CN110090033A - Intelligent radiation tomography device and control method - Google Patents
Intelligent radiation tomography device and control method Download PDFInfo
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- CN110090033A CN110090033A CN201810092152.7A CN201810092152A CN110090033A CN 110090033 A CN110090033 A CN 110090033A CN 201810092152 A CN201810092152 A CN 201810092152A CN 110090033 A CN110090033 A CN 110090033A
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- 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
- A61B6/40—Arrangements for generating radiation specially adapted for radiation diagnosis
- A61B6/4021—Arrangements for generating radiation specially adapted for radiation diagnosis involving movement of the focal spot
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
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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
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
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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
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
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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
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4476—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit
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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
- A61B6/54—Control of apparatus or devices for radiation diagnosis
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Abstract
The invention discloses a kind of intelligent radiation tomography device and control methods, it includes console, two mechanical arms being oppositely arranged, respectively correspond the transmitting unit and receiving unit of fixed setting on the robotic arm, and human body information collecting mechanism, mechanical arm, transmitting unit and the receiving unit and human body information collecting mechanism is connect with console communication respectively, and the mechanical arm is pressed desired trajectory movement by the console driving transmitting unit and receiving unit or run to predetermined position.Intelligent radiation tomography device of the invention, i.e. X-ray DR robot drives pipe ball unit and plate probe unit by two controlled mechanical arms are corresponding, mechanical arm can receive the instruction of program, it is pin-pointed to spatially any point, more position film making static and dynamic all standings in spatial position may be implemented in the adjustment that different postures are realized by the control to mechanical arm.Substantially the function of current all X-ray production apparatus may be implemented.
Description
Technical field
The present invention relates to technical field of medical equipment, more particularly to a kind of intelligent radiation tomography device and controlling party
Method.
Background technique
The X-ray product that Hospitals at Present generally uses is more dispersed many kinds of, including X-ray level bed DR, C-arm X are penetrated
Line machine, UC arm DR, suspention DR system, CT system；25 stomach and intestine machines etc..The position of the above hardware check and the emphasis of inspection, respectively
Different, function can not achieve the detection of all positions using above cutting both ways.And kinds of machine is various, due to every machine
Operating with for device is different from, and brings difficulty to operator's use of hospital, adjusting of parameter etc..And kinds of machine
Various, hospital needs to provide enough places.Occupy a large amount of space.Cause the in short supply of place.Overall cost increases
Add.
In summary, it is contemplated that reducing hospital operation personnel makes the use of equipment, the purchase cost of equipment, hospital equipment
With the utilization with space.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of intelligent radiographies to fill
It sets.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of intelligent radiation tomography device, including console, two mechanical arms being oppositely arranged respectively correspond fixation and set
Set transmitting unit on the robotic arm and receiving unit and human body information collecting mechanism, the mechanical arm, transmitting unit and
Receiving unit and human body information collecting mechanism are connect with console communication respectively, and the mechanical arm is driven by the console
Transmitting unit and receiving unit are pressed desired trajectory movement or are run to predetermined position.
In the above-mentioned technical solutions, transmitting unit and receiving unit are respectively pipe ball unit and plate probe unit.
In the above-mentioned technical solutions, protective unit is provided on the mechanical arm.
In the above-mentioned technical solutions, the protective unit includes the range sensor of setting on the robotic arm, Yi Jizhi
Pressure sensor on pipe ball unit and plate probe unit is set less.
In the above-mentioned technical solutions, the range sensor is ultrasonic sensor, and the pressure sensor is packet
Cover the sheet pressure sensor of projecting point.
In the above-mentioned technical solutions, elastic rubber is coated on the outside of the pressure sensor.
In the above-mentioned technical solutions, hand steered branch is fixedly installed on mechanical arm corresponding with the plate probe unit
Frame.
In the above-mentioned technical solutions, the mechanical arm is sixdegree-of-freedom simulation, the mechanical arm described at least one
Track is provided between pedestal and ground.
It in the above-mentioned technical solutions, further include the multi-pose bed for being arranged between two mechanical arms and controllably being connect with console
Platform.
In the above-mentioned technical solutions, the human body collecting mechanism includes bottom plate, and the batheroom scale on bottom plate is arranged in, and
The range sensor and camera being fixed at by upright bar above batheroom scale.
It in the above-mentioned technical solutions, further include being driven the balladeur train moved up and down along the upright bar, in the balladeur train
Width direction two sides be respectively arranged with reflective sensor.
A kind of control method of the intelligent radiation tomography device, includes the following steps；
1) the step of obtaining human body information,
2) two mechanical arms are driven to enter corresponding test pose according to human body information；
3) transmitting unit and receiving unit correspond to work and are shot.
