CN107669286A - A kind of imaging system for neurosurgery - Google Patents
A kind of imaging system for neurosurgery Download PDFInfo
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- CN107669286A CN107669286A CN201711125926.3A CN201711125926A CN107669286A CN 107669286 A CN107669286 A CN 107669286A CN 201711125926 A CN201711125926 A CN 201711125926A CN 107669286 A CN107669286 A CN 107669286A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0478—Chairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/501—Clinical applications involving diagnosis of head, e.g. neuroimaging, craniography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/20—Linear translation of a whole image or part thereof, e.g. panning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30016—Brain
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30072—Microarray; Biochip, DNA array; Well plate
Abstract
The present invention relates to a kind of imaging system for neurosurgery, including testing agency, supporting mechanism, sliding equipment, elevation measurement mechanism, chair mechanism and control module, wherein, the testing agency is vertically arranged in the side of supporting mechanism, to carry out image checking to patient；The supporting mechanism sets on the sliding mechanism and moved horizontally along sliding equipment, the chair mechanism above it can be driven to move up and down, to support patient and be moved to optimum position；The height measuring mechanism measures position and the elevation information of chair mechanism in real time, and transmits into control module.The present invention is by adjustment of the chair mechanism in horizontally and vertically direction, the adjustment to imager vertical direction, to realize the adjustment of chair mechanism position and imager position, the adjustment Process Precision height of two-way adjustment according to preset order；Do not stood in patient and change position to adjust shooting angle, and in sitting or complete detection in real time when lying low.
Description
Technical field
The present invention relates to neurosurgery detection technique field, more particularly to a kind of imaging system for neurosurgery
System.
Background technology
In medical industry, diagnostic test aligns that to make a definite diagnosis disconnected medical care problem most important.In order to provide correctly diagnosis, it is necessary to
Accuracy and accuracy.In order to provide accuracy and accuracy, diagnostic system has been created, has come assay laboratory, clinic, doctor
Sample in institute, doctor's office etc..
The brain tumor incidence of disease is high, is lethal, the disabling condition for seriously endangering human health, and malignant brain tumor has hair
The characteristics of sick rate, recurrence rate, the death rate high low with cure rate etc. " three high and one low ".All the time, what medical field was preferred is directed to swollen
The effective means of knurl be tumor tissues are carried out effectively, thoroughly surgery excision.In recent years with the progress of imaging diagnosis technology
With the application of Micro-neurosurgical technology, the diagnosis and treatment of brain tumor generally achieve marked improvement.However, to pernicious brain
The treatment of tumour (such as glioma) patient does not make a breakthrough.
Therefore, before surgery, it is necessary to each functional areas of brain and careful, level the detection of each functional area progress is connected,
Image-forming detecting system of the prior art can only typically be detected from single angle, or only pass through the movement to imaging device
To be detected, Detection results can not reach optimal.
The content of the invention
It is an object of the invention to provide a kind of imaging system for neurosurgery, to overcome prior art
Technological deficiency.
To achieve the above object, a kind of imaging system for neurosurgery of present invention offer, including testing agency,
Supporting mechanism, sliding equipment, elevation measurement mechanism, chair mechanism and control module, wherein, the testing agency is vertically arranged
In the side of supporting mechanism, to carry out image checking to patient；The supporting mechanism is set on the sliding mechanism and along slip
Mechanism is moved horizontally, and the chair mechanism above it can be driven to move up and down, to support patient and be moved to optimum position；It is described
Height measuring mechanism measures position and the elevation information of chair mechanism in real time, and transmits into control module；
The imaging system is arranged in confined chamber, wherein, the chair mechanism includes hang plate, is arranged on the support
Level board in mechanism, the headrest that head is placed for patient is set on the hang plate top, is set on the downside of headrest and places back
The backrest area for adding sponge, meanwhile, on the level board set two leg zones for adding sponge；
The testing agency include riser and be arranged on the inside of riser support block, be arranged in support block first oil
Cylinder and the imager being arranged on the first oil cylinder, under the driving of the first oil cylinder, it is arranged on the imager of piston rod upper end
Lower movement；In the inner side of described riser, vertically arranged two sensor installing plates are set, set respectively thereon two rows into
The first position sensor that camera is highly detected, the vertically and horizontally positional information for detecting acquisition is transmitted to the control
Module；
The elevation measurement mechanism is arranged on the outside of supporting mechanism, sets thereon and chair mechanism elevation information is detected
Second place sensor, in real time detect chair mechanism elevation information simultaneously transmit it in control module；
The sliding equipment includes the slide rail for being arranged on centre, and is arranged on slide rail one end and promotes the supporting mechanism water
The second dynamic oil cylinder of translation；Second place sensor is set in sidepiece of the sliding equipment along guide rail, with to the support machine
The horizontal level detection of structure, and transmit into control module；
The supporting mechanism can drive the chair mechanism that can adjust sitting posture above it to move up and down, supporting mechanism bag
The first supporting plate and the second supporting plate of above-below direction arrangement are included, wherein, the surface of the first supporting plate is set and chair mechanism
Supporting plate identical upper shed, supporting plate are placed in upper shed, and can be moved up and down along upper shed；
Under shed is opened up in the second described supporting plate position corresponding with the upper shed of the first supporting plate, described
Being set under shed, the 3rd oil cylinder being driven to the supporting plate, the piston rod of the 3rd oil cylinder and the lower end of supporting plate connect,
Under the driving of 3rd oil cylinder, the supporting plate moves up and down in upper shed；
Described image processing unit is to when the control module is obtaining profile information, in the sampling to each collection of illustrative plates
Profile information is obtained in time interval respectively；Gray scale linear stretch, the collection of illustrative plates after being stretched, output bag are carried out to the collection of illustrative plates
Image containing testing result.
