CN108095748A - X-ray DR robot systems and its detection method - Google Patents
X-ray DR robot systems and its detection method Download PDFInfo
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- CN108095748A CN108095748A CN201810096264.XA CN201810096264A CN108095748A CN 108095748 A CN108095748 A CN 108095748A CN 201810096264 A CN201810096264 A CN 201810096264A CN 108095748 A CN108095748 A CN 108095748A
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- 238000003384 imaging method Methods 0.000 claims description 12
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- 210000000245 forearm Anatomy 0.000 claims description 6
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- 210000000936 intestine Anatomy 0.000 abstract description 7
- 210000002784 stomach Anatomy 0.000 abstract description 7
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis 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 or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
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Abstract
The present invention proposes a kind of X-ray DR robot systems and its detection method, including console unit, DR robot cells, pipe ball unit, flat panel detector unit, sampling unit, slave computer；The DR robot cells include X-ray tube ball mechanical arm, flat panel detector mechanical arm, and the movement locus and action message of X-ray tube ball mechanical arm and flat panel detector mechanical arm are transferred to slave computer；Detection information is transferred to console unit by the slave computer for controlling X-ray tube ball mechanical arm, the movement locus of flat panel detector mechanical arm and control pipe ball unit, the working condition of flat panel detector unit.The present invention can realize the most of function for a variety of medical apparatus that C-arm X-ray production apparatus, CT machines, stomach and intestine machine, fluoroscopic machine, filming machine etc. are detected using X-ray, the purchase cost of equipment can be reduced, reduce the floor space of medical equipment, improve the utilization rate in space.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of X-ray DR robot systems and its detection method.
Background technology
The more dispersed species of X-ray product that Hospitals at Present generally uses is various, is penetrated including X-ray level bed DR, C-arm X
Line machine, UC arms DR, suspention DR systems, CT system；25 stomach and intestine machines etc..The position of more than hardware check and the emphasis of inspection, respectively
Different, function is using above cutting both ways, it is impossible to realize the detection of all positions.And kinds of machine is various, due to every machine
Operating with for device is different from, and difficulty is brought using adjusting of, parameter etc. to the operating personnel of hospital.And kinds of machine
Various, hospital needs to provide enough places.Occupy substantial amounts of space.Cause the in short supply of place.Comprehensive cost increases
Add.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
For this purpose, it is an object of the invention to propose a kind of X-ray DR robot systems, floor space can be reduced.
To achieve these goals, the present invention provides a kind of X-ray DR robot systems, including：Console unit, DR
Robot cell, pipe ball unit, flat panel detector unit, sampling unit, slave computer；
The DR robot cells include X-ray tube ball mechanical arm, flat panel detector mechanical arm, the X-ray tube ball machine
Tool arm and flat panel detector mechanical arm cooperating, and be all connected with the slave computer and communicate each other, by X-ray tube ball mechanical arm
Slave computer is transferred to the movement locus and action message of flat panel detector mechanical arm；The slave computer also with pipe ball unit,
The connection of flat panel detector unit communicates each other, and the slave computer is used to control X-ray tube ball mechanical arm, flat panel detector mechanical arm
Movement locus and control pipe ball unit, the working condition of flat panel detector unit, and detection information is transferred to console
Unit；
It is equipped between the X-ray tube ball mechanical arm and flat panel detector mechanical arm and aids in multi-functional table, the auxiliary
Multi-functional table is also connected with slave computer to communicate each other, and the multi-functional table of auxiliary, which is used to be adjusted according to detection demand, to be detected
The position of personnel, angle；
Installing pipe ball unit on the X-ray tube ball mechanical arm, by X-ray tube ball mechanical arm come regulation pipe ball unit
Position, that is, adjust x-ray bombardment direction, and the pipe ball unit is used to generate X-ray；
Flat panel detector unit on the flat panel detector mechanical arm is installed, is adjusted by flat panel detector mechanical arm flat
Partitioned detector unit adjusts X-ray through the direction of reception image after human body, and pipe ball unit is matched somebody with somebody with flat panel detector unit
Work is closed, for adjusting x-ray bombardment at the position of human body；The flat panel detector unit emitted for reception pipe ball unit
Imaging of the X-ray come after body, and image-forming information is transferred to slave computer；
The sampling unit includes video camera, body weight measuring device, and the video camera is mounted on above body weight measuring device, described
Video camera and the body weight measuring device are all connected with the console unit to communicate each other；The video camera and body weight measuring device are used
The human body information of personnel is detected in acquisition, and is transferred to console unit；
The console unit is also connected with slave computer to communicate each other；
The console unit is used to carry out typing and analysis to the human body information for being detected personnel, calculates needs automatically
Detection site ray measures, and the movement locus and action of X-ray tube ball mechanical arm and flat panel detector mechanical arm are believed
Breath is transferred to slave computer, and receives and control slave computer job information.
