrupt criteria, especially by handling switch.

Accompanying drawing explanation

Embodiment following detailed description of is the preferred embodiment of the present invention.

Other preferred development obtain together with describing from the following drawings.Wherein,

Fig. 1 be schematically illustrated in utilize X-ray apparatus medical diagnosis or get involved during Curing circumstance；

Fig. 2 shows the embodiment of the X-ray apparatus according to the present invention；

Fig. 3 shows another embodiment of a part for X-ray apparatus of the present invention with side view；

Fig. 4 shows another embodiment of this part of X-ray apparatus of the present invention with front view；

Fig. 5 shows, with the front view of C arc, the example that strain gauge is arranged；

Fig. 6 shows, with the side view of C arc, the example that strain gauge is arranged；

Fig. 7 shows the embodiment of the C arc around y-axis rotary motion；

Fig. 8 shows the embodiment of the bridge circuit for measuring deformation in the x direction；

Fig. 9 shows the enforcement of the change of the bridge voltage of the bridge circuit for measuring deformation in the x direction Example and measured value；

Figure 10 shows the embodiment of the bridge circuit for measuring deformation in a z-direction；

Figure 11 shows the reality of the change of the bridge voltage of the bridge circuit for measuring deformation in a z-direction Execute example and measured value；

Figure 12 shows the embodiment of the process of the movement that power supports；

Figure 13 shows the coordinate system of C arc and the embodiment of motion vector；

Figure 14 shows the embodiment of the method for the motor control for X-ray apparatus.

Detailed description of the invention

Fig. 2 shows the embodiment of the X-ray apparatus 1 according to the present invention.It includes C arc 2, presses on this C arc Take a picture to layout be mounted with x-ray source 3 and X-ray detector 4.C arc 2 is connected with support 14.By first Actuator 5, such as motor, can in a z-direction, i.e. mobile C arc 2 in vertical direction 9.By second Actuator 6, such as, have gear-driven motor, can by C arc 2 around the axle parallel with y-axis i.e. around Trunnion axis 10 rotates.By the movement of C arc 2, x-ray source 3 and X-ray detector 4 relative to supporting arrangement 15 The position change of (being herein to check the sleeping examining table thereon of object 16 (being herein patient)).At C arc 2 On be mounted with first sensor 11 and the second sensor 12, they as strain gauge implement.If operator, Such as doctor, the subregion on C arc 2 applies the first power 7 in a z-direction, i.e. it is in a z-direction Pressing C arc, then the upper part of C arc 2 deforms the most in a z-direction.This deformation as compression in The position of one sensor 11.This compression is gathered by first sensor 11 and is transferred to the output of such as electricity In signal.Output signal is transferred to control device 13, such as electronic computer, and it affects first as follows and holds Row mechanism 5 so that in a direction 19, i.e. the side in z-axis moves upward C arc 2.If operator are at C arc 2 Above subregion on apply the second power 8 in the x direction, i.e. it presses C arc in the x direction, then C arc 2 Upper part bends the most in the x direction.This bending as stretching action in the position of the second sensor 12. This stretches through the second sensor 12 and gathers and be transferred to output signal.This output signal is passed further Being passed to control device 13, described control device affects the second actuator 6 as follows so that C arc 2 performs to rotate fortune Dynamic 20, i.e. around the motion of the axle parallel with y-axis.The operating unit 21 being such as configured to switch realizes this fortune Dynamic interruption.Can be seen that the visual motion of X-ray apparatus 2 controls, it does not require Professional knowledge: C arc 2 Side pressure 8 makes C arc 2 rotate on the direction 20 of pressure direction, until having reached desired position and having grasped Terminate to press 8 as personnel.The position that reference 8 represents it is not limited by the position of this press points, but Can change in a scope.

