CN103340640A - Control device and control method for achieving C arm system follow-up motion - Google Patents
Control device and control method for achieving C arm system follow-up motion Download PDFInfo
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- CN103340640A CN103340640A CN201310188296XA CN201310188296A CN103340640A CN 103340640 A CN103340640 A CN 103340640A CN 201310188296X A CN201310188296X A CN 201310188296XA CN 201310188296 A CN201310188296 A CN 201310188296A CN 103340640 A CN103340640 A CN 103340640A
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Abstract
The invention discloses a control device for achieving C arm system follow-up motion. The control device comprises active driving elements, an auxiliary control handle, an infrared switch and a force sensor. All joints of a C arm system are provided with the active driving elements, the auxiliary control handle is connected with the C arm system through the force sensor, and the infrared switch is arranged on the auxiliary control handle. In the starting state, the force sensor obtains operating intentions and transmits commands to the active driving elements of all the joints, and the active driving elements drive the joints of the C arm system to move. According to the control device for achieving C arm system follow-up motion, an operator only needs to apply a little force to flexibly and naturally operate a C arm so as to accurately complete expected motion and positioning according to the will of the operator, and therefore intuitive, simple, accurate and efficient operation is achieved.
Description
Technical field
The present invention relates to medical instruments field, especially a kind of control device and control method that realizes C arm system follow-up motion.
Background technology
C arm X-ray machine is mainly used in X line imaging in the art, it is the important tool in the clinical treatments such as blood vessel intervention, spinal operation, can in operation process, observe the position of operating theater instruments at any time, and with the position of operating theater instruments before patient's art or on the image in the art real-time update show to have very important using value clinically.The realization of C arm function be unable to do without motion and location, and in many cases, the C arm is connected to an end of energy transfer arm.Under these circumstances, the C arm can rise and descend usually, move by side to opposite side from one, perhaps around one or more axis rotations of rotation.Therefore, such C arm can move and reorientate with from different positions and angle shot radioscopic image, and does not need the patient to move.The mode of operation of mainly taking on the C arm at present comprises initiatively and passive dual mode that active operation is difficult to realize accurate location, the loaded down with trivial details and effort of its operation sequence of passive operation.
Ziehm Vision RFD, OrthoScan Mini C-arm are passive type C arms, need the operator to decompose each joint from being about to move, the target location that will move to according to the C arm, come each joint motions of corresponding adjustment C arm, because the C arm is entirely passive type, so will rely on operator's muscle power fully operates, need relatively large strength to promote simultaneously, this has just consumed doctor and feldsher's muscle power, increased their fatigue strength, reduce the handling of C arm, further can have influence on precision problem, safety problem, the efficiency of operation.
Application number be the Chinese patent application of CN200820238187.9 a kind of C arm is proposed in orbit both can electronic also manual medical x-ray machine, its use by manual clutch reach electronic and manually between switching, but electronic scope only is confined to the rotation in orbit of C arm, and manual operation is still fully by manually finishing.
The Artis Zeego of SIEMENS is a complete active C arm, can not manual operation, this C arm has six joints, and each joint all is equipped with servomotor, and the motion of controlling each joint motor on the C arm by the button on the operation table and remote-control handle makes the C arm arrive the target location voluntarily.This C arm has improved kinematic dexterity, has saved operator's muscle power.But thisly control very inconveniently by separate button and lever operated mode, need the multistep repeatable operation just can make the C arm arrive the expectation location, and the operating position separates fully with the C arm, be difficult to realize the accurate localization intention.
The patent No. provides a kind of C shape part that available motor is adjusted that has for the disclosed Roentgen apparatus of the Chinese patent of CN200410103291.3, it is by the combined effect of manipulation device, safety switch and pattern recognition component, for the slip of C type spare provides power-assisted, the time length of utilizing the closed of safety switch and operating means being operated, operation signal is divided into two signal groups to the line operate that moves forward into of C shape part, and has avoided the probability of accidental operation.But, but this Roentgen apparatus only is confined to the slip of C shape part only at the single shaft motion, then can't control for other joints; And manipulation device separates with switch, causes operation sequence loaded down with trivial details, and operating means is installed in the big stroke running that causes on the C shape part and is unfavorable for doctor's handled easily.