Further, the console unit, sampling unit are arranged inside or outside detection zone, DR robots list
Member is arranged in detection zone, and the console unit is according to the area size of detection zone to the X-ray tube in DR robot cells
Ball mechanical arm, the coordinate of flat panel detector mechanical arm are analyzed, and determine X-ray tube ball mechanical arm, flat panel detector machinery
The movement locus of arm.
Further, the X-ray tube ball mechanical arm, all set on each movable joint arm on flat panel detector mechanical arm
There is ultrasonic sensor, the ultrasonic sensor is used to detect at this and the distance of barrier, is then sent less than safe distance
Alarm.
Further, the elastic touching switch of rubber drum is designed on the flat panel detector unit and pipe ball unit, it is described
The elastic touching switch of rubber drum is used for modification after being pressurized with human body or bar contact, and transmits a signal to the tablet detection
Device mechanical arm and/or X-ray tube ball mechanical arm control the movement of the flat panel detector unit and/or pipe ball unit to stop.
Further, the slave computer is also connected with high pressure generator, by controlling high pressure generator come control pipe ball list
The exposure status of member.
Further, the pipe ball unit includes pipe ball, photochopper, beam-defining clipper, the filament bombardment target surface in the pipe ball
When generate X-ray, the beam-defining clipper filters out the extra ray of X-ray and scattered rays.
Further, the flat panel detector includes detector, grid, and the detector passes through for receiving X-ray
Imaging after body, the grid are used to ray being adjusted to same direction, improve image quality.
Further, the X-ray tube ball mechanical arm and flat panel detector mechanical arm are all by sixdegree-of-freedom simulation structure
Into sixdegree-of-freedom simulation turns kinematic pair including waist, shoulder turns kinematic pair, elbow turns kinematic pair, forearm turns kinematic pair, head pitching fortune
Pair, head end rotary motion pair are moved, progress waist turn, shoulder turn, elbow turn, forearm turn, head pitching, head end rotate moving for six direction
Make.
The present invention also provides a kind of detection methods using above-mentioned X-ray DR robot systems, comprise the following steps：
Step S1, typing are detected the essential information of personnel；
Manually input and sampling unit acquisition are detected the human body information of personnel, and are transferred to console unit；
Step S2 determines the trace information of DR robot cells；
Console unit calculates the location parameter for needing detection site and penetrates according to the human body information for the personnel of being detected
Line measuring parameter；According to X-ray tube ball mechanical arm and flat panel detector mechanical arm in the coordinate information being detected in region, calculating
The movement track parameters of X ray tube ball mechanical arms and flat panel detector mechanical arm, and it is transferred to slave computer；
Step S3, slave computer control DR robot cell's movements；
Detected personnel enter measured zone, and after lying in the multi-functional table of auxiliary according to guide, slave computer is according to movement rail
Mark state modulator X-ray tube ball mechanical arm and flat panel detector manipulator motion reach designated position, and slave computer is by controlling X
Ray tube ball mechanical arm, flat panel detector mechanical arm, the multi-functional table of auxiliary so that the detection site for being detected personnel is in
In the detection range of flat panel detector unit and pipe ball unit；
Step S4 carries out x-ray imaging；
Slave computer sends X-ray according to the pipe ball in control pipe ball unit, X-ray after human body imaging by tablet
Detector cells receive, and flat panel detector unit gives the image transmitting after reception to console unit, and console unit is to image
It is handled, obtains qualitative picture.