Further, described image processing unit obtains the first pixel and the second pixel of the collection of illustrative plates after the stretching, its
In, the first pixel A is object pixel, and the gray value of the first pixel is more than or equal to initial segmentation threshold value T0, sum of all pixels N；
Second pixel B is background pixel, and the gray value of the second pixel is less than initial segmentation threshold value T0, sum of all pixels M；Collection of illustrative plates f (i, j)
Maximum be Vmax, minimum value Vmin
Wherein, T0=1/2 (Vmin+Vmax) (4)；
Calculate the global threshold T of the gray average of the first pixel and the second pixel；
Calculate the variances sigma of the first pixel and the second pixel2
σ2=(PA+PB)(T-T0)2(6)；
Wherein, the probability of the first pixel is：
The probability of second pixel is：
If variance is within a preset range, the collection of illustrative plates is split using T as global threshold.
Further, the control module is included to two groups of first position sensors, second place sensor, the 3rd position
Signal gathering unit that the real-time position information of sensor is received, the signal to signal gathering unit conveying are handled
Comparing unit, and the memory cell of storage each position information and positional information threshold value；Described control module obtains each position
After putting the real time information of sensor, corresponding first oil cylinder, the 3rd oil cylinder, the action of the second oil cylinder and stroke range are controlled.
Further, the comparing unit judges first position sensor, the second place according to following mean operation formula
The coincidence angle value P of sensor21：
In formula, P21Represent first position sensor, second place sensor resistance coincidence angle value, r1Represent first
Put the real-time sampling value of sensor, r2Represent the real-time sampling value of second place sensor；r3Represent the reality of the 3rd position sensor
When sampled value；T represents mean square deviation computing, and I represents integral operation.
Further, described comparing unit judges first position sensor, second place sensor according to the following equation
Coincidence angle value P31：
In formula, P31Represent first position sensor, the 3rd position sensor resistance coincidence angle value, r1Represent first
Put the real-time sampling value of sensor, r2Represent the real-time sampling value of second place sensor；r3Represent the reality of the 3rd position sensor
When sampled value；T represents mean square deviation computing, and I represents integral operation.
Further, described comparing unit judges second place sensor, the 3rd position sensor according to the following equation
Coincidence angle value P23：
In formula, P23Represent second place sensor, the coincidence angle value of the 3rd position sensor, r1Represent first position sensing
The real-time sampling value of device, r2Represent the real-time sampling value of second place sensor；r3Represent the real-time sampling of the 3rd position sensor
Value；T represents mean square deviation computing, and I represents integral operation.
Further, the P that the comparing unit obtains21、P31、P23, by the mean value calculation of three coincidence angle value, obtain
Take the positional information final value A of vertical direction；
After accurate positional information final value A is obtained, respectively compared with two threshold values：
If A ＜ A1, illustrate that the position threshold deviation range of the vertical position that detects in real time and setting is smaller, only need to control
The less 3rd oil cylinder lifting of adjustment amplitude, seat mechanism position is adjusted in vertical direction displacement threshold value A1；
If A1 ＜ A ＜ A2, the position threshold deviation range of the vertical position for illustrating to detect in real time and setting is in medium model
In enclosing, then first adjusted to threshold value A 1 and be worth by the 3rd oil cylinder, then have the first larger oil cylinder of stroke again in the range of threshold value A 2
Adjustment；
If A ＞ A2, illustrate that the position threshold deviation range of the vertical position that detects in real time and setting is larger, as by the
One oil cylinder adjusts seat mechanism position in vertical direction displacement threshold value A2.