Fig. 3 shows another embodiment of a part for the X-ray apparatus according to the present invention with side view.C Arc 2 still includes x-ray source 3, X-ray detector 4, actuator 5 and sensor 11.By in z direction On in the upper zone of C arc press 7C arc 2, C arc upper part bending and take shape 22, X at this Ray detector 4 moves stretch footpath 17.The sensor 11 that curves through of C arc gathers.Unshowned control Device is connected with sensor 11, receives sensor signal and so controls actuator 5 so that C arc 2 is in direction On 19, move the most in a z-direction.

Fig. 4 shows another embodiment of this part of the X-ray apparatus according to the present invention with front view.C Arc 2 still includes x-ray source 3 and X-ray detector 4.Actuator 6 so that C arc around y-axis rotate, Sensor 12 is arranged so as on C arc 2 and is orientated so that it can gather C arc 2 in the direction of the x axis curved Bent.By pressing C arc 2 in the x direction in the upper zone of C arc, the upper part bending of C arc, wherein X Ray detector 4 moves stretch footpath 18 and puts 32 in this fetch bit.The sensor 12 that curves through of C arc is adopted Collection.Unshowned control device is connected with sensor 12, receives sensor signal and so controls execution machine Structure 6 so that C arc 2 rotates on direction 20.

Fig. 5 view example in the past shows that two are configured to uniaxial strain gage in a fragment of C arc 2 The position of sensor and orientation.The cartesian coordinate system of Fig. 3 and Fig. 4 is suitable for.That act in the x direction and will The power that C arc 2 deforms in the x direction is the most only gathered by the first strain gauge 11, i.e. C arc 2 in the x direction curved Song causes the resistance of the first strain gauge 11 to change, and the resistance value of the second strain gauge 12 does not changes.

Fig. 6 with side view show from Fig. 5 known to have and be configured to two sensors of uniaxial strain gage The fragment of C arc 2.The cartesian coordinate system of Fig. 3 and Fig. 4 is suitable for again.That act in a z-direction and by C arc 2 The power deformed in a z-direction is the most only gathered by the second strain gauge 12, i.e. C arc 2 bending in a z-direction is led The resistance causing the second strain gauge 12 changes, and the resistance value of the first strain gauge 11 is basically unchanged.

Fig. 7 shows have x-ray source 3, X-ray detector 4, actuator 6 as another embodiment C arc 2 with sensor 12.C arc 2 rotates with deflection angle theta 31 from position, θ=0 °, center.There is x-, y-and z-axis Cartesian coordinate system be connected with C arc 2.Except gravity 28, external force 8 acts on X-ray detector 4.Sensing Device 12 is configured to resistive strain gauge system, and it can gather C arc 2 in x direction and deformation in a z-direction. In order to measure deformation in a z-direction, using two-part strain gauge, its sensor cover is positioned such that so that By Part I stretching or compression in the case of C arc deforms in a z-direction, and Part II is compressed or draws Stretch.

Fig. 8 shows a kind of possible electronic circuit 40 for analyzing the sensitiveest sensor 12. Circuit 40 is constructed to the bridge circuit of half-bridge, and it utilizes the DC voltage of such as 3V to 15V (by upper work Make voltage 41 and lower running voltage 42 represent) work.Two measurements arranged in bridge circuit diagonal The resistance representing the sensitiveest sensor 12 of resistance 44, its resistance value depends on the C arc 2 of Fig. 7 The deformation extended in the x direction and change.The resistance 45 of electronic circuit 40 is configured to balance precision resistance, its Resistance value is in the order of magnitude of the normal resistance values measuring resistance 44, such as 120 Ω.The resistance 44 being connected in series Form potentiometer respectively with 45, its voltage on midpoint changes along with the resistance value measuring resistance 44.Pass through The layout of resistance 44 and 45, two voltage performances at midpoint are contrary.Measure also between the current potential at midpoint And in the voltage 43 of referred to as bridge output voltage, the size of the deformation of strain gauge and deformation can be derived Mode, i.e. stretching or compression, and thus can derive the deformation of C arc 2.

