CN109307547B - Medical detection system and load measurement method of movable bed plate thereof - Google Patents
Medical detection system and load measurement method of movable bed plate thereof Download PDFInfo
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- CN109307547B CN109307547B CN201710629057.1A CN201710629057A CN109307547B CN 109307547 B CN109307547 B CN 109307547B CN 201710629057 A CN201710629057 A CN 201710629057A CN 109307547 B CN109307547 B CN 109307547B
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- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/44—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing persons
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Abstract
The embodiment of the invention provides a medical detection system, a load measurement method of a movable bed plate of the medical detection system and a computer program. The movable bed board is connected with a motor which is used for driving the movable bed board to move. The method comprises the following steps: controlling the movable bed board to perform acceleration movement in a fixed time period; collecting the current of the motor for a plurality of times in the fixed time period; and calculating the load of the movable bed plate according to the specific relation between the current of the motor and the load of the movable bed plate.
Description
Technical Field
The invention relates to the field of medical detection, in particular to a medical detection system and a load measuring method of a movable bed plate thereof.
Background
In detection systems for computed tomography (Computed Tomography, CT), magnetic resonance (Magnetic Resonance, MR) scanning and the like, the patient is usually carried by a patient table, on which a movable couch plate is provided, which can be moved in and out of a scanning chamber for positioning the patient to be scanned. Before a patient is scanned, a doctor is usually required to manually input the weight of the patient, so that parameters related to some scanning can be adaptively adjusted according to the input weight value to obtain a scanning image which is more convenient for the doctor to diagnose.
In general, a patient measures his or her own weight on an independent weighing device, and a doctor reads data of the weighing device and then manually inputs the data into a scanning system, which has disadvantages in that a procedure of weighing, reading, manually inputting, etc. alone is added, inconvenience is brought to the patient and the doctor, and a scan preparation time is prolonged.
In this regard, it has also been proposed in the prior art to add sensors to specific parts of the patient bed to detect patient weight, in a manner that avoids the need for separate weighing devices, but at increased cost.
Accordingly, there is a need to provide a new medical detection system and a weight measurement method of a moving couch thereof, which can automatically acquire the weight of a patient before scanning is performed, and which can shorten the scan preparation time and save costs.
Disclosure of Invention
An object of the present invention is to provide a new medical detection system and a weight measurement method for a movable bed plate thereof, which can shorten a scan preparation time and save costs.
An exemplary embodiment of the present invention provides a load measuring method of a moving couch plate of a medical detection system, the moving couch plate being connected with a motor for driving the moving couch plate to move, the method comprising:
Controlling the movable bed board to perform acceleration movement in a fixed time period;
collecting the current of the motor for a plurality of times in the fixed time period;
and calculating the load of the movable bed plate according to the specific relation between the current of the motor and the load of the movable bed plate.
Exemplary embodiments of the present invention also provide a computer program which, when run in a medical detection system, causes the medical detection system to perform the load measurement method of moving bed boards described above.
Exemplary embodiments of the present invention also provide a medical detection system, including:
the patient bed comprises a movable bed plate, wherein the movable bed plate is connected with a motor, and the motor is used for driving the movable bed plate to move;
a measuring device for measuring the load of a moving bed deck, comprising:
the control module is used for controlling the movable bed board to perform acceleration movement in a fixed time period;
the data acquisition module is used for acquiring the current of the motor for a plurality of times in the fixed time period;
and the calculation module is used for calculating the load of the movable bed plate according to the specific relation between the current of the motor and the load of the movable bed plate.
Other features and aspects will become apparent from the following detailed description, the accompanying drawings, and the claims.
Drawings
The invention may be better understood by describing exemplary embodiments thereof in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of the structure of a patient bed of a medical detection system according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method for measuring load on a movable couch of a medical detection system according to a first embodiment of the present invention;
FIG. 3 is a graph showing the velocity of movement and displacement of a moving bed as a function of time in one embodiment of the invention;
FIG. 4 is a flow chart of a method for obtaining a specific relationship between the current of a motor and the load of a moving bed plate in one embodiment of the invention;
FIG. 5 is a schematic illustration of a fitted curve between the load of the moving bed and the current of the motor obtained using the method of FIG. 4;
FIG. 6 is a flow chart of a method for measuring load on a moving bed plate of a medical detection system according to a second embodiment of the present invention;
FIG. 7 is a flow chart of a method for measuring load on a movable couch of a medical detection system according to a third embodiment of the present invention;
FIG. 8 is a flow chart of a load measurement method for a movable couch of a medical detection system according to a fourth embodiment of the present invention;
FIG. 9 illustrates a data acquisition window for acquiring data during the fixed time period in an embodiment of the present invention;
Fig. 10 is a block diagram of a medical detection system according to an embodiment of the present invention.
Detailed Description
In the following, specific embodiments of the present invention will be described, and it should be noted that in the course of the detailed description of these embodiments, it is not possible in the present specification to describe all features of an actual embodiment in detail for the sake of brevity. It should be appreciated that in the actual implementation of any of the implementations, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Unless defined otherwise, technical or scientific terms used in the claims and specification should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. The terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are immediately preceding the word "comprising" or "comprising", are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, nor to direct or indirect connections.
FIG. 1 is a schematic diagram of the structure of a patient bed of a medical detection system according to one embodiment of the present invention. As shown in fig. 1, the patient bed includes a support body 10 and a moving couch plate 20 provided on the support body 10, the moving couch plate 20 being capable of rectilinear reciprocation relative to the support body 10 to access a scanning chamber of the medical detection system. In one embodiment, the moving bed plate 20 may be moved along the upper surface of the support body 10 by the driving of the motor 30, and the motor 30 may be disposed at one end of the support body 10, which is connected to the moving bed plate 20 and used to drive the moving bed plate 20 to move. When the patient is carried on the movable bed board 20, the weight thereof is the weight of the patient.