Further, the 3rd position sensor detects chair mechanism horizontal position information, first group of second in real time
Sensing, the real-time detection level positional information of first group of second place sensor are put, and is determined accurately by above-mentioned mean operation
Horizontal position information B, and by compared with horizontal direction displacement threshold value B1, determining the displacement of the second oil cylinder, Yi Jizhi
The displacement of support mechanism.
Further, the lower end middle part of the upper shed opens up the through hole passed through for the piston rod of the 3rd oil cylinder, leads to
Hole surrounding is the bottom support section of upper shed, and it is annular bottom sidewall.
Further, at least two extension springs are set in the annular bottom sidewall, it is upward in the 3rd oil cylinder
When promoting supporting plate, the extension spring gradually applies downward pulling force to the supporting plate, and support is pulled downward in the 3rd oil cylinder
During plate, the extension spring gradually applies upward thrust to the supporting plate.
Compared with prior art the beneficial effects of the present invention are, the present invention by chair mechanism horizontally and vertically side
To adjustment, the adjustment to imager vertical direction, to realize chair mechanism position and imager position according to preset order
Adjustment, the adjustment Process Precision of two-way adjustment are high；Do not stood in patient and change position to adjust shooting angle, and in sitting or flat
Detection in real time is completed when lying.
Especially, supporting mechanism of the present invention includes the first supporting plate and the second supporting plate of above-below direction arrangement, wherein, first
The surface of supporting plate sets the supporting plate identical upper shed with support chair mechanism, and can accommodate supporting plate, and supporting plate is placed in out
In mouthful, and it can be moved up and down along upper shed.
Preferably, the present invention first has tune when being adjusted to the camera site between chair mechanism position and imager
The less 3rd hydraulic oil cylinder driving supporting plate of view picture degree, enables chair mechanism to lift, if the scope adjusted beyond the 3rd oil cylinder,
It is adjusted by the first larger hydraulic oil cylinder driving imager of stroke range.By by two groups of adjustment mechanisms in respective threshold range
It is adjusted, avoids single adjustment mode from causing the deformity made film between angle and chair mechanism angle, causes to shoot deviation.
Preferably, control module of the present invention is included to first position sensor, first group of second place sensor, second
Put signal gathering unit that the real-time position information of sensor received, the signal to signal gathering unit conveying is handled
Comparing unit, and storage each position information and positional information threshold value memory cell.Described control module obtains each
After the real time information of position sensor, corresponding first oil cylinder, the 3rd oil cylinder, the action of the second oil cylinder and stroke range are controlled.
Can only be by adjusting angle and the position of imager, the embodiment of the present invention, by adjusting simultaneously compared to prior art
The upper and lower and right position of whole chair mechanism, and the upper-lower position of imager adjust the best angle taken pictures.
Brief description of the drawings
Fig. 1 is the structural representation for the imaging system that the present invention is used for neurosurgery；
Fig. 2 is the left view structural representation of the supporting mechanism of the present invention；
Fig. 3 is the positive structure diagram of the testing agency of the present invention；
Fig. 4 is the cross section structure diagram that the supporting mechanism of the present invention is placed in upper shed in supporting plate.
Embodiment
Below in conjunction with accompanying drawing, the forgoing and additional technical features and advantages are described in more detail.
The preferred embodiment of the present invention described with reference to the accompanying drawings.What art technology chair mechanism person should be understood
It is that these embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.
It should be noted that in the description of the invention, the instruction such as term " on ", " under ", "left", "right", " interior ", " outer "
Direction or the term of position relationship be to be based on direction shown in the drawings or position relationship, this is intended merely to facilitate description, and
It is not instruction or implies that described device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.
In addition it is also necessary to explanation, in the description of the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For art technology chair mechanism, above-mentioned art can be understood as the case may be
The concrete meaning of language in the present invention.
As shown in fig.1, it is respectively structural representation of the present invention for the imaging system of neurosurgery, including
Testing agency 2, supporting mechanism 1, sliding equipment 3, elevation measurement mechanism 4, chair mechanism 6 and control module, wherein, the inspection
The side that mechanism 2 is vertically arranged in supporting mechanism 1 is surveyed, to carry out image checking to patient；Supporting mechanism 1 is arranged on skate machine
Moved horizontally on structure 3 and along sliding equipment 3, chair mechanism 6 is arranged on the upper end of supporting mechanism 1 and moved with it, to support patient
And it is moved to optimum position；Height measuring mechanism 4 measures position and the elevation information of chair mechanism in real time, and transmits to control mould
In block.The supporting mechanism 1 of the embodiment of the present invention can be along the horizontal movement of sliding equipment 3, also, supporting mechanism 1 can drive it
Chair mechanism 6 above moves up and down.When in use, patient is sitting on chair mechanism 6, and by adjusting chair mechanism to adjust
The posture of patient, patient can keep sitting posture on chair mechanism 6 or lie on chair mechanism 6, and chair mechanism only needs to expire
Foot can be arranged on supporting mechanism, and can adjust sitting posture.When being taken pictures by X-ray imager to chair mechanism, inspection
Surveying mechanism 2 can drive imager to move up and down, meanwhile, supporting mechanism 1 can drive chair mechanism in the horizontal direction or erect
Nogata is to motion, to adjust the angle of shooting.