In the above-mentioned technical solutions, further include driving mechanical arm carry out corresponding pose adjustment continuously or discontinuously simultaneously into
Row corresponds to the step of shooting.
In the above-mentioned technical solutions, multi-pose table is to lay flat state, and the distance of transmitting unit and receiving unit is constant and revolves
Turn center coaxial and uniform motion always, while carrying out continuously or discontinuously formula shooting to execute CT or C-arm function.
In the above-mentioned technical solutions, multi-pose table is upright or inclination state, and the distance of transmitting unit and receiving unit is not
Become and along the length direction uniform motion of table, while carrying out continuously or discontinuously formula shooting to execute fluoroscopic machine or stomach machine function
Energy.
In the above-mentioned technical solutions, reflective sensor is set on the robotic arm, and mechanical arm is when executing set-up function, first
Mechanical arm is risen vertically by setting from low spot and finds the changing value of reflective sensor to measure human body shoulder height, then further according to
Shoulder height carries out the automatic positioning of two mechanical arms or runs by matched track.
Compared with prior art, the beneficial effects of the present invention are:
Intelligent radiation tomography device of the invention, i.e. X-ray DR robot drive pipe by two controlled mechanical arms are corresponding
Ball unit and plate probe unit, mechanical arm can receive the instruction of program, spatially any point is pin-pointed to, by right
The adjustment of different postures is realized in the control of mechanical arm, and more position film making static and dynamic all standings in spatial position may be implemented.
Substantially the function of current all X-ray production apparatus may be implemented.
Detailed description of the invention
Fig. 1 show the execution C-arm functional schematic of multi-functional radiation tomography device of the invention.
Fig. 2 show the execution CT machine state functional schematic of multi-functional radiation tomography device of the invention.
Fig. 3 show the execution stomach machine functional schematic of multi-functional radiation tomography device of the invention.
Fig. 4 show the execution fluoroscopic machine functional schematic of multi-functional radiation tomography device of the invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
Embodiment one
Intelligent radiation tomography device of the invention includes console, and two mechanical arms 1,2 being oppositely arranged, such as six freely
Mechanical arm is spent, the transmitting unit 3 and receiving unit 4 of fixed setting on the robotic arm are respectively corresponded, as pipe ball unit and plate are visited
Unit and human body information collecting mechanism are surveyed, the mechanical arm is driven pipe ball unit and plate by the console driving
Probe unit is pressed desired trajectory movement or is run to predetermined position to matched inspection position.
Radiography mechanical arm includes chassis, is arranged on chassis and is driven the waist rotating part relative to chassis rotation,
Lower end connect with waist rotating part and is driven the Support large arm that opposite waist rotating part is swung up and down, setting in Support large arm upper end and
It is driven the support forearm that opposite Support large arm is swung up and down, and setting in support forearm end and is driven rotation or up and down
The cephalic par of swing, and the functional unit being fixedly connected with the cephalic par, such as transmitting unit or receiving unit.
Specifically, the waist rotating part of mechanical arm, internal structure are a set of servo motor and deceleration unit, turbine and worm transmission
Structure, compact-sized, stable drive, driving torque are big.The vertical transmission of power spatially may be implemented.The driving of waist rotation
Direction are as follows: servo motor → retarder → turbine, worm tooth wheel set → rotary motion.
Support large arm enclosure material is aluminium alloy, and the driving structure of Support large arm includes servo motor and deceleration unit, tooth
Wheel shaft is connected to commutating tooth wheel set by shaft coupling.A gear and the rotary support member of Support large arm connect in gear pair.Actively
Gear drives driven gear, and driven gear is rotated together together with rotary support member.Servo motor is internally provided with encoder, can be with
The gear of real-time monitoring output rotates angles and positions.Realize precisely movement.The driving that Support large arm is swung up and down are as follows: servo electricity
Machine → retarder → speed reducer output shaft (key connection) → gear pair (spur gear) → Support large arm is swung up and down.
The driving mechanism of support forearm includes the servo motor being arranged in Support large arm and reduction gearbox group, is mentioned for rotation
For power.Reduction gearbox output shaft is directly connect with pinion gear, and pinion gear is engaged with gear wheel, and motor rotation is engaged by gear to be passed
Long axis is passed, long axis head end is equipped with conical bevel gear.The conical bevel gear taper umbrella tooth vertical with its transmission shaft with another pair
Wheel connection.The axial direction of motor is converted into radial rotating.Conical bevel gear drives elbow joint rotation.To realize elbow joint
Movement drives support forearm to swing up and down, and the precise motion of elbow joint equally passes through Serve Motor Control.