Further, in step s3, when the supersonic sensing on X-ray tube ball mechanical arm or flat panel detector mechanical arm
When device detects that the distance of barrier is less than safe distance, then detection signal transmission is visited to X-ray tube ball mechanical arm or tablet
The control module in device mechanical arm is surveyed, by control module X-ray tube ball mechanical arm or flat panel detector manipulator motion is controlled to stop
Only.
The present invention adjusts pipe ball unit and flat panel detector using X-ray tube ball mechanical arm and flat panel detector mechanical arm
The position of unit, using multi-functional table is aided in adjust the locality of detected personnel, it is possible thereby to realize to human body not
With the detection at position, you can to realize C-arm X-ray production apparatus, CT by X-ray tube ball mechanical arm and flat panel detector mechanical arm
The most of function for a variety of medical apparatus that machine, stomach and intestine machine, fluoroscopic machine, filming machine etc. are detected using X-ray, can reduce and set
Standby purchase cost reduces the floor space of medical equipment, improves the utilization rate in space.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the structure chart of the X-ray DR robot systems of the present invention；
Fig. 2 is the top view of the X-ray DR robot systems of the present invention；
Fig. 3 is front view of the X-ray DR robot systems of the present invention when filming machine uses；
Fig. 4 is axonometric drawing of the X-ray DR robot systems of the present invention when filming machine uses；
Fig. 5 is front view of the X-ray DR robot systems of the present invention when stomach and intestine machine uses；
Fig. 6 is front view of the X-ray DR robot systems of the present invention when fluoroscopic machine uses；
Fig. 7 is front view of the X-ray DR robot systems of the present invention when C arm machine uses；
Fig. 8 is axonometric drawing of the X-ray DR robot systems of the present invention when C arm machine uses；
Fig. 9 is front view of the X-ray DR robot systems of the present invention when CT machines use；
Figure 10 is the flow chart of the detection method of the present invention；
Figure 11 is the specific overhaul flow chart of the X-ray DR robot systems of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The present invention provides a kind of X-ray DR robot systems, shown in refer to the attached drawing 1-5, including：Console unit 1, DR
Robot cell, pipe ball unit 6, flat panel detector unit 7, sampling unit 1, slave computer 3.
DR robot cells include X-ray tube ball mechanical arm 4, flat panel detector mechanical arm 5, X-ray tube ball mechanical arm 4 with
5 cooperating of flat panel detector mechanical arm, and be all connected with slave computer 3 and communicate each other, by X-ray tube ball mechanical arm 4 and tablet
The movement locus and action message of detector mechanical arm 5 are transferred to slave computer 3；X-ray tube ball mechanical arm 4 and flat panel detector
Mechanical arm 5 is made of sixdegree-of-freedom simulation, and sixdegree-of-freedom simulation turns kinematic pair including waist, shoulder turns kinematic pair, elbow turns
Kinematic pair, forearm turn kinematic pair, head elevating movement pair, head end rotary motion pair；It can carry out waist turn, shoulder turns, elbow turns, forearm
Turn, head pitching, head end rotation six direction action.It can realize that more position film making spatial positions are static and dynamically cover entirely
Lid.Substantially the function of current all X-ray production apparatus can be realized.Mechanical arm can receive the instruction of program, be pin-pointed to space
Upper any point.
Ultrasonic wave biography is designed on each movable joint arm on X-ray tube ball mechanical arm 4, flat panel detector mechanical arm 5
Sensor, ultrasonic sensor is used to detect at this and the distance of barrier, and alarm is then sent less than safe distance.