Fig. 2 is a flowchart of a load measurement method of a movable couch of the medical detection system according to the first embodiment of the present invention. Fig. 3 is a graph showing the movement speed and displacement of the moving bed plate with time in one embodiment of the present invention. As shown in fig. 2 and 3, the method for measuring the load of the movable bed plate of the medical detection system includes steps S23, S25, and S27.
In step S23, the moving bed board 20 is controlled to perform the acceleration movement within a fixed time period, for example, the fixed time period may be the time period T in fig. 3 1 It may be a period of time between the lifting of the moving bed plate 20 from zero speed to a specific uniform speed, or may be a period of time between the lifting of the moving bed plate 20 from zero speed to a specific uniform speedThe specific uniform velocity is reduced to zero for a period of time between speeds. In one embodiment, the speed control of the moving bed board 20 may be achieved by controlling the rotational speed of the motor 30 via a computer control system of the medical detection system.
In step S25, the current of the motor 30 is acquired during the fixed period of time. In this embodiment, the current of the motor 30 may be collected multiple times during the fixed period of time.
In step S27, the load of the moving bed 20 is calculated from the specific relationship between the current of the motor 30 and the load of the moving bed 20.
Further, in step S23, the moving bed board may be controlled to perform uniform acceleration motion during the fixed time period, and at this time, a specific relationship between the current of the motor and the load of the moving bed board is a linear relationship, which may be described as: m=a×i a -b，(1)。
In the above formula (1), a and b are preset constants, I a And m is the load of the movable bed plate. Therefore, in step S27, the load of the movable bed plate can be calculated directly by the above formula (1).
In one embodiment, the moving bed 20 is at the fixed time period T 1 During the internal uniform acceleration movement, when the current of the motor 30 has fluctuation, the current is controlled in the fixed time period T 1 The current of the motor 30 is internally collected as the motor 30 during the fixed time period T 1 The average value of the current in the capacitor.
Fig. 4 is a flowchart of a specific relation determining method according to an embodiment of the present invention, and fig. 5 is a schematic diagram of a fitted curve between the load of the moving bed board and the current of the motor obtained by using the method of fig. 4. As shown in connection with fig. 4 and 5, the specific relation determination method may include the following steps S41, S43, S45, S47.
In step S41, loads are applied to the moving bed plate a plurality of times, wherein each loaded load has a different known mass. For example, the load of different known masses may be test masses with mass values marked thereon, which may be 20kg, 40kg, 60kg, 80kg, 100 kg..220 kg, respectively.
In step S43, for each loaded load, the moving bed 20 is controlled to perform an acceleration motion for a fixed period of time and collect the current of the motor 30 for the fixed period of time. For example, under the same speed/time profile, the moving bed is caused to run multiple acceleration motions and the mass carried on the moving bed 20 at each acceleration motion is changed.
In step S45, a fitted curve between the load of the moving bed 20 and the current of the motor 30 is obtained from the known mass of the load and the current of the corresponding motor. For example, at each acceleration movement, the mass of the mass block on the moving couch 20 is recorded, the current of the motor acquired at the current acceleration movement is recorded, and a fitted curve between the load of the moving couch 20 and the current of the motor 30 is obtained according to the correspondence between the recorded mass and current.
In step S47, a specific relationship between the current of the motor 30 and the load of the movable bed plate 20 is obtained from the fitted curve. For example, from the fitted curve in fig. 5, the specific relationship described by the above formula (1) can be obtained. A number of verification experiments show that the load of the movable bed board 20 calculated according to the above formula (1) is relatively accurate.
In order to ensure the load measurement accuracy, in the load measurement method shown in fig. 2 and the specific relation determination method shown in fig. 4, the current collection of the motor is performed under the same speed control curve at the same time period and the same position of the moving bed plate.
The greater the motion acceleration of the movable bed board is, the higher the measurement accuracy of the load is; the smaller the load mass difference of each loading is, the higher the measurement accuracy of the load is; the smaller the current fluctuation value of the motor during uniform acceleration, the higher the measurement accuracy of the load.
In this fixed period, when the moving bed 20 makes a uniform acceleration motion with respect to the support body 10, the load of the moving bed 20 calculated according to the specific relationship described in the above formula (1) is accurate.
Alternatively, a specific relationship between the current of the motor 30 and the load of the moving bed 20 may be derived from the law of conservation of energy, and the load of the moving bed 20 may be obtained from the specific relationship. This will be described in the following second to fourth embodiments.
Fig. 6 is a flowchart of a load measuring method of a movable bed board of a medical detection system according to a second embodiment of the present invention, as shown in fig. 6, which is similar to the first embodiment shown in fig. 2 in principle, except that: in the second embodiment, steps S61, S63, S65, and S67 are further included.
In step S61, the angular velocity of the motor 30 is acquired a plurality of times within the fixed period of time, including the angular velocity of the motor 30 acquired at the start time of the fixed period of time and the angular velocity of the motor 30 acquired at the end time of the fixed period of time.
In step S63, the speed of the moving couch 20 is acquired as the first speed at the start time of the fixed time period.
In step S65, the speed of the moving couch 20 is acquired as the second speed at the end time of the fixed time period.
In step S67, the displacement of the movable bed board 20 in the horizontal direction from the start time to the end time is acquired.