The pattern analysis of the electrical characteristics of Fig. 9 is exemplified circuit 40 shown in Fig. 8.It has vertical axis 46 Figure shown in bridge output voltage 43 in units of volt about the deflection angle theta 31 in units of degree.Real Line 47 is corresponding to the bridge output voltage of the sensor 12 the sensitiveest when not having external force 8 to act on 42.The sinusoidal shape of bridge output voltage 42 is by the gravity 28 acted in the x direction shown in Fig. 7 Component is explained.In the case of deflection angle theta=0 ° or θ=180 °, C arc 2 is the most indeformable.Thus two Individual measurement resistance 44 has the resistance value identical with other resistance 45 and bridge output voltage 43 is zero.? In the case of other deflection angles, C arc 2 is slightly distorted due to gravity 28, and thus bridge output voltage 43 takes not Null value.Depending on the direction of deformation, bridge output voltage 43 is more than or less than zero.For deflection θ=30 °, angle, obtain the bridge output voltage 48 more than zero in the case of not having External Force Acting.If external force 8 act on C arc 2, then yield less than the bridge output voltage 49 of bridge output voltage 48.This point is qualitative Ground is explained by the following, and C arc pass is crossed gravity 28 and stood the deformation component on negative x direction, and it passes through power The effect of 8 partially compensates for, because power 8 has the force component upwardly-deformed in positive x-axis side so that C arc 2.Profit It is used in the change that do not has deflection angle theta and bridge output voltage 47 in the case of External Force Acting about deflection angle theta Knowledge can derive external force 8 by comparing with the bridge output voltage 49 measured.Output end voltage 47 Function as deflection angle theta can be construed to nominal curve, and this nominal curve compares with the actual value 49 of measurement Relatively.Actual value 49 is transferred to control device, such as electronic computer, this control with the deviation of rated value 48 Device is the most such as by the actuator 6 shown in regulation algorithm controls Fig. 7.

Figure 10 shows the embodiment party of the circuit of the sensitiveest sensor 12 in analysis chart 7 Formula.Circuit 50 is constructed to the bridge circuit of full-bridge, and it utilizes by above running voltage 51 and lower work electricity Pressure 51 ' is as the dc voltage operation of feature.Two the first measurement electricity arranged in bridge circuit diagonal Resistance 54 represents the resistance of the Part I of the sensitiveest sensor 12, and its resistance value is according to Fig. 7 institute Show that the deformation that C arc 2 extends in a z-direction changes.Second measurement resistance 55 of electronic circuit 50 represents at z The resistance of the Part II of sensor 12 sensitive on direction, its resistance value is prolonged in a z-direction also according to C arc 2 The deformation stretched changes.But, by the way of the location of sensor 12, measure the resistance of resistance 54 and 55 It is worth and changes with opposite way, because the deformation that C arc 2 is in a z-direction conduct in the Part I of sensor 12 is drawn Stretch or compress and work, and it works as compression or stretching in the Part II of sensor 12.Series connection The measurement resistance 54 and 55 connected forms potentiometer respectively, and its voltage at midpoint is along with measuring resistance 54 and 55 Resistance value change.By the layout of resistance 54 and 55, two voltages at midpoint when C arc blow the most on the contrary Performance.From voltage 53 that is that measure between the current potential at midpoint and that be referred to as bridge output voltage, can In the way of the size deriving the deformation of strain gauge and deformation, i.e. about z-axis stretching or compression, and Thus can derive the deformation of C arc 2.