Present invention additionally comprises alarm module, alarm module can select light warning, audible alarm etc..As shown in Figure 1, report
Alert module selects indicator light alarm, DR robot cell's alarms when running into barrier, red indicating light flicker, and movement stops.
Slave computer 3 is also connected and communicates each other with pipe ball unit 6, flat panel detector unit 7, and slave computer 3 is used to control X-ray
Pipe ball mechanical arm 4, the movement locus of flat panel detector mechanical arm 5 and control pipe ball unit 6, flat panel detector unit 7
Working condition, and detection information is transferred to console unit 2.
Slave computer 3 is also connected with high pressure generator, by controlling high pressure generator come the exposure status of control pipe ball unit.
It is equipped between X-ray tube ball mechanical arm 4 and flat panel detector mechanical arm 5 and aids in multi-functional table 8, auxiliary is multi-functional
Table 8 is also connected with slave computer 3 and communicates each other, aids in multi-functional table 8 for adjusting the personnel's of being detected according to detection demand
Position, angle, in order to which the detection site of detected personnel to be in the detection of flat panel detector unit 6 and pipe ball unit 7
In the range of.
Installing pipe ball unit 6 on X-ray tube ball mechanical arm 4, by X-ray tube ball mechanical arm 4 come regulation pipe ball unit 6
Position, that is, adjust x-ray bombardment direction, and pipe ball unit 6 is used to generate X-ray.
Pipe ball unit 6 includes pipe ball, photochopper, beam-defining clipper, and when filament bombardment target surface in pipe ball generates X-ray, limits beam
Device filters out the extra ray of X-ray and scattered rays.
Flat panel detector unit 7 on flat panel detector mechanical arm 5 is installed, is adjusted by flat panel detector mechanical arm 5 flat
Partitioned detector unit 7 adjusts the direction that X-ray passes through reception image after human body, and pipe ball unit 6 and flat panel detector unit
7 cooperatings, for adjusting x-ray bombardment at the position of human body；Flat panel detector unit 7 emits for reception pipe ball unit 6
Imaging of the X-ray to come over after body, and image-forming information is transferred to slave computer 3.
Flat panel detector 7 includes detector, grid, and detector filters line for receiving imaging of the X-ray after body
Grid are used to ray being adjusted to same direction, improve image quality.
The elastic touching switch of rubber drum is designed on flat panel detector unit 7 and pipe ball unit 6, rubber drum elasticity touching is opened
Modification after being pressurized with human body or bar contact is closed, and transmits a signal to partitioned detector mechanical arm 5 and/or X-ray tube
Ball mechanical arm 4 controls the movement of flat panel detector unit and/or pipe ball unit to stop.
Sampling unit 1 includes video camera 11, body weight measuring device 12, and video camera 11 is mounted on 12 top of body weight measuring device, takes the photograph
Camera 11 and body weight measuring device 12 are used to gather the human body information of detected personnel, and are transferred to console unit 2.Video camera is used
The figure information of personnel is detected in acquisition, body weight measuring device is used to gather height, weight of detected personnel etc..Video camera 11
It is all connected with console unit 2 with body weight measuring device 12 and communicates each other, the human body information of the detected personnel collected is transmitted
To console unit 2.In addition, console unit 2 can also be manually entered the essential information of detected personnel, such as：Name, property
Not, weight, height, shooting position, need position etc..Information above connects data cable transmission by video camera with body weight measuring device
Onto the host computer of console unit 2.
Console unit 2, sampling unit 1 are arranged inside or outside detection zone, and detection zone is arranged in protective lead room, DR
Robot cell is arranged in detection zone.
Console unit 2 is also connected with slave computer 3 and communicates each other.