In the present embodiment, in step S27, the specific relationship between the current of the motor 30 and the load of the moving bed plate 20 can be described as:
where m is the weight of the movable bed plate 20, m 1 Is the mass of the moving bed plate 20, which is a known value; subtracting the mass m1 of the movable bed board 20 from the total mass of the moving parts of the patient bed, namely the weight m of the movable bed board 20; k (k) a Is a coefficient of relationship between the current of the motor 30 and the output torque of the motor 30, which is a known value; i a For the current of the motor 30 acquired during the fixed time period, n is the number of times the angular velocity of the motor 30 is acquired during the fixed time period, which is a preset known value; i is a natural number, and 1 <i＜＜n，ω a (i) The angular velocity of the motor acquired for the ith time; delta t The time interval for acquiring the angular velocity of the motor 30 for two adjacent times is a preset known value; j (J) c1 Is the moment of inertia of the motor 30, which is a known value; omega 1a For the angular velocity, ω, of the motor 30 acquired at the start time of the fixed period of time 1b Angular velocity, F, of motor 30 acquired at the end time of the fixed period b The external force applied to the movable bed plate 20 may be, for example, a thrust force, a pressure force, or the like applied to the movable bed plate 20 from a non-moving member on the support body 10, and the external force is a known value; s is S 1 To move the bed plate 20 in the horizontal direction from the start time to the end time, k r The friction coefficient of the movable bed board is a known value; g is the gravitational acceleration, which is a known value; v (V) 1a At a first speed, V 1b Is the second speed.
The relationship described in the above formula (2) can be derived according to the law of conservation of energy, and in the fixed period, when the moving bed board 20 performs uniform acceleration motion only in the horizontal direction, the load of the moving bed board calculated by the formula (2) is more accurate.
Fig. 7 is a flowchart of a load measuring method of a movable bed board of a medical detection system according to a third embodiment of the present invention, as shown in fig. 7, which is similar to the first embodiment shown in fig. 2 in principle, except that: in the third embodiment, steps S71, S73, S75, and S77 are further included.
In step S71, the angular velocity of the motor 30 is acquired while the current of the motor 30 is acquired within the fixed period of time, including the angular velocity of the motor 30 acquired at the start time of the fixed period of time and the angular velocity of the motor 30 acquired at the end time of the fixed period of time;
in step S73, the speed of the moving couch 20 is acquired as the first speed at the start time of the fixed time period.
In step S75, the speed of the moving couch 20 is acquired as the second speed at the end time of the fixed time period.
In step S77, the displacement of the movable couch plate 20 in the horizontal direction from the start time to the end time is acquired;
in step S27, the specific relationship between the current of the motor 30 and the load of the moving bed 20 is described as:
where m is the weight of the movable bed plate 20, m 1 To move the mass of the couch plate 20, n is the number of times the current of the motor 30 is collected during the fixed time period, i is a natural number, and 1<i＜＜n，I a (i) For the current, ω, of the motor 30 acquired the i-th time a (i) Angular velocity of the motor 30 for the ith acquisition; k (k) a (i) Is the relation coefficient between the current of the motor 30 and the output torque of the motor 30 acquired for the ith time, delta t For the time interval between adjacent two acquisitions of current of motor 30, J c1 Omega is the moment of inertia of the motor 30 1a For the angular velocity, ω, of the motor 30 acquired at the start time of the fixed period of time 1b Angular velocity of motor, F, acquired at the end time of the fixed period b S is an external force applied to the movable bed board 1 To move the bed plate 20 in the horizontal direction from the start time to the end time, k r G is the gravitational acceleration, which is the friction coefficient of the movable bed board 20; v (V) 1a For the first speed, V 1b Is the second speed; wherein m is 1 、Δ t 、n、J c1 、F b 、k r G is a known value.
The relationship described in the above formula (3) can also be derived according to the law of conservation of energy, and in the fixed period, when the moving bed plate 20 moves only in the horizontal direction relative to the support body 10, and the load of the moving bed plate 20 calculated according to the specific relationship described in the formula (3) is accurate regardless of whether the movement is uniform acceleration movement.
Fig. 8 is a flowchart of a load measuring method of a movable couch board of a medical detection system according to a fourth embodiment of the present invention, which is similar to the first embodiment shown in fig. 2 in principle, with the same motor 30 capable of driving the movable couch board 20 of the medical detection system to move up and down and horizontally (into and out of the scan chamber) simultaneously, as shown in fig. 8, except that: in the fourth embodiment, steps S81, S83, S85, S87, and S89 are further included.
In step S81, the angular velocity of the motor 30 is acquired while the current of the motor 30 is acquired within the fixed period, including the angular velocity of the motor 30 acquired at the start time of the fixed period and the angular velocity of the motor 30 acquired at the end time of the fixed period.
In step S83, the speed of the moving couch 20 is acquired as the first speed at the start time of the fixed time period.
In step S85, the speed of the moving couch 20 is acquired as the second speed at the end time of the fixed time period.
In step S87, the displacement of the movable bed board 20 in the horizontal direction from the start time to the end time is acquired.
In step S89, the displacement of the moving bed board 20 in the vertical direction from the start time to the end time is acquired.
In step S27, a specific relationship between the current of the motor 30 and the load of the moving bed plate 20 may be described as:
where m is the weight of the movable bed plate 20, m 1 To move the mass of the couch plate 20, n is the number of times the current of the motor 30 is collected during the fixed time period, i is a natural number, and 1<i＜＜n，I a For the current, ω, of the motor 30 acquired the i-th time a (i) Angular velocity of motor 30 for the ith acquisition; k (k) a (i) Is the relation coefficient between the current of the motor 30 and the output torque of the motor 30 acquired for the ith time, delta t For the time interval between adjacent two acquisitions of current of motor 30, J c1 Omega is the moment of inertia of the motor 30 1a For the angular velocity, ω, of the motor 30 acquired at the start time of the fixed period of time 1b For the angular velocity of the motor 30 acquired at the end time of the fixed period of time, F b S is an external force applied to the movable bed board 1 For displacement of the movable bed board 20 in the horizontal direction from the start time to the end time, k r G is the gravitational acceleration, which is the friction coefficient of the movable bed board 20; v (V) 1a For the first speed, V 1b For the second speed H 1 For displacement of the moving bed plate 20 in the vertical direction from the start time to the end time; wherein m is 1 、Δ t 、n、J c1 、F b 、k r G is a known value.