Figure 11 the is exemplified pattern analysis of the electrical characteristics of circuit 50 shown in Figure 10.It has vertical axis 56 Figure shown in bridge output voltage 53 in units of volt about the deflection angle theta 31 in units of degree.Real Line 57 is corresponding to the bridge output voltage of the sensor 12 the sensitiveest when not having external force 8 to act on 42.The sinusoidal change of bridge output voltage is explained, by the following in deflection angle theta=0 ° or θ=180 ° In the case of C arc 2 maximum distortion in a z-direction, thus measure resistance 54 there is with 55 maximum different electricity for two Resistance, and bridge output voltage 53 thus takes maximum.In the case of other deflection angles C arc 2 due to Gravity 28 and less deformation, the value that thus bridge output voltage 53 is taken between maximum.For deflection angle θ=90 ° or θ=270 °, bridge output voltage 53 is ideally equal to zero.For deflection angle theta=30 °, do not having Bridge output voltage 58 is obtained in the case of External Force Acting.If external force 8 acts on C arc 2, then obtain big Bridge output voltage 59 in bridge output voltage 58.This point is explained the most by the following, C arc 2 Standing the deformation component on negative z direction by gravity 28, it is strengthened further by the effect of power 8, because of Have so that C arc 2 force component the most upwardly-deformed in negative z-axis side for power 8.Utilize and there is no External Force Acting In the case of deflection angle theta and bridge output voltage 57 about the change of deflection angle theta knowledge by with measure Bridge output voltage 59 compares can derive external force 8.Output end voltage 57 is as the letter of deflection angle theta Number can be construed to again nominal curve, and this nominal curve compares with the actual value 59 of measurement.Actual value 59 Being transferred to control device with the deviation of rated value 58, this control device is the most such as by regulation algorithm controls Actuator 6 shown in Fig. 7.

Figure 12 diagrammatically illustrates the embodiment of the moving process of the power support of C arc 2.C arc 2 includes x-ray source 3 With X-ray detector 4.The external force 8 of unshowned people is applied on X-ray detector 4, and it is thus second Press on position 32 and make C arc 2 be slightly distorted simultaneously.It is configured to strain gauge 12 and with reference to strain gauge 52 Sensing system gathers the deformation of C arc 2 and by output signal and the reference of strain gauge 12 in process step 61 The difference signal of the output signal of strain gauge 52 is transferred to control device 13.Control device 13 such as by structure mould Type or kinetic model utilize electronic computer to calculate the measurement of the C arc 2 deformation on the position of sensing system The expected value of value, described model considers the frame for movement of C arc 2, the material feature of assembly of C arc 2, C arc 2 Current location, the current kinetic of C arc 2 and the current acceleration of C arc 2.Phase from the measured value of the deformation of C arc 2 The comparison of the actual measured value of prestige value and deformation, such as poor by being formed, calculate and make on the position of sensor For C arc 2 or the direction of external force on other positions of C arc 2 and numerical value.Direction according to external force and The information of numerical value, controls device 13 and so calculates the control signal for actuator 6 so that difference is numerically Amplification be cancelled, i.e. structural model or kinetic model be additionally included in regulation algorithm in consider execution machine The modeling of structure.In process step 62, preferably ground electronic control signal is transferred to actuator 6.Such as construct Electronic control signal is converted in process step 63 mechanical movement in actuator 6 for motor or machinery turns Square, thus mobile C arc on direction 20, the direction includes at least one durection component of external force.The most whole Flow process continuously or repeats according to short order (50 times the most per second), thus method processes the most substantially Lingeringly follow the movement needs of the change of operator.When such as having handled disconnection switch, this process is tied Bundle.

Figure 13 illustrates the possible coordinate system of the C arc 2 with x-ray source 3 and X-ray detector 4 And motion vector.Local coordinate system being preferably used to describe C arc 2 in the position in space, this coordinate system is fixed On the central point of C arc 2, so-called Tool Center Ponit (tool center point), TCP, and with C arc 2 Referential motion fixing relative to position together.The coordinate system being fixed on C arc 2 of this local includes coordinate Axle CP_x 91、TCP_y92 and TCP_z93, referential includes coordinate axes TCP_φ 94、95 and TCP_γ 96。 C arc 2 can carry out the translational motion on the direction of each axle of coordinate system 98 or its linear combination or in fortune Translational motion on the direction of dynamic arrow 99.In addition C arc 2 has component motion 97, institute in this component motion Source-image-the distance of meaning, i.e. distance between x-ray source 3 and X-ray detector 4 can be changed.