Console unit 2 is used to carry out typing and analysis to the human body information for being detected personnel, calculate automatically need by
Detection position ray measures, also according to detection zone area size to the X-ray tube ball mechanical arm 4, flat in DR robot cells
The coordinate of partitioned detector mechanical arm 5 is analyzed, and determines X-ray tube ball mechanical arm 4, the movement of flat panel detector mechanical arm 5
Track；And the movement locus and action message of X-ray tube ball mechanical arm 4 and flat panel detector mechanical arm 5 are transferred to bottom
Machine 3, and receive and control 3 job information of slave computer.
Whether console unit is also equipped with manual regulatory function, (be mainly used for the selection of position, need by accessory) etc..
It adjusts manually and can be also used for situations such as some parameter errors are abnormal, compensate setting.
Console unit can be also used for control exposure and the movement of robot manually.When such situation uses.Automatic transmission
Position, which need to be switched to manual gear, can realize there is protection herein.Prevent maloperation from damaging.
Console unit is the center of information processing, the brain of whole system；Include control panel, computer monitor, master
The configurations such as machine, synchronous box.Take into account the processing of acquisition, the DR robot cells movement of input signal, flat panel detector unit opens
It opens and image procossing, the exposure of pipe ball unit and high pressure generator host kilovolt, milliampere, the adjustment of second control.
Doctor implements the specific testing process of tested personnel according to following steps, as shown in figure 11：
Doctor opens console unit first, creates tested personnel's file, and operating personnel carry out tested personnel in quilt
Into the typing of row information before detection, including essential informations such as name, gender, ages, (height and weight can be examined by sampling unit
Surveying need not typing).Doctor selects the detection position of tested personnel, before then tested personnel goes to sampling unit, stands in weight
On measuring instrument, characteristics of human body's identification is carried out.
After more than parameter typing, console unit automatically analyzes human body sample information, and console unit will
The parameter analyzed passes to slave computer, and the lower position of slave computer control automatically adjusts exposure parameter (including kilovolt, milliampere, second),
It is DR robot cells that pendulum position information, which is transferred, simultaneously, and X-ray tube ball mechanical arm and flat panel detector mechanical arm are carried out from movable pendulum
Position.
Orange indicating light becomes green after position to be put, and tested personnel is gone under the guidance of doctor in detection zone
In, the tested personnel position specified (can lie in the multi-functional table of auxiliary, can also stand in designated position).DR robots list
After member detects tested personnel, corresponding prompting is made, DR robot cells start exposure shooting, i.e. X-ray tube ball mechanical arm
On pipe ball unit send X-ray, received after human body by the flat panel detector on flat panel detector mechanical arm, and be uploaded to control
Platform unit processed, shooting finish.
After shooting, the detection of console unit automatic prompt finishes, and tested personnel walks out protective lead room.
The X-ray DR robot systems of the present invention can realize C-arm X-ray production apparatus, CT machines, stomach and intestine machine, fluoroscopic machine, film making
The most of function for a variety of medical apparatus that machine etc. is detected using X-ray can reduce the purchase cost of equipment, reduce medical
The floor space of equipment improves the utilization rate in space.
Fig. 3-4 is schematic diagram of the X-ray DR robot systems of the present invention when filming machine uses；The personnel of being detected stand
Between X-ray tube ball mechanical arm and flat panel detector mechanical arm, and towards flat panel detector mechanical arm, pass through X-ray tube ball
Mechanical arm comes the position of regulation pipe ball unit, and the position of flat panel detector unit is adjusted by flat panel detector mechanical arm, is made
The detection site that personnel must be detected is in detection range, starts exposure shooting, and the image information after taking pictures is transferred to
Console unit.
Fig. 5 is schematic diagram of the X-ray DR robot systems of the present invention when stomach and intestine machine uses；Detected personnel lie in auxiliary
It helps in multi-functional table, multi-functional table will be aided in adjust certain angle, then adjust flat panel detector mechanical arm and X-ray tube ball
Mechanical arm so that flat panel detector unit is placed in detected personnel abdominal cavity rear portion, and pipe ball unit face flat panel detector unit makes
Personnel abdominal cavity must be detected and be in detection range, start exposure shooting, and the image information after taking pictures is transferred to console list
Member.