The relationship described in the above formula (4) can also be derived according to the law of conservation of energy, and in the fixed period of time, when the moving bed board 20 moves relative to the supporting body 10 in the horizontal direction and the vertical direction at the same time, and the load of the moving bed board calculated according to the specific relationship described in the formula (4) is more accurate whether the movement is uniform acceleration movement or not.
Optionally, the load measurement method of the movable bed board of the medical detection system according to the embodiment of the invention may further include a precision calibration step: according to the calculated difference between the load of the movable bed plate and the actual load, the accuracy of the load measurement of the medical detection system is detected, and if the difference is larger than a preset value, the medical detection system alarms and executes the specific relation determining method (steps S1, S43, S45 and S47) again so as to adjust the specific relation between the current of the motor and the load of the movable bed plate. For example, to calibrate for errors due to patient bed wear, motor aging, or other reasons, the particular relationship may be adjusted by this accuracy calibration step, e.g., adjusting the known values in equations (1) - (4) above.
FIG. 9 shows a data acquisition window for acquiring data during the fixed time period in an embodiment of the invention, where T 1 For this fixed period of time, it is a period of time during acceleration of the moving bed 20. I a For the current of the motor 30, S 1 To move the bed board 20 to displace in the horizontal direction, H 1 For displacement of the moving bed plate 20 in the vertical direction, V is the speed of the moving bed plate 20, where V 1b For moving the bed board 20 for a fixed time period T 1 At the end time of (V), where V 1a For moving the bed board 20 for a fixed time period T 1 Is a speed at the start time of (a). When the technical solution of any of the embodiments is adopted to obtain the load of the movable bed board 20, the required data can be selected for collection.
The derivation processes of the above formulas (2) - (4) will be described below.
The moving parts (moving bed plate 20) described in the derivation of formulas (2) - (4) may include the moving bed plate itself and other moving parts capable of moving with the moving bed plate, and the rotating parts (motor 30) described in the derivation of formulas (2) - (4) may include the motor 30 itself and other rotating parts capable of rotating synchronously with the motor 30, and when the speed and the height change, there are changes in kinetic energy and potential energy on both the moving parts and the rotating parts, and also friction on the moving parts and external forces from the stationary parts to which they are subjected consume work.
For a wide range of situations, there may be additional components that move when the moving bed moves, and their speed/height may not be consistent with the speed/height of the moving bed, but have a fixed relationship due to the fact that they are all from a set of motion mechanisms; when the motor rotates, there may be other components that also rotate, and their rotational speed/height may not be consistent with the rotational speed/height of the motor, but have a certain ratio relationship due to all coming from a set of motion mechanisms. In practice, equations (2) - (4) may be further transformed according to these inherent relationships when considering errors caused by these speed/altitude inconsistencies, e.g., kinetic energy, potential energy, external forces, frictional forces, etc. contributed by these other moving parts may be added separately to the corresponding parts of the equations.
The movable bed board 20 is in the fixed time period T 1 The energy consumed in the internal motion is equal to the sum of the energy consumed by the friction force and the energy consumed by the friction force against the external force, namely:
E r ＝F r S 1 ＝(k r Mg+F b )S 1 (5)；
wherein E is r For moving the bed 20 during the fixed period of time T 1 Energy dissipated during internal motion, k r To move the coefficient of friction between the bed and a stationary part (or a non-moving part, e.g. the support 10), F b In order to receive an external force from a static component when the movable bed plate moves, M is the total mass of the moving component (the sum of the mass of the movable bed plate and the weight of the movable bed plate), S 1 For moving the bed 20 during the fixed period of time T 1 Displacement in the inner part.
Speed V of the movable bed board 20 at the start time 1a Velocity V at end time 1b The relationship with the displacement can be described as the following equation (6) and equation (7), respectively.
Wherein S is a (1) To move the bed plate 20 at the start point time (first data acquisition time), S a (2) To move the displacement of the bed plate 20 at the second data acquisition time, S a (n) is the displacement of the movable bed board at the end time (nth data acquisition time), S a (n-1) is the displacement of the moving bed plate 20 at the n-1 data acquisition time, delta t For a uniform data acquisition time interval.
During the fixed time period T 1 In, the increment E of the mass kinetic energy generated by the movement of the movable bed board 20 1 Can be described as the following equation (8):
during the fixed time period T 1 In, an increase E in rotational kinetic energy of the motor 30 k Can be described as the following equation (9):
wherein J is c1 Omega is the moment of inertia of the motor 30 1a And omega 1b The angular velocity of the motor 30 is acquired at the start time and the end time of the fixed period, respectively.
During the fixed time period T 1 In the interior, the gravitational potential energy increase E generated by the movement of the movable bed board 20 p Can be described as the following equation (10):
E p ＝MgH 1 (10)。
the movable bed board 20 is arranged in the fixed time period T according to the principle of energy conservation 1 Energy consumed during internal motion and mass kinetic energy increase E generated 1 Gravitational potential energy increment E p An increase E in rotational kinetic energy of the motor 30 k Are provided by motor 30 and can be described specifically as the following equation (11):
E r +(E 1 +E k +E p )＝E m (11)；
wherein E is m I.e. indicating that the motor 30 is in the fixed time period T 1 The energy of the internal output, which can be calculated by the following equation (12), is described.
Wherein K is a The coefficient of relation between the current of the motor 30 and the output torque of the motor 30 is expressed, which is a known number.