With continued reference to shown in Fig. 1, the present embodiment imaging system is arranged in confined chamber 100, to provide stable environment；Institute
Stating chair mechanism 6 includes hang plate 621, the level board 631 being arranged on the supporting mechanism 1, wherein, in the hang plate
621 tops set the headrest 61 that head is placed for patient, and the downside of headrest 61 sets the backrest area 62 for adding sponge for placing back,
Meanwhile two leg zones 63 for adding sponge are set on the level board 631, above-mentioned zone is arranged in imaging process,
Comfortable imaging circumstances are provided for patient.
Specifically, testing agency 2 includes riser and the support block 21 being arranged on the inside of riser, is arranged on support block 21
On Ffirst cylinder 22 and the imager 23 that is arranged in Ffirst cylinder 22, under the driving of Ffirst cylinder 22, be arranged on work
The imager 23 of stopper rod upper end moves up and down.In order to ensure that imager 23 can stop in default height, imager 23 is prevented
In higher position, the distortion of shooting angle is caused；The upper end of riser is provided with height sensor 24, in real time to imager 23
Height detected.
As shown in fig.2, it is the positive structure diagram of the testing agency of the present invention, set on the inside of described riser
Put two vertically arranged sensor installing plates 26, the first position for setting two rows highly to detect imager respectively thereon
Sensor 27, by setting two row's sensors, additionally it is possible to detected to the right position of chair mechanism, measure imager in real time
Height and chair mechanism right position after, vertically and horizontally positional information will transmit to the control module.
With continued reference to shown in Fig. 1, elevation measurement mechanism 4 is to be arranged on the vertical upright column in the outside of supporting mechanism 1, is set thereon
The second place sensor 52 detected to chair mechanism elevation information, in real time detect chair mechanism elevation information and by its
Transmit into control module.Specifically, the sliding equipment 3 includes the slide rail 33 for being arranged on centre, and is arranged on slide rail
33 one end promote the second oil cylinder 31 that the supporting mechanism 1 moves horizontally, and accordingly, are set in the bottom of the supporting mechanism 1
The groove 34 corresponding with the slide rail 32, slide rail 32 is arranged in groove, and is moved along it.Art technology chair mechanism can
With understanding, in the position of the both ends set location sensor of the slide rail, in real time detection supporting mechanism；Also, described
Sidepiece of the sliding equipment 3 along guide rail sets second place sensor 30, to be detected to the horizontal level of the supporting mechanism 1, and
Transmit into control module；Meanwhile the first position sensor 27 of the testing agency is arranged on, in real time to the position of chair mechanism
Put and detected.
As shown in fig.4, its cross section structure diagram for the supporting mechanism of the present invention, in the present embodiment, supports machine
Structure 1 can lift chair mechanism lifting, and realize any adjustment in vertical direction.Specifically, supporting mechanism 1 is included up and down
The first supporting plate 12 and the second supporting plate 11 of direction arrangement, wherein, the surface of the first supporting plate 12 is set and support seat machine
The identical upper shed 121 of supporting plate 123 of structure, and supporting plate 123 can be accommodated, supporting plate 123 is placed in upper shed 121, and being capable of edge
Upper shed 121 moves up and down；Supporting plate 123 is set in the upper shed 121 of the first supporting plate 12, and chair mechanism is by being placed in supporting plate
On 123, to realize support.Opened in the second described supporting plate 11 position corresponding with the upper shed 121 of the first supporting plate 12
Opening 122 is set, the 3rd oil cylinder 125 being driven to the supporting plate 123, the 3rd oil are set in described under shed 122
The piston rod of cylinder 125 is connected with the lower end of supporting plate 123, and under the driving of the 3rd oil cylinder 125, the supporting plate 123 is in upper shed
Move up and down.State as shown in Figure 1, for supporting plate stretch out upper shed when state, Fig. 4 be supporting plate in upper shed when state,
The present embodiment sets three mounting plates to drive chair mechanism 6 to lift.
It will be understood by those skilled in the art that three supporting plates respectively can only be when the height of chair mechanism 6 be higher than supporting mechanism 1
Action, namely the extreme lower position of chair mechanism 6 is position when being placed on 1 upper surface of supporting mechanism；Now, if also needing to adjust
During the shooting angle of whole vertical direction, then need to adjust imager position by the first oil cylinder.