Summary of the invention
For solving the problems referred to above of prior art, the invention provides a kind of control device of the C of realization arm system follow-up motion, it comprises active drive element, assist control handle, infrared switch and force transducer.Each joint of described C arm system all is equipped with the active drive element, described assist control handle is connected with described C arm system by described force transducer, described assist control handle is provided with infrared switch, under opening, described force transducer obtains operation intention and instruction is conveyed to the active drive element in each joint, drives each joint of described C arm system by described active drive element and realizes motion.
Preferably, described C arm system structure is made up of four parts, comprise: the X wire system, C arm (1), support arm (2), moving frame (3) and lift carriage (5), described X wire system comprises that X line source (9) and image detecting devices (6) are individually fixed in the two ends of C arm (1), the geometric center of described C arm system overlaps with imaging center point (7), C arm (1) is formed the rotational slide pair with support arm (2), be equipped with in the support arm (2) and can drive the active drive element that C arm (1) slides in groove, form a revolute pair between support arm (2) and the moving frame (3), the end that support arm (2) and C arm (1) can center on moving frame (3) is rotated, support arm (2) bottom has shifting chute, can form a moving sets and swing pair with support bar (4), support bar (4) can carry out elevating movement under the effect that promotes the active drive element.
Preferably, described assist control handle adopts hollow type, links to each other with support arm (1) by described force transducer, is positioned at described support arm (1) near an end of C arm (2), produces servo-actuated with described support arm (1) in the operating process.
Preferably, described force transducer is six-dimension force sensor, and its induction end and described assist control handle end adopt the external screw thread ways of connecting to install and be connected.
Preferably, described infrared switch is the correlation Photoelectric infrared switch, emission is arranged, receive two ends, be installed in respectively on the both sides inwall of described assist control handle hollow groove, when infrared ray arrives receiving terminal via transmitting terminal by hollow groove, described receiving terminal receives the infrared ray that described transmitting terminal discharges, and described infrared switch is in on-state, realizes the shielding of described force transducer; When hands enters described assist control handle hollow groove and is obstructed when described infrared switch is connected circuit because of operation, high level signal is exported and is handled via software program, and described force transducer is experienced force signal and the final running of controlling described active drive element that described assist control handle applies.
Preferably, the display lamp of two different colours of described assist control handle arranged outside shows whether described infrared switch is in on-state.
The present invention provides a kind of control method of the C of realization arm system follow-up motion in addition, may further comprise the steps: (1) controlled state detects: the infrared switch state that detects the assist control handle, when described assist control handle is not held, described infrared switch signal is 0, the follow-up motion function is closed, system is the response force sensor signal not, it is static that the C arm system keeps, when described assist control handle is held, described infrared switch signal becomes 1, the follow-up motion function is opened, the described force sensor signals of system responses;
(2) force sensor signals is handled: after utilizing software low-pass filtering filter away high frequency noise, use thresholding algorithm that described force sensor signals is revised, described thresholding algorithm specifically may further comprise the steps: the power and the moment that are respectively all directions arrange zero threshold value a and upper threshold b, a and b are two arithmetic numbers, when described force transducer receives the power of any direction or torque signals absolute value less than a, namely think and be zero-signal on the described direction, described C arm system stops corresponding motion, when described absolute value during greater than a, described C arm system responds the operation on the described direction, the power or the torque signals absolute value that receive either direction when described force transducer are timing greater than (a+b) and signal value, making power or the torque signals value of described direction is b, when described force transducer receive the power of either direction or torque signals absolute value greater than (a+b) and signal value when negative, make the power of described direction or torque signals value be-b;
(3) coordinate transform and admittance control: the coordinate Mapping between force transducer coordinate system and the described C arm system joint is set, by the admittance between described coordinate Mapping and power-speed control, the effect of power is fed back on the movement velocity/angular velocity of described C arm system;
(4) active drive element drives: by described each joint motions of C arm system of active drive element drives, realize the desired motion information that the user applies with power or moment form described assist control handle.
Preferably, step (1) also is included in the start delay that a period of time is set in the described controlled state detection.
Preferably, step (2) also comprises when described force transducer receives the power of either direction or torque signals absolute value greater than a, by following the setting described signal is regulated: when the signal value that collects is timing, described signal value is deducted a to be exported as signal, when the signal value that collects when negative, described signal value is added that a exports as signal.