Substituting equation (12) into equation (11) yields the following equation (13):
further, substituting the formulas (5), (8), (9), (10) into the formula (13) yields the following formula (14):
transforming equation (14) yields the following equation (15):
in the above formula (15), there are three unknown parameters to be determined, namely k r 、k a F (F) b 。
To determine the three unknown parameters k r 、k a F (F) b It may be used as an unknown parameter of equation (15) to build three equations, which may be built up by the steps of:
Respectively loading the movable bed board 20 with three loads of different masses, and under the same speed control curve, acquiring the parameters S in the same data acquisition mode in the process of respectively moving the movable bed board 20 from the starting time to the ending time in the same acceleration section 1 、V 1b 、V 1a 、H 1 、ω 1b 、ω 1a 、ω a 、I a Etc., solving for the above-mentioned unknown parameter k using the acquired parameters as known parameters r 、k a F (F) b 。
In order to be able to obtain the total mass of the moving part according to the above formula (15) and further the patient weight in clinical applications, this formula (15) is transformed into the following formula (16):
the above formula (16) corresponds to the formula (4), and the above formula (16) is applicable to obtain the total mass M of the moving part, regardless of whether the moving bed board 20 has a position in the horizontal direction and the vertical direction at the same time or not in the acceleration section, and therefore, the load of the moving bed board 20, that is, the weight of the patient can be obtained by subtracting the mass of the moving bed board 20 itself from the total mass M of the moving part.
Corresponding to formula (3), when there is no gravitational potential energy change, i.e. the moving bed plate is not displaced in the vertical direction, the above formula (16) can be further simplified to the following formula (17):
Corresponding to formula (2), when there is no gravitational potential energy change and the motion mode of the moving bed board is uniform acceleration motion, the above formula (17) can be further simplified into the following formula (18):
after each parameter to be measured is determined, the above equation (18) may eventually be a linear equation, which is formally equivalent to the above equation (1).
Embodiments of the present invention may also provide a computer program which, when run in a medical detection system, causes the medical detection system to perform the load measurement method of the moving bed board of the above embodiments. It will be appreciated by those skilled in the art that the present invention may also provide a medium for storing the computer program.
Fig. 10 is a block diagram of a medical detection system according to an embodiment of the present invention, as shown in fig. 10, including a patient table, which may be shown in fig. 1, including a moving couch plate 20, to which a motor 30 is connected, the motor 30 being used to drive the moving couch plate 20. The medical detection system further comprises a measuring device 40 for measuring the load of the moving bed plate. The measuring device 40 comprises a control module 41, a data acquisition module 43 and a load calculation module 45. Wherein, the control module 41 is used for controlling the movable bed board 20 to perform acceleration movement in a fixed time period; the data acquisition module 43 is used for acquiring the current of the motor in the fixed time period; the load calculation module 45 is used for calculating the load of the movable bed plate 20 according to a specific relation between the current of the motor 30 and the load of the movable bed plate 20.
Further, the control module 41 is configured to control the moving bed 20 to perform the uniform acceleration motion during the fixed time period, and a specific relationship between the current of the motor and the load of the moving bed is described as formula (1).
To determine this particular relationship, the medical detection system of the embodiment of the present invention further includes a fitting module and a relationship determination module, and when loads having different known masses are applied to the moving couch board a plurality of times, the control module 41 is further configured to control the moving couch board 20 to perform an acceleration motion for a fixed time period for each load applied, and the data acquisition module 43 is further configured to acquire the current of the motor 30 for the fixed time period for each load applied. And the fitting module is used for acquiring a fitting curve between the load of the movable bed plate and the current of the motor according to the known mass of the load loaded for multiple times and the current of the corresponding motor 30. The relation determining module is used for obtaining a specific relation between the current of the motor and the load of the movable bed plate according to the fitting curve.
Alternatively, the specific relationship between the current of the motor and the load of the moving couch board may be described as formula (2), where the control module 41 is configured to control the moving couch board 20 to perform the uniform acceleration motion during the fixed time period, and the data acquisition module 43 is further configured to: acquiring the angular velocity of the motor 30 a plurality of times during the fixed time period, including the angular velocity of the motor 30 acquired at the start time of the fixed time period and the angular velocity of the motor 30 acquired at the end time of the fixed time period; collecting the speed of the moving bed board 20 at the start time of the fixed time period as a first speed; collecting the speed of the moving bed board 20 as a second speed at the end time of the fixed period; the displacement of the movable couch 20 in the horizontal direction from the start time to the end time can be calculated by the displacement calculation module.
Alternatively, the specific relationship between the current of the motor and the weight of the moving bed board may be described as formula (3), at which time the data acquisition module 43 is further configured to acquire the angular velocity of the motor 30 while acquiring the current of the motor 30 during the fixed time period, including the angular velocity of the motor 30 acquired at the start time of the fixed time period and the angular velocity of the motor 30 acquired at the end time of the fixed time period; the displacement calculation module is used for calculating the displacement of the movable bed board 20 in the horizontal direction from the starting time to the ending time.
Alternatively, the specific relationship between the current of the motor and the weight of the moving bed board may be described as formula (4), at which time the data acquisition module 43 is further configured to acquire the angular velocity of the motor 30 while acquiring the current of the motor 30 during the fixed period of time, including the angular velocity of the motor 30 acquired at the start time and the angular velocity of the motor 30 acquired at the end time; the displacement calculation module is used for calculating the displacement of the movable bed board 20 in the horizontal direction from the starting time to the ending time, and is also used for calculating the displacement of the movable bed board 20 in the vertical direction from the starting time to the ending time.
Optionally, the medical detection system may further comprise a precision calibration module for detecting the precision of the weight measurement of the medical detection system based on a calculated difference between the load of the moving bed plate and the actual load, and if the difference is greater than a predetermined value, the medical detection system alarms and redetermines a specific relationship between the current of the motor and the load of the moving bed plate.