In order to ensure that supporting plate 123 can open up in the default lower end middle part apart from the interior movement upper shed 121
The through hole passed through for the piston rod of the 3rd oil cylinder 125, through hole surrounding are the bottom support section of upper shed 121, and it is annular
Bottom sidewall.At least two extension springs 124 are set in the annular bottom sidewall, pushed up in the 3rd oil cylinder 126
During dynamic supporting plate, the extension spring 124 gradually applies downward pulling force to the supporting plate, is pulled down in the 3rd oil cylinder 126
During dynamic supporting plate, the extension spring 124 gradually applies upward thrust to the supporting plate.
Can only be by adjusting angle and the position of imager, the embodiment of the present invention, by adjusting simultaneously compared to prior art
The upper and lower and right position of whole chair mechanism, and the upper-lower position of imager adjust the best angle taken pictures.
The control module of the embodiment of the present invention is included to two groups of first position sensors 27, second place sensor 52, the
Signal gathering unit that the real-time position information of two position sensors 30 is received, the signal to signal gathering unit conveying enter
The comparing unit of row processing, and the memory cell of storage each position information and positional information threshold value.Described control module obtains
After the real time information for taking each position sensor, control corresponding Ffirst cylinder 22, the 3rd oil cylinder 125, the second oil cylinder 31 it is dynamic
Work and stroke range.
Specifically, the memory cell contains vertical direction displacement threshold value and horizontal direction position threshold, wherein,
Vertical direction displacement threshold value is A1 and A2, and horizontal direction displacement threshold value is B1.First position sensor 27, second described in two groups
Put sensor 52 in real time to detect chair mechanism elevation information, and data transfer will be detected in real time into control module, by
Chair mechanism elevation information is detected in real time in three groups of sensors, and the comparing unit judges first according to following mean operation formula
The coincidence angle value P of position sensor, second place sensor21：
In formula, P21Represent first position sensor, second place sensor resistance coincidence angle value, r1Represent first
Put the real-time sampling value of sensor, r2Represent the real-time sampling value of second place sensor；r3Represent the reality of second place sensor
When sampled value；T represents mean square deviation computing, and I represents integral operation.
Wherein I represents any integral operation based on quadratic function, and above-mentioned formula is to obtain the ratio information of integration, following
Two formula are identical, are such as based on function y=ax2, it is that a ＜ b are any number in (a, b) in x values.
The rudimentary algorithm of above-mentioned mean operation is：By obtaining the positional value of all sampled points within some period,
Integral operation and mean square deviation computing are carried out to each value in some period, ratio is then taken, show that what is compared is averaged
Value.
Described comparing unit judges the coincidence angle value of first position sensor, second place sensor according to the following equation
P31：
In formula, P31Represent first position sensor, second place sensor resistance coincidence angle value, r1Represent first
Put the real-time sampling value of sensor, r2Represent the real-time sampling value of second place sensor；r3Represent the reality of the 3rd position sensor
When sampled value；T represents mean square deviation computing, and I represents integral operation.Described comparing unit judges the second place according to the following equation
The coincidence angle value P of sensor, the 3rd position sensor23：
In formula, P23Represent second place sensor, the coincidence angle value of the 3rd position sensor, r1Represent first position sensing
The real-time sampling value of device, r2Represent the real-time sampling value of second place sensor；r3Represent the real-time sampling of the 3rd position sensor
Value；T represents mean square deviation computing, and I represents integral operation.
The P obtained by aforesaid way21、P31、P23, by the mean value calculation of three coincidence angle value, obtain vertical direction
Positional information final value A.
After accurate positional information final value A is obtained, respectively compared with two threshold values：
If A ＜ A1, illustrate that the position threshold deviation range of the vertical position that detects in real time and setting is smaller, only need to control
Less 3rd oil cylinder 125 of adjustment amplitude is lifted, and seat mechanism position is adjusted in vertical direction displacement threshold value A1；
If A1 ＜ A ＜ A2, the position threshold deviation range of the vertical position for illustrating to detect in real time and setting is in medium model
In enclosing, then first adjusted to threshold value A 1 and be worth by the 3rd oil cylinder 125, then there is model of the larger Ffirst cylinder 22 of stroke in threshold value A 2 again
Enclose interior adjustment；
If A ＞ A2, illustrate that the position threshold deviation range of the vertical position that detects in real time and setting is larger, as by the
One oil cylinder 22 adjusts seat mechanism position in vertical direction displacement threshold value A2.