Preferably, step (2) comprises that also the power of the minimum that does not cause maloperation or moment are set to zero threshold value a, and power or the moment of the maximal rate of described C arm system follow-up motion/angular velocity correspondence are set to upper threshold b.
Preferably, described step (2) arranges different zero threshold value and upper threshold according to the power of all directions respectively with moment.
Concrete, step (3) may further comprise the steps:
(31): make that world coordinates is XYZ, the force transducer coordinate is xyz, described C arm system comprises vertical lift successively from the pedestal to the end, swing around the Z axle, move horizontally, around moving horizontally axis rotation and along C shape slide rail five degree of freedom that slide, the coordinate Mapping scheme that arranges between described force transducer coordinate system and the C arm system joint is as follows: the z of described force transducer to moment all the time corresponding described C arm system along the slip of C shape slide rail, x to moment all the time corresponding described C arm system around the rotation that moves horizontally axis, x is to power moving horizontally of corresponding described C arm system all the time, when when moving horizontally the axis rotation, if described C arm system plane and world coordinate system Z axle clamp angle are less than or equal to miter angle, then with the z of described force transducer to the swing of the corresponding described C arm system of power around the Z axle, described force transducer y is to the vertical lift of the corresponding described C arm system of power, when described C arm system plane and world coordinate system Z axle clamp angle during greater than miter angle, then with the z of the described force transducer vertical lift to the corresponding described C arm system of power, the y of described force transducer is to the swing of the corresponding described C arm system of power around the Z axle;
(32) carry out admittance control by following formula:
Wherein,
Expression desired speed/angular velocity, k
aExpression admittance gain, f represents power/moment input.
The embodiment of the invention has following advantage with respect to prior art:
1, takes into account the advantage of main passive operation simultaneously, possessed the power-assisted effect, made the operator only need apply very little power and can operate motion and the location that the C arm system is finished expectation accurately naturally flexibly, improved the flexibility ratio of operation, saved the location required time.
2, the operative association of assist control handle only needs during operation that handle is carried out shirtsleeve operation and just can finish the adjustment in each joint to satisfy the demand of taking or having an X-rayed to each joint of C arm system.
3, the assist control handle is installed on the support arm, has satisfied the servo-actuated of operation to a certain extent, plays the effect of the manual operation feeling of simulation, and the operation inconvenience of having avoided the big stroke of C arm running to bring.
4, on the assist control handle infrared switch is installed, the operation of handle and the unlatching of infrared switch are carried out synchronously, have prevented the maloperation of assist control handle, and be simple to operation, simultaneously, processing safety and accuracy is greatly improved.
5, the coordinate Mapping method can effectively be adjusted according to the current orientation of C arm, guarantees that follow-up motion control is effective and convenient all the time.
6, thresholding algorithm can effectively prevent maloperation, improves the controllability of operating experience and C arm.
Description of drawings
Fig. 1 is the sketch map of the C arm system that provides of the embodiment of the invention;
Fig. 2 is the structure chart of the assist control handle that provides of the embodiment of the invention;
Fig. 3 is the connection diagram of the force transducer that provides of the embodiment of the invention;
Fig. 4 is the sketch map at another visual angle of the connection of force transducer shown in Figure 3;
Fig. 5 is the flow chart of the control method that provides of the embodiment of the invention;
Fig. 6 is the thresholding algorithm action effect figure that the embodiment of the invention provides;
Fig. 7 is the C arm system that provides of the embodiment of the invention and the world coordinate system Z axle clamp angle coordinate system sketch map during greater than 45 °;
Fig. 8 is the C arm system that provides of the embodiment of the invention and the world coordinate system Z axle clamp angle coordinate system sketch map during smaller or equal to 45 °.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that described herein only is a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment among the present invention, the every other embodiment that those of ordinary skills obtain under the prerequisite of not making creative work belongs to the scope of protection of the invention.
Embodiment one, the embodiment of the invention provides a kind of control device of the C of realization arm system follow-up motion, comprise the active drive element, the assist control handle, infrared switch and force transducer, each joint of described C arm system all is equipped with the active drive element, described assist control handle is connected with described C arm system by described force transducer, described assist control handle is provided with infrared switch, under opening, described force transducer obtains operation intention and instruction is conveyed to the active drive element in each joint, drives each joint of described C arm system by described active drive element and realizes motion.