According to the technical scheme, before a patient is scanned, in the process of accelerating the patient to the scanning cavity by moving the bed plate, the motor current is collected, the bed plate load is calculated according to the specific relation between the motor current and the bed plate load, and the calculated load value is the weight of the patient, so that the weight of the patient can be automatically obtained before the patient is scanned (if required, after the scanning is finished), and other relevant scanning parameters can be adaptively adjusted according to the weight of the patient, so that a more proper scanning image can be obtained. In contrast to the prior art, no special weighing devices or sensors for sensing the weight pressure of the patient need be provided for the medical detection system.
And moreover, a proper specific relation can be selected according to different movement modes of the movable bed board to obtain more accurate weight of a patient, so that the flexibility is high.
Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, suitable results may be achieved if the described techniques were performed in a different order and/or if components in the described systems, architectures, devices or circuits were combined in a different manner and/or replaced or supplemented by additional components or equivalents thereof. Accordingly, other embodiments are within the scope of the following claims.
Claims (17)
1. A load measurement method of a movable couch plate of a medical detection system, the movable couch plate is connected with a motor, the motor is used for driving the movable couch plate to move, the load measurement method of the movable couch plate comprises:
controlling the movable bed board to perform acceleration movement at least in the horizontal direction in a fixed time period;
collecting the current and the angular speed of the motor for a plurality of times within the fixed time period;
calculating the load of the movable bed plate according to the specific relation between the current and the angular speed of the motor and the load of the movable bed plate,
wherein, the movable bed board makes uniform acceleration movement in the fixed time period, the load measuring method further comprises:
Acquiring the angular velocity of the motor for a plurality of times within the fixed time period, wherein the angular velocity comprises the angular velocity of the motor acquired at the starting time of the fixed time period and the angular velocity of the motor acquired at the ending time of the fixed time period;
collecting the speed of the movable bed board at the starting time of the fixed time period as a first speed;
collecting the speed of the movable bed board as a second speed at the end time of the fixed time period; and
calculating the displacement of the movable bed board in the horizontal direction from the starting time to the ending time;
wherein the load of the moving bed plate is calculated based at least on the current of the motor, the angular speed of the motor, the first speed, the second speed and the displacement.
2. The method of claim 1, wherein the specific relationship between the current and angular speed of the motor and the weight of the moving bed is described as:
wherein m is the weight of the load of the movable bed board, m 1 For the mass, k of the movable bed board a Is the relation coefficient between the current of the motor and the output torque of the motor, I a For the current of the motor acquired during the fixed period, n is the number of times the angular velocity of the motor is acquired during the fixed period, i is a natural number, and 1 < i < n, ω a (i) The angular velocity of the motor acquired for the ith time; delta t For the time interval of two adjacent collection of the angular velocity of the motor, J c1 Omega is the moment of inertia of the motor 1a For the angular velocity, ω, of the motor acquired at the start time of the fixed period 1b Angular velocity of motor, F, acquired at the end time of the fixed period b S is an external force applied to the movable bed board 1 For the displacement of the movable bed board in the horizontal direction from the start time to the end time, k r The friction coefficient of the movable bed board is g, and the g is gravity acceleration; v (V) 1a For the first speed, V 1b Is the second speed; wherein m is 1 、l a 、n、Δ t 、J c1 、F b 、k r G is a known value.
3. A load measurement method of a movable couch plate of a medical detection system, the movable couch plate is connected with a motor, the motor is used for driving the movable couch plate to move, the load measurement method of the movable couch plate comprises:
controlling the movable bed board to perform acceleration movement at least in the horizontal direction in a fixed time period;
collecting the current and the angular speed of the motor for a plurality of times within the fixed time period;
calculating the load of the movable bed plate according to the specific relation between the current and the angular speed of the motor and the load of the movable bed plate,
Wherein the load measurement method further comprises:
acquiring an angular velocity of the motor while acquiring the motor current for the fixed time period, including an angular velocity of the motor acquired at a start time of the fixed time period and an angular velocity of the motor acquired at an end time of the fixed time period;
collecting the speed of the movable bed board at the starting time of the fixed time period as a first speed;
collecting the speed of the movable bed board as a second speed at the end time of the fixed time period; and
acquiring the displacement of the movable bed board in the horizontal direction from the starting time to the ending time;
wherein the load of the moving bed plate is calculated based at least on the current of the motor, the angular velocity of the motor and the displacement.
4. A method according to claim 3, characterized in that the specific relation between the current and angular speed of the motor and the load of the moving bed is described as:
wherein m is the weight of the load of the movable bed board, m 1 For the mass of the movable bed board, n is the number of times the current of the motor is collected in the fixed time period, I is a natural number, and 1 < I < n, I a (i) For the current, ω, of the motor acquired the i-th time a (i) The angular velocity of the motor acquired for the ith time; k (k) a (i) For the relation coefficient between the current of the motor and the output torque of the motor acquired for the ith time, delta t For the time interval of collecting the current of the motor twice c1 Is the moment of inertia of the motor,ω 1a for the angular velocity, ω, of the motor acquired at the start time of the fixed period 1b Angular velocity of motor, F, acquired at the end time of the fixed period b S is an external force applied to the movable bed board 1 For the displacement of the movable bed board in the horizontal direction from the start time to the end time, k r The friction coefficient of the movable bed board is g, and the g is gravity acceleration; v (V) 1a For the first speed, V 1b Is the second speed; wherein m is 1 、Δ t 、n、J c1 、F b 、k r G is a known value.