The embodiment of the present invention, when being adjusted to the camera site between chair mechanism position and imager, first there is tune
The less 3rd hydraulic oil cylinder driving supporting plate of view picture degree, enables chair mechanism to lift, if the scope adjusted beyond the 3rd oil cylinder,
It is adjusted by the first larger hydraulic oil cylinder driving imager of stroke range.By by two groups of adjustment mechanisms in respective threshold range
It is adjusted, avoids single adjustment mode from causing the deformity made film between angle and chair mechanism angle, causes to shoot deviation.
For the embodiment of the present invention, the vertical position or horizontal level of chair mechanism 6 no matter are adjusted in threshold range, in patient
It is sitting in or lies on chair mechanism and complete detection, it is not necessary to which patient, which stands up, adjusts posture.
Specifically, when being detected in the position to horizontal direction, the 3rd position sensor and two groups of seconds are passed through
Put sensor 52 to be detected, by the second oil cylinder 31 supporting mechanism 1 can only be promoted to move, therefore, the 3rd position sensing
Device 30 detects chair mechanism horizontal position information in real time, and first group of second place sensing, second group of second place sensor are real-time
Detection level positional information, and accurate horizontal position information B is determined by above-mentioned mean operation, and by with horizontal direction
Displacement threshold value B1 is compared, and determines the displacement of the second oil cylinder, and the displacement of supporting mechanism 1.
The present embodiment, by the adjustment in horizontally and vertically direction, to realize chair mechanism position and imager position
Adjustment, the adjustment Process Precision of two-way adjustment are high.
Also include the graphics processing unit being connected with the signal gathering unit, institute in the control module of the embodiment of the present invention
Graphics processing unit is stated after the control module obtains image information, to be handled image and be analyzed, output includes
The image of testing result.
Described image processing unit obtains respectively when obtaining profile information in the sampling time interval to each collection of illustrative plates
Profile information；Gray scale linear stretch, the collection of illustrative plates after being stretched are carried out to the collection of illustrative plates；Obtain of the collection of illustrative plates after the stretching
One pixel and the second pixel, wherein, the first pixel A is object pixel, and the gray value of the first pixel is more than or equal to initial segmentation
Threshold value T0, sum of all pixels N；Second pixel B is background pixel, and the gray value of the second pixel is less than initial segmentation threshold value T0, as
Plain sum is M；Collection of illustrative plates f (i, j) maximum is Vmax, minimum value Vmin
Wherein, T0=1/2 (Vmin+Vmax) (4)；
Calculate the global threshold T of the gray average of the first pixel and the second pixel；
Calculate the variances sigma of the first pixel and the second pixel2
σ2=(PA+PB)(T-T0)2(6)；
Wherein, the probability of the first pixel is：
The probability of second pixel is：
If variance is within a preset range, the collection of illustrative plates is split using T as global threshold.
By carrying out gray scale linear stretch, the DNA collection of illustrative plates after being stretched to the collection of illustrative plates；DNA collection of illustrative plates after being stretched
The first pixel and the second pixel, calculate the global threshold T of the gray average of the first pixel and the second pixel；And calculate first
The variances sigma of pixel and the second pixel2If variance is within a preset range, the collection of illustrative plates is split using T as global threshold.Can
To realize when to IMAQ, target and background is easily identified, avoid the misrecognition of target, and run time is short, to figure
Picture segmentation effect is good, after improving IMAQ, to the accuracy of image recognition, and then accurately collection of illustrative plates is judged, further analysis
The state of an illness.
So far, combined preferred embodiment shown in the drawings describes technical scheme, still, this area
Technology chair mechanism is it is easily understood that protection scope of the present invention is expressly not limited to these embodiments.Not inclined
On the premise of principle from the present invention, art technology chair mechanism can make equivalent change or replace to correlation technique feature
Change, the technical scheme after these are changed or replaced it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of imaging system for neurosurgery, it is characterised in that including testing agency, supporting mechanism, skate machine
Structure, elevation measurement mechanism, chair mechanism and control module, wherein, the testing agency is vertically arranged in the one of supporting mechanism
Side, to carry out image checking to patient；The supporting mechanism sets on the sliding mechanism and moved horizontally along sliding equipment, energy
The chair mechanism above it is enough driven to move up and down, to support patient and be moved to optimum position；The height measuring mechanism is real
When measure position and the elevation information of chair mechanism, and transmit into control module；
The imaging system is arranged in confined chamber, wherein, the chair mechanism includes hang plate, is arranged on the supporting mechanism