Figure 14 finally diagrammatically illustrates the embodiment of the method 70 of the motor control for X-ray apparatus.Fortune Dynamic control is also understood to the movement with the effect chain of closing, i.e. closed loop moving regulates strictly speaking Situation.To be influenced system (i.e. controlled system) is C arc 71, by application point, force direction and the numerical value of power The external force limited acts on this C arc as interference volume 81.Due to external force and the flexible C arc 71 of effect, C arc 71 not only deforms on the position that external force is acted on.The measuring cell 72 being configured to strain transducer will be one As be different from external force application point position on the physical measuring quantity measured, i.e. material stretching 82 be converted to electrical measurement Amount signal 83.By structural model 73 or the kinetic model of C arc 71, calculate on the measurement position of sensor The expected value 85 of the electrical measured value of C arc 71 deformation.Structural model 73 considers the frame for movement of C arc 71, C arc 71 The material behavior of assembly and given parameters 84, the such as current location of C arc 71, the current kinetic of C arc 71 Current acceleration with C arc 71.Equally, in structural model 73, consider the machinery knot of the assembly being connected with C arc Structure, material behavior and kinetics.Difference element 74 formed the measured value 83 of the deformation of C arc 71 on the measuring location with On this measurement position C arc 71 deformation measured value expected value 85 between difference.Differing from 86 is that C arc 71 is removed by external force C arc 71 deforms how many tolerance outside deforming due to gravity and inertia force.Preferably as regulation algorithm at electronics Computer implemented actuator 75 controls parameter from differing from calculating 86, and this control parameter is believed preferably as electric control Numbers 87 are transferred to include the regulating element 76 of actuator (such as motor).Regulating element 76 is according to control Signal 87 processed utilizes power 88 or angular momentum to accelerate C arc 71, and thus the position of C arc 71 can change.It is constructed such that Regulation algorithm so that the amplification numerically differing from 86 is offset in changing of the position of C arc 71.This process continuously or Repeating with short order until meeting interrupt criteria, this interrupt criteria can be to handle to disconnect switch especially.

Claims (15)

1. an X-ray apparatus (1), has and can install x-ray source (3) above according to relative layout With the C arc (2) of X-ray detector (4), for positioning this C arc (2) relative to supporting arrangement (15) At least one actuator (5,6) and be used for controlling the control of this at least one actuator (5,6) Device (13), it is characterised in that

Described X-ray apparatus (1) includes at least one sensor, and this sensor is the first of C arc (2) Gather the deformation of C arc (2) on position and be transferred in output signal, wherein, the deformation of C arc (2) Can be by that applied by operator and directly or indirectly effect in the second position of C arc (2) power (7,8) affect, and described control device (13) affects according to the output signal of described sensor Described actuator (5,6).

X-ray apparatus the most according to claim 1 (1), it is characterised in that the second position is C arc (2) in multiple possible positions on, so that the major part of C arc structure becomes operating element.

X-ray apparatus the most according to claim 1 (1), it is characterised in that described sensor includes At least one strain gauge.

X-ray apparatus the most according to claim 3 (1), it is characterised in that described at least one should Becoming meter is uniaxial strain gage or multi-axial strain gauge.

5. according to the X-ray apparatus (1) described in claim 1,2 or 3, it is characterised in that described in hold Row mechanism (5,6) produces the change of C arc (2) position by the impact of described control device (13), its In, the direction of position change (19,20) is included on the direction of the power (7,8) applied by operator Component.

X-ray apparatus the most according to claim 5 (1), it is characterised in that described C arc (2) The speed of position change to depend on that the C arc (2) gathered by least one sensor described deforms strong Degree.

X-ray apparatus the most according to claim 6 (1), it is characterised in that change in the position of C arc Become and just exist between the speed of (19,20) and C arc (2) deformation intensity gathered by described sensor Relevant.

8. according to the X-ray apparatus (1) described in claim 1,2 or 3, it is characterised in that described biography Sensor is so arranged on C arc (2) and above or is integrated in C arc (2) so that deform at C arc (2) Changing more than in other possible settings on C arc (2) or at C of the output signal of Shi Suoshu sensor Possible integrated situation in arc (2).