See also Fig. 1, in the present embodiment, described C arm system structure is made up of four parts, comprise: the X wire system, C arm (1), support arm (2), moving frame (3) and lift carriage (5), described X wire system comprises X line source (9) and the image detecting devices (6) that is individually fixed in C arm (1) two ends, the image detecting devices is flat panel detector, the geometric center of described C arm system overlaps with imaging center point (7), C arm (1) is formed the rotational slide pair with support arm (2), be equipped with in the support arm (2) and can drive the active drive element that C arm (1) slides in groove, sliding scale is ± 95 degree, form a revolute pair between support arm (2) and the moving frame (3), the end that support arm (2) and C arm (1) can center on moving frame (3) carries out ± 190 degree rotations, support arm (2) bottom has shifting chute, can form a moving sets and swing pair with support bar (4), support bar (4) can carry out elevating movement under the effect that promotes the active drive element.
Preferably, described active drive element is motor, especially AC servomotor.
See also Fig. 2, in the present embodiment, described assist control handle adopts hollow type, and during operation, four refer to put into hollow groove, and the handle of holding with a firm grip (10) can be realized applying of all directions power or moment easily.Described assist control handle links to each other with support arm (1) by described force transducer, is positioned at described support arm (1) near an end of C arm (2), produces servo-actuated with described support arm (1) in the operating process.
The embodiment of the invention is the operative association of assist control handle each joint to the C arm system, only needs to carry out adjustment that shirtsleeve operation just can finish each joint to handle during operation and takes or the demand of perspective to satisfy.
The embodiment of the invention is installed in the assist control handle on the support arm, has satisfied the servo-actuated of operation to a certain extent, plays the effect of the manual operation feeling of simulation, and the operation inconvenience of having avoided the big stroke of C arm running to bring.Consider the difference of C arm mechanical system in the reality, the installation site of handle can be determined on a case-by-case basis.
Adopt the joystick of hollow type in the embodiment of the invention, certainly, be not limited to present embodiment, also can adopt other difform handles, as long as the breakdown action that can satisfy operator's PROPEL and infrared switch synchronously.
See also Fig. 3 and Fig. 4, in the present embodiment, described force transducer (15) is installed in the support arm (2) of C arm system, the receiving terminal of sensor (15) is fixed in one by the mode of thread connection (14) and the bottom (11) of joystick, consider in the actual mechanical process, for fear of the unnecessary friction of joystick bottom (11) and support arm (2) end face, in the time of installing force sensor (15) receiving terminal, need to protrude support arm (2) end face sub-fraction to leave part gap (16).
Preferably, described force transducer is six-dimension force sensor.
Concrete, six-dimension force sensor is important sensor commonly used among the intelligent robot technology, it can detect all one's effort information of three dimensions (cartesian coordinate system) simultaneously, i.e. three force components and three moment components.The embodiment of the invention uses six-dimension force sensor finally to control the operation of motor, and joystick (8) links to each other with support arm (1) by force transducer.
Concrete, the correlation Photoelectric infrared switch is installed on the described assist control handle, emission is arranged, receive two ends, be installed in respectively on the both sides inwall of described assist control handle hollow groove, be bottom (11) and the handle (10) of joystick, when infrared ray arrived receiving terminal via transmitting terminal by hollow groove, described receiving terminal received the infrared ray that described transmitting terminal discharges, described infrared switch is in on-state, realizes the shielding of described force transducer; When hands enters described assist control handle hollow groove and is obstructed when described infrared switch is connected circuit because of operation, high level signal is exported and is handled via software program, and described force transducer is experienced force signal and the final running of controlling described active drive element that described assist control handle applies.Therefore, during operation, infrared link is obstructed, and the force signal that force transducer reception handle applies also finally makes motor drive actuator realize the motion of expectation.Under the no operational circumstances, the power sensing is in masked state, even the stressed C arm system of handle does not have any action yet.Because the synchronization action that joystick and infrared switch are opened, avoided after handle applies the very big power unexpected unlatching of switch to cause the accident collision of the unexpected acceleration of C arm and joystick to cause the mistake driving of motor.
Therefore, the embodiment of the invention adopts the operation of handle and the unlatching of infrared switch to carry out synchronously, has prevented the maloperation of joystick, and is simple to operation, simultaneously, processing safety and accuracy is greatly improved.
Preferably, the display lamp of two different colours of described assist control handle arranged outside shows whether described infrared switch is in on-state.