The rotation of support forearm is driven to servo motor → retarder → transmission shaft → taper pinion pair → joint and swings
Support forearm is driven to swing up and down.Support forearm shell is similarly aluminum alloy material, to connect elbow joint assembly and head end
Portion.The inner tail end of support forearm is positive gear auxiliary driving, and head end is conical bevel gear auxiliary driving and rotation.Three servo motors
In elbow joint, respectively, support forearm rotation servo motor group, head elevation servo motor group, head end rotating servo electricity
Unit.The rotation, head pitching, head end rotation of control support forearm respectively.The rotation for supporting forearm is servo motor+speed reducer
Group driving gear pair rotation, pinion gear driving, gear wheel are driven, and gear wheel and support forearm cage connection, realize forearm
Rotation.The pitching of cephalic par is similarly servo motor+speed reducer and drives a pair of of commutating tooth wheel set, and pinion gear driving wheel, gear wheel are
Driven wheel.Gear wheel is connect with transmission long axis, the bevel-gear sett connection of long axis and head end, one of angular wheel and head
Portion's cage connection.Realize head pitching.The rotation of cephalic par rotates transmitting power section with head pitching long axis, and structure is similar.
Difference is that the conical bevel gear of head end is connect with a pair of of commutating tooth wheel set, and angular wheel drives spur gear rotation, the rotation of commutating tooth wheel set
Turn band moving axis to rotate, a pair of of taper umbrella gear pair is installed again on axis.The change for realizing rotation direction, reaches the rotation of head end.
Above-mentioned mechanical arm, six-joint robot DR share the freedom degree of six direction, are that waist turns, shoulder turns, elbow turns, forearm turns, head respectively
Pitching, head end rotation.Six joints can be moved simultaneously with the coordinated movement of various economic factors with six joints, can also be joined with some of them joint
Dynamic or single action, 2 mechanical arms can be realized linkage, be completed the accurate fortune of complicated track by motion control program with cooperation
It is dynamic.
Wherein, the human body collecting mechanism includes bottom plate, the batheroom scale on bottom plate is arranged in, and fix by upright bar
Range sensor and camera above batheroom scale are set.It further include being driven the balladeur train moved up and down along the upright bar,
Reflective sensor is respectively arranged in the width direction two sides of the balladeur train.
When patient station is on the footprint (ground) of detection zone, on batheroom scale, balladeur train, which rises, finds reflection sense at such as station
Device, such as the changing value of infrared-reflectance sensors, when reflective sensor numerical value changes up to human body shoulder height.
By measurement weight and height, user's figure can be analyzed using top camera, analyzes the characteristics of human body such as body thickness,
Wherein, using the balladeur train moved up and down, cooperate the reflective sensor of two sides, the shoulder height of human body can be sensed, be subsequent TRAJECTORY CONTROL
Reference is provided.
It further, can also on the robotic arm, if reflective sensor is arranged in the top of transmitting unit or receiving unit, instead
Penetrate sensing preferably it is spaced two or more, to match different shoulder breadth crowds, as the reflective sensor of two sides can be used
Asymmetric design, when patient station is behind specified detection zone designated position, mechanical arm first when executing set-up function, first into
The measurement of row shoulder height, that is, mechanical arm is from low spot, as risen and finding vertically reflective sensor, such as infrared external reflection by setting at 1m
The changing value of sensor, when reflective sensor numerical value changes up to human body shoulder height.Then it is directed to further according to shoulder height
The automatic positioning of the patient.
The step is especially applicable in when doing Chest X-rays, chooses Chest X-rays function, is cooperated first with the movement of a mechanical arm
Reflective sensor carries out the measurement of shoulder height, latter two right mechanical arm moves to the position being calculated according to shoulder height information at the same time
It sets, or carries out corresponding track movement by characteristics of human body.
Meanwhile to improve equipment using flexible, the human body information collecting mechanism includes that batheroom scale and setting exist
The camera of batheroom scale side, the camera are arranged apart from ground level at 1.5-1.9m height, can be to big height range people
Body is shot, and patient to detection zone will do it shooting, 1, camera shooting gained photo and former blank (nothing after shooting
People) image subtraction, identify the height of people, 2. dependence face recognition technologies calculate human eye to the distance on ground, and height subtracts
150-200MM is up to shoulders of human body height
When robot DR detects examinee, due to putting the needs of position by the table of auxiliary.Auxiliary multi-pose table has
The function of catheter bed has lifting and rotation function simultaneously, and cooperative mechanical arm uses.It can link with mechanical arm, realize that a machine is more
Function.
Meanwhile to improve controlling, between the pedestal and ground of the mechanical arm that the mechanical arm, especially pipe ball unit are surveyed
It is provided with track, i.e., servo motor, gear-box, axis, gear, rack gear, sliding block built in pedestal, with the sliding block matchingly straight line
Guide rail is connect with ground embedded board, can be realized with respect to another mechanical arm close to or far from operation.