9. according to the X-ray apparatus (1) described in claim 1,2 or 3, it is characterised in that described C The deformation of arc (2) is at least main to be gathered by two sensors and the difference of output signal of described sensor It is transferred to described control device (13).

X-ray apparatus the most according to claim 9 (1), it is characterised in that described sensor cloth Put in the relative branch of bridge circuit (40,50) and the electric bridge of described bridge circuit (40,50) Output end voltage (43,53) is transferred to described control device (13).

11. according to the X-ray apparatus (1) described in claim 1,2 or 3, it is characterised in that be used for controlling The described control device (13) of actuator processed (5,6) consider described sensor output signal and for The expected value (85) of the output signal of this sensor, wherein, by C arc (2) and/or x-ray source (3) And/or the structural model (73) of X-ray detector (4) calculates the output signal for described sensor Expected value (85).

12. X-ray apparatus according to claim 11 (1), it is characterised in that calculating for institute During the expected value of the output signal stating sensor, it is considered to C arc and/or x-ray source and/or X-ray detector Frame for movement, and/or the material feature of the assembly of C arc and/or x-ray source and/or X-ray detector , and/or C arc and/or x-ray source and/or the position of X-ray detector, and/or C arc and/or X penetrate The motion of line source and/or X-ray detector, and/or C arc and/or x-ray source and/or X-ray detection The model of the acceleration of device.

13. 1 kinds of methods (70) for the motor control of X-ray apparatus, described X-ray apparatus has can According to relative layout above x-ray source (3) and the C arc (2) of X-ray detector (4) are installed, use In positioning at least one actuator (5,6) of this C arc (2) relative to supporting arrangement (15) and being used for Control the control device (13) of this at least one actuator (5,6), it is characterised in that

C arc (2) in the primary importance of at least one sensor acquisition C arc (2) deforms and by this deformation Being transferred in output signal, wherein, the deformation of described C arc (2) can be by being applied also by operator And the power (7,8) of directly or indirectly effect affects in the second position of C arc, and described control device (13) described actuator (5,6) is affected according to the output signal of described sensor.

The method (70) of 14. motor controles for X-ray apparatus according to claim 13, it is special Levying and be, the second position is in the multiple possible positions on C arc (2), so that C arc structure Major part becomes operating element.

The method (70) of 15. motor controles for X-ray apparatus according to claim 13, including Following methods step:

A) survey that the C arc (2) gathered in the primary importance of C arc (2) by measuring cell (72) deforms Value (83), described measuring cell includes at least one sensor, particular at least one strain gauge, wherein, The deformation of C arc (2) can by that applied by operator and in the second position of C arc directly or indirectly The power (7,8) of effect affects；

B) expected value (85) of the measured value that C arc (2) deforms in the primary importance of C arc (2) is calculated, Wherein, described expected value (85), described structure mould are determined by structural model (73) or kinetic model Type or kinetic model consider C arc (2) and/or x-ray source (3) and/or the machine of X-ray detector (4) Tool structure, and/or the material of the assembly of C arc (2) and/or x-ray source (3) and/or X-ray detector (4) Material feature, and/or C arc (2) and/or x-ray source (3) and/or the current location of X-ray detector (4), And/or C arc (2) and/or x-ray source (3) and/or the current kinetic of X-ray detector (4), and/or C Arc (2) and/or x-ray source (3) and/or the current acceleration of X-ray detector (4)；

C) be formed at measured value (83) that in the primary importance of C arc (2), C arc (2) deforms with in C arc (2) Primary importance on difference between the expected value (85) of measured value that deforms of C arc (2)；

D) control is so calculated by the actuator (75) particularly as the ingredient controlling device (13) Signal (87) so that poor (86) amplification numerically is cancelled；

E) transmission is used for the regulating element (76) of the ingredient especially as actuator (5,6) Control signal (87)；

F) method step a) is repeated to e), until meeting interrupt criteria, especially by handling switch (21)。