Fig. 6 is schematic diagram of the X-ray DR robot systems of the present invention when fluoroscopic machine uses；Detected personnel stand on
Between X ray tube ball mechanical arms and flat panel detector mechanical arm, and towards X-ray tube ball mechanical arm, after overregulating, it is detected
The detection site of survey personnel is in detection range, starts exposure shooting, and the image information after taking pictures is transferred to control
Platform unit.
Fig. 7-8 is schematic diagram of the X-ray DR robot systems of the present invention when C arm machine uses；Detected personnel lie in
Multi-functional table is aided in, X-ray tube ball mechanical arm is adjusted and so that being detected personnel is in detection model with flat panel detector mechanical arm
In enclosing, after exposure shooting, X-ray tube ball mechanical arm and flat panel detector mechanical arm are adjusted again, is exposed again in another angle
Shooting, and the image after shooting is all transferred to console unit.
Fig. 9 is schematic diagram of the X-ray DR robot systems of the present invention when CT machines use；Detected personnel lie in auxiliary
Multi-functional table adjusts X-ray tube ball mechanical arm and so that being detected personnel is in detection range with flat panel detector mechanical arm,
The detection site that X-ray tube ball mechanical arm surrounds the personnel of being detected with flat panel detector mechanical arm is controlled to move simultaneously so that
The X-ray scanning light beam that pipe ball unit is sent can be received by flat panel detector, and the image information detected is transferred to
Console unit；
The present invention also provides a kind of detection method using above-mentioned X-ray DR robot systems, as shown in Figure 10, including with
Lower step：
Step S1, typing are detected the essential information of personnel；
Manually input and sampling unit acquisition are detected the human body information of personnel, and are transferred to console unit；
Step S2 determines the trace information of DR robot cells；
Console unit calculates the location parameter for needing detection site and penetrates according to the human body information for the personnel of being detected
Line measuring parameter；According to X-ray tube ball mechanical arm and flat panel detector mechanical arm in the coordinate information being detected in region, calculating
The movement track parameters of X ray tube ball mechanical arms and flat panel detector mechanical arm, and it is transferred to slave computer；
Wherein, console unit will carry out two-dimensional coordinate, real-time reception X-ray tube ball mechanical arm peace in detection zone
The information that ultrasonic sensor feedback comes on partitioned detector mechanical arm, travel route is planned when running into barrier again.
Step S3, slave computer control DR robot cell's movements；
Detected personnel enter measured zone, and after lying in the multi-functional table of auxiliary according to guide, slave computer is according to movement rail
Mark state modulator X-ray tube ball mechanical arm and flat panel detector manipulator motion reach designated position, and slave computer is by controlling X
Ray tube ball mechanical arm, flat panel detector mechanical arm, the multi-functional table of auxiliary so that the detection site for being detected personnel is in
In the detection range of flat panel detector unit and pipe ball unit；
When the ultrasonic sensor on X-ray tube ball mechanical arm or flat panel detector mechanical arm detects the distance of barrier
During less than safe distance, then by detection signal transmission to the control mould in X-ray tube ball mechanical arm or flat panel detector mechanical arm
Block controls X-ray tube ball mechanical arm or flat panel detector manipulator motion to stop by control module.
After flat panel detector unit or pipe ball unit are collided with human body or barrier, flat panel detector unit or pipe ball list
Modification after the elastic touching switch contact of rubber drum in member is pressurized, and slave computer is transmitted a signal to, control flat panel detector list
The movement of member or pipe ball unit stops.
Step S4 carries out x-ray imaging；
Slave computer sends X-ray according to the pipe ball in control pipe ball unit, X-ray after human body imaging by tablet
Detector cells receive, and flat panel detector unit gives the image transmitting after reception to console unit, and console unit is to image
It is handled, obtains qualitative picture.