5. A load measurement method of a movable couch plate of a medical detection system, the movable couch plate is connected with a motor, the motor is used for driving the movable couch plate to move, the load measurement method of the movable couch plate comprises:
controlling the movable bed board to perform acceleration movement at least in the horizontal direction in a fixed time period;
collecting the current and the angular speed of the motor for a plurality of times within the fixed time period;
Calculating the load of the movable bed plate according to the specific relation between the current and the angular speed of the motor and the load of the movable bed plate,
wherein the load measurement method further comprises:
acquiring an angular velocity of the motor while acquiring the motor current for the fixed time period, including an angular velocity of the motor acquired at a start time of the fixed time period and an angular velocity of the motor acquired at an end time of the fixed time period;
collecting the speed of the movable bed board at the starting time of the fixed time period as a first speed;
collecting the speed of the movable bed board as a second speed at the end time of the fixed time period;
acquiring the displacement of the movable bed board in the horizontal direction from the starting time to the ending time; and
obtaining the displacement of the movable bed board in the vertical direction from the starting time to the ending time,
wherein the load of the moving bed plate is calculated based at least on the current of the motor, the angular velocity of the motor, the displacement of the moving bed plate in the horizontal direction and the displacement of the moving bed plate in the vertical direction.
6. The method of claim 5, wherein,
The specific relationship between the current and angular speed of the motor and the load of the moving bed is described as:
wherein m is the weight of the load of the movable bed board, m 1 For the mass of the movable bed board, n is the number of times of collecting the current of the motor for a plurality of times in the fixed time period, I is a natural number, and 1I < n, I a (i) For the current, ω, of the motor acquired the i-th time a (i) The angular velocity of the motor acquired for the ith time; k (k) a (i) For the relation coefficient between the current of the motor and the output torque of the motor acquired for the ith time, delta t For the time interval of collecting the current of the motor twice c1 Omega is the moment of inertia of the motor 1a For the angular velocity, ω, of the motor acquired at the start time of the fixed period 1b Angular velocity of motor, F, acquired at the end time of the fixed period b S is an external force applied to the movable bed board 1 For the displacement of the movable bed board in the horizontal direction from the start time to the end time, k r The friction coefficient of the movable bed board is g, and the g is gravity acceleration; v (V) 1a For the first speed, V 1b For the second speed H 1 The displacement of the movable bed board in the vertical direction from the starting time to the ending time; wherein m is 1 、Δ t 、n、J c1 、F b 、k r G is all alreadyAnd (5) knowing the value.
7. The method according to any one of claims 1 to 6, wherein the specific relationship between the current of the motor and the load of the moving bed is obtained by the following specific relationship determination method:
loading a load on the moving bed plate a plurality of times, wherein each loaded load has a different known mass;
aiming at the load loaded each time, controlling the movable bed board to perform acceleration movement in a fixed time period and collecting the current of the motor for multiple times in the fixed time period;
obtaining a fitting curve between the load of the movable bed board and the current of the motor according to the known mass of the load loaded for multiple times and the current of the corresponding motor;
and acquiring a specific relation between the current of the motor and the load of the movable bed plate according to the fitting curve.
8. The method of any one of claims 1 to 6, further comprising:
and detecting the accuracy of the load measurement of the medical detection system according to the calculated difference between the load of the movable bed plate and the actual load, alarming by the medical detection system if the difference is larger than a preset value, and re-executing the specific relation determining method to adjust the specific relation between the current and the angular speed of the motor and the load of the movable bed plate.
9. A medium storing a computer program which, when run in a medical detection system, causes the medical detection system to perform a load measurement method of a moving bed of a medical detection system according to any one of claims 1 to 8.
10. A medical detection system, comprising:
the patient bed comprises a movable bed board, wherein the movable bed board is connected with a motor, and the motor is used for driving the movable bed board to move;
a measuring device for measuring the load of the moving bed plate, comprising:
the control module is used for controlling the movable bed board to perform acceleration movement at least in the horizontal direction in a fixed time period;
the data acquisition module is used for acquiring the current and the angular speed of the motor for a plurality of times within the fixed time period;
a calculating module for calculating the load of the movable bed plate according to the specific relation between the current and the angular speed of the motor and the load of the movable bed plate,
the control module is used for controlling the movable bed board to do uniform acceleration movement in the fixed time period, and the data acquisition module is also used for acquiring the angular speed of the motor for a plurality of times in the fixed time period, wherein the angular speed comprises the angular speed of the motor acquired at the starting time of the fixed time period and the angular speed of the motor acquired at the ending time of the fixed time period;
The data acquisition module is also used for acquiring the speed of the movable bed board at the starting time of the fixed time period as a first speed;
the data acquisition module is also used for acquiring the speed of the movable bed board at the end time of the fixed time period as a second speed;
the medical detection system also comprises a displacement acquisition module for acquiring the displacement of the movable bed board in the horizontal direction from the starting time to the ending time,
wherein the load of the moving bed plate is calculated based at least on the current of the motor, the angular speed of the motor, the first speed, the second speed and the displacement.
11. The medical detection system of claim 10, wherein the specific relationship between the current of the motor and the weight of the moving bed is described as:
wherein m is the weight of the load of the movable bed board, m 1 For the mass, k of the movable bed board a Is the relation coefficient between the current of the motor and the output torque of the motor, I a For the current of the motor acquired during the fixed period, n is the number of times the angular velocity of the motor is acquired during the fixed period, i is a natural number, and 1 < i < n, ω a (i) The angular velocity of the motor acquired for the ith time; delta t For the time interval of two adjacent collection of the angular velocity of the motor, J c1 Omega is the moment of inertia of the motor 1a For the angular velocity, ω, of the motor acquired at the start time of the fixed period 1b Angular velocity of motor, F, acquired at the end time of the fixed period b S is an external force applied to the movable bed board 1 For the displacement of the movable bed board in the horizontal direction from the start time to the end time, k r The friction coefficient of the movable bed board is g, and the g is gravity acceleration; v (V) 1a For the first speed, V 1b Is the second speed; wherein m is 1 、k a 、n、Δ t 、J c1 、F b 、k r G is a known value.