On level board, the headrest that head is placed for patient is set on the hang plate top, set on the downside of headrest place back plus
If the backrest area of sponge, meanwhile, two leg zones for adding sponge are set on the level board；
The testing agency include riser and be arranged on the inside of riser support block, be arranged in support block the first oil cylinder,
And the imager on the first oil cylinder is arranged on, under the driving of the first oil cylinder, it is arranged on above and below the imager of piston rod upper end
It is mobile；Two vertically arranged sensor installing plates are set in the inner side of described riser, two rows are set respectively thereon to imaging
The first position sensor that machine is highly detected, the vertically and horizontally positional information for detecting acquisition is transmitted to the control mould
Block；
The elevation measurement mechanism is arranged on the outside of supporting mechanism, sets the detected to chair mechanism elevation information thereon
Two position sensors, the elevation information of chair mechanism is detected in real time and is transmitted it in control module；
The sliding equipment includes the slide rail for being arranged on centre, and is arranged on slide rail one end and promotes the supporting mechanism is horizontal to move
The second dynamic oil cylinder；Second place sensor is set in sidepiece of the sliding equipment along guide rail, with to the supporting mechanism
Horizontal level detects, and transmits into control module；
The supporting mechanism can drive the chair mechanism that can adjust sitting posture above it to move up and down, and supporting mechanism includes upper
The first supporting plate and the second supporting plate of lower direction arrangement, wherein, the surface of the first supporting plate sets the supporting plate with chair mechanism
Identical upper shed, supporting plate are placed in upper shed, and can be moved up and down along upper shed；
Under shed is opened up in the second described supporting plate position corresponding with the upper shed of the first supporting plate, is opened under described
Intraoral setting, the 3rd oil cylinder being driven to the supporting plate, the piston rod of the 3rd oil cylinder and the lower end of supporting plate connect, the 3rd
Under the driving of oil cylinder, the supporting plate moves up and down in upper shed；
Described image processing unit is to when the control module is obtaining profile information, in the sampling time to each collection of illustrative plates
Profile information is obtained respectively in interval；Gray scale linear stretch, the collection of illustrative plates after being stretched are carried out to the collection of illustrative plates, output includes inspection
Survey the image of result.
2. the imaging system according to claim 1 for neurosurgery, it is characterised in that described image processing is single
Member obtains the first pixel and the second pixel of the collection of illustrative plates after the stretching, wherein, the first pixel A is object pixel, the first pixel
Gray value be more than or equal to initial segmentation threshold value T0, sum of all pixels N；Second pixel B is background pixel, the ash of the second pixel
Angle value is less than initial segmentation threshold value T0, sum of all pixels M；Collection of illustrative plates f (i, j) maximum is Vmax, minimum value Vmin
Wherein, T0=1/2 (Vmin+Vmax) (4)；
Calculate the global threshold T of the gray average of the first pixel and the second pixel；
<mrow>
<mi>T</mi>
<mo>=</mo>
<mn>1</mn>
<mo>/</mo>
<mn>2</mn>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<munder>
<mo>&Sigma;</mo>
<mrow>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo>&GreaterEqual;</mo>
<msub>
<mi>T</mi>
<mn>0</mn>
</msub>
</mrow>
</munder>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
</mrow>
<mi>N</mi>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<munder>
<mo>&Sigma;</mo>
<mrow>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
<mo><</mo>
<msub>
<mi>T</mi>
<mn>0</mn>
</msub>
</mrow>
</munder>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>,</mo>
<mi>j</mi>
<mo>)</mo>
</mrow>
</mrow>
<mi>M</mi>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Calculate the variances sigma of the first pixel and the second pixel2
σ2=(PA+PB)(T-T0)2(6)；
Wherein, the probability of the first pixel is：
<mrow>
<msub>
<mi>P</mi>
<mi>A</mi>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mrow>
<mi>M</mi>
<mo>+</mo>
<mi>N</mi>
</mrow>
</munderover>
<mfrac>
<mi>N</mi>
<mrow>
<mi>M</mi>
<mo>+</mo>
<mi>N</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
The probability of second pixel is：
<mrow>
<msub>
<mi>P</mi>
<mi>B</mi>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>k</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mrow>
<mi>M</mi>
<mo>+</mo>
<mi>N</mi>
</mrow>
</munderover>
<mfrac>
<mi>M</mi>
<mrow>
<mi>M</mi>
<mo>+</mo>
<mi>N</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
If variance is within a preset range, the collection of illustrative plates is split using T as global threshold.
3. the imaging system according to claim 2 for neurosurgery, it is characterised in that the control module bag
Include what the real-time position information of two groups of first position sensors, second place sensor, the 3rd position sensor was received
Signal gathering unit, the comparing unit that is handled of signal to signal gathering unit conveying, and storage each position information and
The memory cell of positional information threshold value；After described control module obtains the real time information of each position sensor, control is corresponding
The first oil cylinder, the 3rd oil cylinder, the action of the second oil cylinder and stroke range.