The detection method of the present invention can quickly calculate the movement rail of X-ray tube ball mechanical arm and flat panel detector mechanical arm
Mark controls X-ray tube ball mechanical arm and flat panel detector mechanical arm to put position, and receives X-ray tube ball mechanical arm using slave computer
With the obstacle information that ultrasonic sensor feedback comes on flat panel detector mechanical arm, programming movement route, avoids touching again
It hits, additionally it is possible to the safety detector cells of the pipe ball unit and flat panel detector mechanical arm on X-ray tube ball mechanical arm are controlled, it is complete
The a variety of medical apparatus detected into C-arm X-ray production apparatus, CT machines, stomach and intestine machine, fluoroscopic machine, filming machine etc. using X-ray it is big
Partial function, operation is simpler, more intelligent, can reduce the purchase cost of equipment, reduce the floor space of medical equipment, improves
The utilization rate in space.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art are not departing from the principle of the present invention and objective
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
It is extremely equally limited by appended claims.
Claims (10)
1. a kind of X-ray DR robot systems, which is characterized in that including：Console unit, DR robot cells, pipe ball unit,
Flat panel detector unit, sampling unit, slave computer；
The DR robot cells include X-ray tube ball mechanical arm, flat panel detector mechanical arm, the X-ray tube ball mechanical arm
With flat panel detector mechanical arm cooperating, and be all connected with the slave computer and communicate each other, by X-ray tube ball mechanical arm with it is flat
The movement locus and action message of partitioned detector mechanical arm are transferred to slave computer；The slave computer also with pipe ball unit, tablet
Detector cells connection communicates each other, and the slave computer is used to control X-ray tube ball mechanical arm, the fortune of flat panel detector mechanical arm
Dynamic rail mark and control pipe ball unit, the working condition of flat panel detector unit, and detection information is transferred to console list
Member；
It is equipped between the X-ray tube ball mechanical arm and flat panel detector mechanical arm and aids in multi-functional table, the more work(of auxiliary
Energy table is also connected with slave computer to communicate each other, and the multi-functional table of auxiliary is used to adjust the personnel of being detected according to detection demand
Position, angle；
Installing pipe ball unit on the X-ray tube ball mechanical arm, by X-ray tube ball mechanical arm come the position of regulation pipe ball unit
It puts, that is, adjusts x-ray bombardment direction, the pipe ball unit is used to generate X-ray；
Flat panel detector unit on the flat panel detector mechanical arm is installed, is visited by flat panel detector mechanical arm to adjust tablet
Device unit is surveyed, that is, adjusts the direction that X-ray passes through reception image after human body, and pipe ball unit and flat panel detector unit matching work
Make, for adjusting x-ray bombardment at the position of human body；What the flat panel detector unit launched for reception pipe ball unit
Imaging of the X-ray after body, and image-forming information is transferred to slave computer；
The sampling unit includes video camera, body weight measuring device, and the video camera is mounted on above body weight measuring device, the camera shooting
Machine and the body weight measuring device are all connected with the console unit to communicate each other；The video camera and body weight measuring device are used to adopt
Collection is detected the human body information of personnel, and is transferred to console unit；
The console unit is also connected with slave computer to communicate each other；
The console unit is used to carry out typing and analysis to the human body information for being detected personnel, and it is tested to calculate needs automatically
The metering of position ray is surveyed, and the movement locus and action message of X-ray tube ball mechanical arm and flat panel detector mechanical arm are passed
Slave computer is defeated by, and receives and controls slave computer job information.
2. X-ray DR robot systems as described in claim 1, it is characterised in that：The console unit, sampling unit are set
It is placed in inside or outside detection zone, the DR robot cells are arranged in detection zone, and the console unit is according to detection zone
Area size X-ray tube ball mechanical arm, the coordinate of flat panel detector mechanical arm in DR robot cells are analyzed, and
Determine X-ray tube ball mechanical arm, the movement locus of flat panel detector mechanical arm.