Concrete, as shown in Figure 2, joystick outside design red, green two LED display lamps (12,13), red light is bright under the situation of nothing operation, and when the operator moved, green light showed.Feel for the operator more intuitively, and the doctor can learn in time whether infrared switch exists fault.
What adopt on the embodiment of the invention joystick is the infrared switch of correlation, certainly, also can adopt reflective infrared switch or other switches, as long as masked state that can the control force sensor.
The C arm of the embodiment of the invention accurately obtains the comprehensive operation intention of user by the integrated joystick of six-dimension force sensor and integrated infrared switch, by each motion of motor-driven C arm, the simulation manual operation is also brought into play the power-assisted effect, makes operation directly perceived, light, accurate and efficient.
Embodiment two, see also Fig. 5, and the embodiment of the invention provides a kind of control method of the C of realization arm system follow-up motion, may further comprise the steps:
(1) controlled state detects: the infrared switch state that detects the assist control handle, when described assist control handle is not held, described infrared switch signal is 0, the follow-up motion function is closed, and system is the response force sensor signal not, and it is static that the C arm system keeps, when described assist control handle is held, described infrared switch signal becomes 1, and the follow-up motion function is opened, the described force sensor signals of system responses;
Preferably, the start delay of a period of time is set in described controlled state detects, such as 1 second, that is, needs after described infrared switch is triggered through after 1 second, system just begins to respond described force sensor signals.
(2) force sensor signals is handled: after utilizing software low-pass filtering filter away high frequency noise, use thresholding algorithm that described force sensor signals is revised, thresholding algorithm does not cause that power or the moment of the minimum of maloperation are set to zero threshold value a, power or the moment of the maximal rate of C arm system follow-up motion/angular velocity correspondence are set to upper threshold b, and described thresholding algorithm specifically may further comprise the steps:
The power and the moment that are respectively all directions arrange zero threshold value a and upper threshold b, a and b are two arithmetic numbers, when described force transducer receives the power of any direction or torque signals absolute value less than a, think namely to be zero-signal on the described direction that described C arm system stops corresponding motion; When described absolute value during greater than a, described C arm system responds the operation on the described direction.
Concrete, when described force transducer receives the power of either direction or torque signals absolute value greater than a, by following the setting described signal is regulated: when the signal value that collects is timing, described signal value is deducted a to be exported as signal, when the signal value that collects when negative, described signal value is added that a exports as signal.
Preferably, the power or the torque signals absolute value that receive either direction when described force transducer are timing greater than (a+b) and signal value, making power or the torque signals value of described direction is b, when described force transducer receive the power of either direction or torque signals absolute value greater than (a+b) and signal value when negative, make the power of described direction or torque signals value be-b.
Preferably, can with moment different threshold values be set respectively at the power of all directions in the thresholding algorithm.
See also Fig. 6, as can be known, thresholding algorithm can effectively prevent maloperation, improves the controllability of operating experience and C arm.
(3) coordinate transform and admittance control: the coordinate Mapping between force transducer coordinate system and the described C arm system joint is set, by the admittance between described coordinate Mapping and power-speed control, the effect of power is fed back on the movement velocity/angular velocity of described C arm system.
Concrete, step (3) may further comprise the steps:
Step (31), see also Fig. 7 and Fig. 8, make that world coordinates is XYZ, the force transducer coordinate is xyz, described C arm system comprises vertical lift successively from the pedestal to the end, swing around the Z axle, move horizontally, around moving horizontally axis rotation and along C shape slide rail five degree of freedom that slide, the coordinate Mapping scheme that arranges between described force transducer coordinate system and the C arm system joint is as follows: the z of described force transducer to moment all the time corresponding described C arm system along the slip of C shape slide rail, x to moment all the time corresponding described C arm system around the rotation that moves horizontally axis, x is to power moving horizontally of corresponding described C arm system all the time, when when moving horizontally the axis rotation, if described C arm system plane and world coordinate system Z axle clamp angle are less than or equal to miter angle (as shown in Figure 7), then with the z of described force transducer to the swing of the corresponding described C arm system of power around the Z axle, described force transducer y is to the vertical lift of the corresponding described C arm system of power, when described C arm system plane and world coordinate system Z axle clamp angle during greater than miter angle (as shown in Figure 8), then with the z of the described force transducer vertical lift to the corresponding described C arm system of power, the y of described force transducer is to the swing of the corresponding described C arm system of power around the Z axle.