4. the imaging system according to claim 3 for neurosurgery, it is characterised in that the comparing unit is pressed
The coincidence angle value P of first position sensor, second place sensor is judged according to following mean operation formula21：
<mrow>
<msub>
<mi>P</mi>
<mn>21</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>T</mi>
<mo>(</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
<mo>)</mo>
<mo>*</mo>
<mi>I</mi>
<mo>(</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
</mrow>
<msqrt>
<mrow>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
<mi>T</mi>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>*</mo>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
<mi>I</mi>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, P21Represent first position sensor, second place sensor resistance coincidence angle value, r1Represent that first position passes
The real-time sampling value of sensor, r2Represent the real-time sampling value of second place sensor；r3Represent adopting in real time for the 3rd position sensor
Sample value；T represents mean square deviation computing, and I represents integral operation.
5. the imaging system according to claim 4 for neurosurgery, it is characterised in that described comparing unit
First position sensor, the coincidence angle value P of the 3rd position sensor are judged according to the following equation31：
<mrow>
<msub>
<mi>P</mi>
<mn>31</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>T</mi>
<mo>(</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
<mo>)</mo>
<mo>*</mo>
<mi>I</mi>
<mo>(</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
</mrow>
<msqrt>
<mrow>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
<mi>T</mi>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>*</mo>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
</mrow>
</msub>
<mi>I</mi>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, P31Represent first position sensor, the 3rd position sensor resistance coincidence angle value, r1Represent that first position passes
The real-time sampling value of sensor, r2Represent the real-time sampling value of second place sensor；r3Represent adopting in real time for the 3rd position sensor
Sample value；T represents mean square deviation computing, and I represents integral operation.
6. the imaging system according to claim 5 for neurosurgery, it is characterised in that described comparing unit
Second place sensor, the coincidence angle value P of the 3rd position sensor are judged according to the following equation23：
<mrow>
<msub>
<mi>P</mi>
<mn>23</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>T</mi>
<mo>(</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
</mrow>
<mo>)</mo>
<mo>*</mo>
<mi>I</mi>
<mo>(</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
</mrow>
<msqrt>
<mrow>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
</mrow>
</msub>
<mi>T</mi>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>*</mo>
<msub>
<mo>&Sigma;</mo>
<mrow>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
</mrow>
</msub>
<mi>I</mi>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, P23Represent second place sensor, the coincidence angle value of the 3rd position sensor, r1Represent first position sensor
Real-time sampling value, r2Represent the real-time sampling value of second place sensor；r3Represent the real-time sampling value of the 3rd position sensor；T
Mean square deviation computing is represented, I represents integral operation.
7. the imaging system according to claim 6 for neurosurgery, it is characterised in that the comparing unit obtains
The P taken21、P31、P23, by the mean value calculations of three coincidence angle value, obtain the positional information final value A of vertical direction；
After accurate positional information final value A is obtained, respectively compared with two threshold values：
If A ＜ A1, illustrate that the position threshold deviation range of the vertical position that detects in real time and setting is smaller, only need to control adjustment
The less 3rd oil cylinder lifting of amplitude, seat mechanism position is adjusted in vertical direction displacement threshold value A1；
If A1 ＜ A ＜ A2, the vertical position for illustrating to detect in real time with setting position threshold deviation range in medium range,
Then first adjusted to threshold value A 1 and be worth by the 3rd oil cylinder, the first oil cylinder for then having stroke larger again adjusts in the range of threshold value A 2；
If A ＞ A2, illustrate that the position threshold deviation range of the vertical position and setting detected in real time is larger, as oily by first
Cylinder adjusts seat mechanism position in vertical direction displacement threshold value A2.
8. the imaging system according to claim 7 for neurosurgery, it is characterised in that the 3rd position passes
Sensor detects chair mechanism horizontal position information in real time, and first group of second place sensing, first group of second place sensor are real-time
Detection level positional information, and accurate horizontal position information B is determined by above-mentioned mean operation, and by with horizontal direction
Displacement threshold value B1 is compared, and determines the displacement of the second oil cylinder, and the displacement of supporting mechanism.
9. the imaging system according to claim 7 for neurosurgery, it is characterised in that under the upper shed
End middle part opens up the through hole passed through for the piston rod of the 3rd oil cylinder, and through hole surrounding is the bottom support section of upper shed, its
For the bottom sidewall of annular.
10. the imaging system according to claim 9 for neurosurgery, it is characterised in that at the annular bottom
At least two extension springs are set in portion's side wall, and when the 3rd oil cylinder pushes up supporting plate, the extension spring is to described
Supporting plate gradually applies downward pulling force, when the 3rd oil cylinder pulls downward on supporting plate, the extension spring to the supporting plate by
Gradually apply upward thrust.
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| CN108872489A (en) * | 2018-07-17 | 2018-11-23 | 深圳天溯计量检测股份有限公司 | A kind of detector for toys |
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Application publication date: 20180209 |