3. X-ray DR robot systems as described in claim 1, it is characterised in that：The X-ray tube ball mechanical arm, tablet
Ultrasonic sensor is designed on each movable joint arm on detector mechanical arm, the ultrasonic sensor is used to detect this
Place and the distance of barrier, alarm is then sent less than safe distance.
4. X-ray DR robot systems as described in claim 1, it is characterised in that：The flat panel detector unit and pipe ball
Be designed with the elastic touching switch of rubber drum on unit, the elastic touching switch of rubber drum be used for human body or bar contact by
Modification after pressure, and the flat panel detector mechanical arm and/or X-ray tube ball mechanical arm are transmitted a signal to, control the tablet
The movement of detector cells and/or pipe ball unit stops.
5. X-ray DR robot systems as described in claim 1, it is characterised in that：The slave computer also with high pressure generator
Connection, by controlling high pressure generator come the exposure status of control pipe ball unit.
6. X-ray DR robot systems as described in claim 1, it is characterised in that：The pipe ball unit includes pipe ball, shading
Device, beam-defining clipper, when filament bombardment target surface in the pipe ball, generate X-ray, and the beam-defining clipper is by the extra ray of X-ray and dissipates
Ray filters out.
7. X-ray DR robot systems as described in claim 1, it is characterised in that：The flat panel detector include detector,
Grid, for receiving imaging of the X-ray after body, the grid is used to ray being adjusted to same the detector
Image quality is improved in direction.
8. X-ray DR robot systems as described in claim 1, it is characterised in that：The X-ray tube ball mechanical arm and tablet
Detector mechanical arm is made of sixdegree-of-freedom simulation, sixdegree-of-freedom simulation turns kinematic pair including waist, shoulder turns kinematic pair,
Elbow turns kinematic pair, forearm turns kinematic pair, head elevating movement is secondary, head end rotary motion pair, carries out waist turn, shoulder turns, elbow turns, forearm
Turn, head pitching, head end rotation six direction action.
9. a kind of detection method using such as claim 1-8 any one of them X-ray DR robot systems, feature exists
In：Comprise the following steps：
Step S1, typing are detected the essential information of personnel；
Manually input and sampling unit acquisition are detected the human body information of personnel, and are transferred to console unit；
Step S2 determines the trace information of DR robot cells；
Console unit calculates the location parameter and radiation meter for needing detection site according to the human body information for the personnel of being detected
Measure parameter；According to X-ray tube ball mechanical arm and flat panel detector mechanical arm in the coordinate information being detected in region, calculating X is penetrated
The movement track parameters of spool ball mechanical arm and flat panel detector mechanical arm, and it is transferred to slave computer；
Step S3, slave computer control DR robot cell's movements；
Detected personnel enter measured zone, and after lying in the multi-functional table of auxiliary according to guide, slave computer is joined according to movement locus
Number control X-ray tube ball mechanical arm and flat panel detector manipulator motion, reach designated position, slave computer is by controlling X-ray
Pipe ball mechanical arm, flat panel detector mechanical arm, the multi-functional table of auxiliary so that the detection site for being detected personnel is in tablet
In the detection range of detector cells and pipe ball unit；
Step S4 carries out x-ray imaging；
Slave computer sends X-ray according to the pipe ball in control pipe ball unit, and X-ray imaging after human body is detected by tablet
Device unit receives, and flat panel detector unit gives the image transmitting after reception to console unit, and console unit carries out image
Processing, obtains qualitative picture.
10. detection method as claimed in claim 9, it is characterised in that：In step s3, when X-ray tube ball mechanical arm or flat
When ultrasonic sensor on partitioned detector mechanical arm detects that the distance of barrier is less than safe distance, then detection signal is passed
The control module being defeated by X-ray tube ball mechanical arm or flat panel detector mechanical arm controls X-ray tube ball machine tool by control module
Arm or flat panel detector manipulator motion stop.
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