Step (32): carry out admittance control by following formula:
Wherein,
Expression desired speed/angular velocity, k
aExpression admittance gain, f represents power/moment input.
The coordinate Mapping method that the embodiment of the invention adopts can effectively be adjusted according to the current orientation of C arm, guarantees that follow-up motion control is effective and convenient all the time.
(4) active drive element drives: by described each joint motions of C arm system of active drive element drives, realize the desired motion information that the user applies with power or moment form described assist control handle.
Concrete, described active drive element is motor.
Preferably, described active drive element is AC servomotor, drive each joint by electric machine control system and realize motion, thus the desired motion information that the terminal user of realization of C arm is applied with power and moment form joystick.
Therefore, the follow-up control method of the C arm that the embodiment of the invention provides is after the relation of the coordinate Mapping between definition six-dimension force sensor data and the end effector position, gather the user to joystick externally applied forces and moment by six-dimension force sensor, further isolate noise and other interfering signals of introducing because of machine vibration through the processing of filtering and thresholding algorithm, then by defined coordinate Mapping relation, admittance control method between employing power-speed, user's operation intention is converted to the motion of C arm end, movement velocity size and operator are directly proportional with the moment size to the power that joystick applies, realize desired motion by the motor-driven mechanical carrier then, thereby quick and laborsaving motion to the C arm is controlled.It is handling preferably that this just makes that also the C arm has, from can the operator bringing better, more effective experience.
Through the above description of the embodiments, those skilled in the art can be well understood to dimension disclosed by the invention and value and not be intended to be used to strictly be limited to described exact value.On the contrary, except as otherwise noted, each such dimension and value are intended to explain described value and center on the scope that is equal on this value function.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be looked protection scope of the present invention.
Claims (12)
1. control device of realizing C arm system follow-up motion, comprise the active drive element, the assist control handle, infrared switch and force transducer, it is characterized in that, each joint of described C arm system all is equipped with the active drive element, described assist control handle is connected with described C arm system by described force transducer, described assist control handle is provided with infrared switch, under opening, described force transducer obtains operation intention and instruction is conveyed to the active drive element in each joint, drives each joint of described C arm system by described active drive element and realizes motion.
2. a kind of control device of realizing C arm system follow-up motion as claimed in claim 1, it is characterized in that, described C arm system structure is made up of four parts, comprise: the X wire system, C arm (1), support arm (2), moving frame (3) and lift carriage (5), described X wire system comprises that X line source (9) and image detecting devices (6) are individually fixed in the two ends of C arm (1), the geometric center of described C arm system overlaps with imaging center point (7), C arm (1) is formed the rotational slide pair with support arm (2), be equipped with in the support arm (2) and can drive the active drive element that C arm (1) slides in groove, form a revolute pair between support arm (2) and the moving frame (3), the end that support arm (2) and C arm (1) can center on moving frame (3) is rotated, support arm (2) bottom has shifting chute, can form a moving sets and swing pair with support bar (4), support bar (4) can carry out elevating movement under the effect that promotes the active drive element.
3. a kind of control device of realizing C arm system follow-up motion as claimed in claim 1 or 2, it is characterized in that, described assist control handle adopts hollow type, link to each other with support arm (1) by described force transducer, be positioned at described support arm (1) near an end of C arm (2), produce servo-actuated with described support arm (1) in the operating process.
4. a kind of control device of realizing C arm system follow-up motion as claimed in claim 1 or 2 is characterized in that, described force transducer is six-dimension force sensor, and its induction end and described assist control handle end adopt the external screw thread ways of connecting to install and be connected.
5. a kind of control device of realizing C arm system follow-up motion as claimed in claim 1 or 2, it is characterized in that, described infrared switch is the correlation Photoelectric infrared switch, emission is arranged, receive two ends, be installed in respectively on the both sides inwall of described assist control handle hollow groove, when infrared ray arrived receiving terminal via transmitting terminal by hollow groove, described receiving terminal received the infrared ray that described transmitting terminal discharges, described infrared switch is in on-state, realizes the shielding of described force transducer; When hands enters described assist control handle hollow groove and is obstructed when described infrared switch is connected circuit because of operation, high level signal is exported and is handled via software program, and described force transducer is experienced force signal and the final running of controlling described active drive element that described assist control handle applies.