12. A medical detection system, comprising:
the patient bed comprises a movable bed board, wherein the movable bed board is connected with a motor, and the motor is used for driving the movable bed board to move;
a measuring device for measuring the load of the moving bed plate, comprising:
the control module is used for controlling the movable bed board to perform acceleration movement at least in the horizontal direction in a fixed time period;
the data acquisition module is used for acquiring the current and the angular speed of the motor for a plurality of times within the fixed time period;
A calculating module for calculating the load of the movable bed plate according to the specific relation between the current and the angular speed of the motor and the load of the movable bed plate,
wherein the data acquisition module is further configured to acquire an angular velocity of the motor while acquiring the motor current during the fixed time period, including an angular velocity of the motor acquired at a start time of the fixed time period and an angular velocity of the motor acquired at an end time of the fixed time period;
the data acquisition module is also used for acquiring the speed of the movable bed board at the starting time of the fixed time period as a first speed;
the data acquisition module is also used for acquiring the speed of the movable bed board at the end time of the fixed time period as a second speed;
the medical detection system further comprises a displacement acquisition module, wherein the displacement acquisition module is used for acquiring the displacement of the movable bed board in the horizontal direction from the starting time to the ending time;
wherein the load of the moving bed plate is calculated based at least on the current of the motor, the angular velocity of the motor and the displacement.
13. The medical detection system of claim 12, wherein the specific relationship between the current of the motor and the weight of the moving bed is described as:
Wherein m is the weight of the load of the movable bed board, m 1 For the mass of the movable bed board, n is the number of times the current of the motor is collected in the fixed time period, I is a natural number, and 1 < I < n, I a (i) For the current, ω, of the motor acquired the i-th time a (i) The angular velocity of the motor acquired for the ith time; k (k) a (i) For the relation coefficient between the current of the motor and the output torque of the motor acquired for the ith time, delta t For the time between two adjacent acquisitions of the current of the motorPartition, J c1 Omega is the moment of inertia of the motor 1a For the angular velocity, ω, of the motor acquired at the start time of the fixed period 1b Angular velocity of motor, F, acquired at the end time of the fixed period b S is an external force applied to the movable bed board 1 For the displacement of the movable bed board in the horizontal direction from the start time to the end time, k r The friction coefficient of the movable bed board is g, and the g is gravity acceleration; v (V) 1a For the first speed, V 1b Is the second speed; wherein m is 1 、Δ t 、n、J c1 、F b 、k r G is a known value.
14. A medical detection system, comprising:
the patient bed comprises a movable bed board, wherein the movable bed board is connected with a motor, and the motor is used for driving the movable bed board to move;
A measuring device for measuring the load of the moving bed plate, comprising:
the control module is used for controlling the movable bed board to perform acceleration movement at least in the horizontal direction in a fixed time period;
the data acquisition module is used for acquiring the current and the angular speed of the motor for a plurality of times within the fixed time period;
a calculating module for calculating the load of the movable bed plate according to the specific relation between the current and the angular speed of the motor and the load of the movable bed plate,
wherein the data acquisition module is further configured to acquire an angular velocity of the motor while acquiring the motor current during the fixed time period, including an angular velocity of the motor acquired at a start time of the fixed time period and an angular velocity of the motor acquired at an end time of the fixed time period;
the data acquisition module is also used for acquiring the speed of the movable bed board at the starting time of the fixed time period as a first speed;
the data acquisition module is also used for acquiring the speed of the movable bed board at the end time of the fixed time period as a second speed;
the medical detection system further comprises a displacement acquisition module, wherein the displacement acquisition module is used for acquiring the displacement of the movable bed board in the horizontal direction from the starting time to the ending time;
The displacement acquisition module is also used for acquiring the displacement of the movable bed board in the vertical direction from the starting time to the ending time;
wherein the load of the moving bed plate is calculated based at least on the current of the motor, the angular velocity of the motor, the displacement of the moving bed plate in the horizontal direction and the displacement of the moving bed plate in the vertical direction.
15. The medical detection system of claim 14, wherein the specific relationship between the current of the motor and the weight of the moving bed is described as:
wherein m is the weight of the load of the movable bed board, m 1 For the mass of the movable bed board, n is the number of times the current of the motor is collected in the fixed time period, I is a natural number, and 1 < I < n, I a (i) For the current, ω, of the motor acquired the i-th time a (i) The angular velocity of the motor acquired for the ith time; k (k) a (i) For the relation coefficient between the current of the motor and the output torque of the motor acquired for the ith time, delta t For the time interval of collecting the current of the motor twice c1 Omega is the moment of inertia of the motor 1a For the angular velocity, ω, of the motor acquired at the start time of the fixed period 1b Angular velocity of motor, F, acquired at the end time of the fixed period b S is an external force applied to the movable bed board 1 For the displacement of the movable bed board in the horizontal direction from the start time to the end time, k r Coefficient of friction for the moving bed plateG is gravity acceleration; v (V) 1a For the first speed, V 1b For the second speed H 1 The displacement of the movable bed board in the vertical direction from the starting time to the ending time; wherein m is 1 、Δ t 、n、J c1 、F b 、k r G is a known value.
16. The medical detection system according to any one of claims 10 to 15, wherein in case of loading a load with different known mass on the moving bed plate a plurality of times, the control module is further adapted to control the moving bed plate to perform an acceleration movement for a fixed period of time for each loaded load, the data acquisition module is further adapted to acquire the current of the motor for a fixed period of time for each loaded load; the medical detection system further comprises:
the fitting module is used for obtaining a fitting curve between the load of the movable bed plate and the current of the motor according to the known mass of the load loaded for multiple times and the current of the corresponding motor;
And the relation determining module is used for acquiring a specific relation between the current of the motor and the load of the movable bed plate according to the fitting curve.
17. The medical detection system of any one of claims 10 to 15, further comprising:
the precision calibration module is used for detecting the precision of the load measurement system according to the calculated difference between the load of the movable bed plate and the actual load, and if the difference is larger than a preset value, the medical detection system gives an alarm to prompt the user to redetermine the specific relation between the current of the motor and the load of the movable bed plate.
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