6. a kind of control device of realizing C arm system follow-up motion as claimed in claim 5 is characterized in that, the display lamp of two different colours of described assist control handle arranged outside shows whether described infrared switch is in on-state.
7. a control method that realizes C arm system follow-up motion is characterized in that, may further comprise the steps:
(1) controlled state detects: the infrared switch state that detects the assist control handle, when described assist control handle is not held, described infrared switch signal is 0, the follow-up motion function is closed, and system is the response force sensor signal not, and it is static that the C arm system keeps, when described assist control handle is held, described infrared switch signal becomes 1, and the follow-up motion function is opened, the described force sensor signals of system responses;
(2) force sensor signals is handled: after utilizing software low-pass filtering filter away high frequency noise, use thresholding algorithm that described force sensor signals is revised, described thresholding algorithm specifically may further comprise the steps: the power and the moment that are respectively all directions arrange zero threshold value a and upper threshold b, a and b are two arithmetic numbers, when described force transducer receives the power of any direction or torque signals absolute value less than a, namely think and be zero-signal on the described direction, described C arm system stops corresponding motion, when described absolute value during greater than a, described C arm system responds the operation on the described direction, the power or the torque signals absolute value that receive either direction when described force transducer are timing greater than (a+b) and signal value, making power or the torque signals value of described direction is b, when described force transducer receive the power of either direction or torque signals absolute value greater than (a+b) and signal value when negative, make the power of described direction or torque signals value be-b;
(3) coordinate transform and admittance control: the coordinate Mapping between force transducer coordinate system and the described C arm system joint is set, by the admittance between described coordinate Mapping and power-speed control, the effect of power is fed back on the movement velocity/angular velocity of described C arm system;
(4) active drive element drives: by described each joint motions of C arm system of active drive element drives, realize the desired motion information that the user applies with power or moment form described assist control handle.
8. a kind of control method that realizes C arm system follow-up motion as claimed in claim 7 is characterized in that, described step (1) is further comprising the steps of:
The start delay of a period of time in detecting, described controlled state is set.
9. a kind of control method that realizes C arm system follow-up motion as claimed in claim 7 is characterized in that, described step (2) is further comprising the steps of:
When described force transducer receives the power of either direction or torque signals absolute value greater than a, by following the setting described signal is regulated: when the signal value that collects is timing, described signal value is deducted a export as signal; When the signal value that collects when negative, described signal value is added that a exports as signal.
10. as claim 7 or 9 described a kind of control methods that realize C arm system follow-up motion, it is characterized in that described step (2) is further comprising the steps of:
The power or the moment that do not cause the minimum of maloperation are set to zero threshold value a, and power or the moment of the maximal rate of described C arm system follow-up motion/angular velocity correspondence are set to upper threshold b.
11., it is characterized in that described step (2) arranges different zero threshold value and upper threshold according to the power of all directions respectively with moment as claim 7 or 9 described a kind of control methods that realize C arm system follow-up motion.
12. a kind of control method that realizes C arm system follow-up motion as claimed in claim 7 is characterized in that, described step (3) specifically may further comprise the steps:
(31): make that world coordinates is XYZ, the force transducer coordinate is xyz, described C arm system comprises vertical lift successively from the pedestal to the end, swing around the Z axle, move horizontally, around moving horizontally axis rotation and along C shape slide rail five degree of freedom that slide, the coordinate Mapping scheme that arranges between described force transducer coordinate system and the C arm system joint is as follows: the z of described force transducer to moment all the time corresponding described C arm system along the slip of C shape slide rail, x to moment all the time corresponding described C arm system around the rotation that moves horizontally axis, x is to power moving horizontally of corresponding described C arm system all the time, when when moving horizontally the axis rotation, if described C arm system plane and world coordinate system Z axle clamp angle are less than or equal to miter angle, then with the z of described force transducer to the swing of the corresponding described C arm system of power around the Z axle, described force transducer y is to the vertical lift of the corresponding described C arm system of power, when described C arm system plane and world coordinate system Z axle clamp angle during greater than miter angle, then with the z of the described force transducer vertical lift to the corresponding described C arm system of power, the y of described force transducer is to the swing of the corresponding described C arm system of power around the Z axle;
(32) carry out admittance control by following formula:
Wherein,
Expression desired speed/angular velocity, k
aExpression admittance gain, f represents power/moment input.
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