Wherein, the mechanical arm can be fixedly installed on bottom surface indoors or on top plate or side wall, no opposite to each other
Same fixation position, is able to satisfy the requirement in different operation space, moreover, having better space adaptability.Pass through mechanical arm
High-precision control enables pipe ball unit and plate probe unit to reach the corresponding position of matching, realizes that multi-functional Formula X ray is clapped
It takes the photograph.
Console includes control panel, computer monitor etc., is the center of information processing, takes into account adopting for input signal
Collection, the processing of robot motion, flat panel detector is opened and image procossing, the exposure of pipe ball and high pressure host kilovolt, milliampere, second
Adjustment control, is the brain of whole system.
The pipe ball unit includes pipe ball and photochopper, and X-ray is by generation when filament bombardment target surface in pipe ball.X
Ray filters out extra ray and scattered rays by beam-defining clipper.Toshiba, Varian such as may be selected.The plate detection
Unit includes detector and grid composition, can also add AEC function, i.e. outfit ionisation chamber.Such as Toshiba may be selected in detector
17x17, also sharp 14x17, the portable plate of Varian 14x17 etc..Flat panel detector receives imaging of the X-ray after body, filters line
Ray is adjusted to same direction by grid, improves image quality.And the size measured when ionisation chamber control automatic exposure.Plate detection
Device into the poster processing soft, handles image image transmitting, obtains qualitative picture.
DR robot of the invention drives pipe ball unit and plate probe unit, mechanical arm by two controlled mechanical arms are corresponding
The instruction that can receive program is pin-pointed to spatially any point, realizes different postures by the control to mechanical arm
More position film making static and dynamic all standings in spatial position may be implemented in adjustment.Substantially current all X-ray production apparatus may be implemented
Function.
Embodiment two
Specifically, to improve protective, it is provided with protective unit on the mechanical arm, as one of specific implementation
Mode, the protective unit include the range sensor being arranged at joint of mechanical arm, and are arranged at pipe ball unit
With the pressure sensor on plate probe unit, the range sensor is ultrasonic sensor, the pressure sensor
For the sheet pressure sensor for coating projecting point.
Range sensor is set using in joint, senses barrier when can not be in contact in action process
Or detected person, timely stopping act to avoid causing to damage, meanwhile, pressure is set on pipe ball unit and plate probe unit
Sensor, because inevitably passing through pressure using pressure sensor with closely even having gentle touchdown when different function
Power sensing carries out security protection, can guarantee close safe distance and has good operability.Preferably, in the pressure
Elastic rubber is coated on the outside of sensor.The pressure sensor is mainly disposed to phase on pipe ball unit and plate probe unit
To position outstanding.
It further include the human testing unit linked with the console communication meanwhile to improve device intelligence, it is described
Human testing unit include batheroom scale and camera, in bottom, the camera is arranged in body for the batheroom scale setting
At the top of restatement, by the scanning to human somatotype, analysis height, body expanded letter thickness etc. can be carried out, this similarly to the prior art,
This not reinflated description.Above- mentioned information can be sent directly to controller, and controller can carry out accordingly according to different signs
Pose adjustment.
Meanwhile to be adapted to different function, be for example convenient for filming machine function, then with the plate probe unit
Hand steered bracket is fixedly installed on corresponding mechanical arm, convenient for the control of posture.
Embodiment three
The control method of intelligent radiation tomography device described in one kind of the invention, includes the following steps；
1) the step of obtaining human body information, according to person's information to be checked and detection position；Wherein, examiner's information such as surname
Name, weight, height, shooting position, needs position etc. and can be manually entered or be selected by doctor gender, and weight and sign
Information directly can also be directly transferred to console by human testing unit, and the essential information for being then based on human body carries out analytical calculation
The metering of detection site ray, i.e., corresponding several parameters of KV, mA, s；
2) it drives two mechanical arms to enter corresponding test pose according to human body information console, and adjusts multi-pose simultaneously
The posture of table；It after reaching scheduled posture, is reminded by indicator light or sound etc., person to be checked can enter specified
Region, mechanical arm sense person to be detected and enter predetermined position, issue feedback, such as issue acousto-optic Xiang doctor and remind, such as indicate
Lamp can carry out normal photographing from red or orange change for green etc., or the locking of the certain functions of unlock, prompt；
3) pipe ball unit and plate probe unit correspond to work and are shot, i.e. high pressure host control pipe ball exposure, thus
Realize the exposure tests of automatic intelligence, while the image information of examinee is sensed by flat panel detector and is sent to console
Information is carried out to handle in next step.
It further include that driving mechanical arm carries out corresponding posture tune continuously or discontinuously meanwhile for different use functions
It is whole while the step of carry out corresponding shooting.
Specifically, multi-pose table is to lay flat state, the distance of transmitting unit and receiving unit is constant and rotation center always
Coaxial and uniform motion, while continuously or discontinuously formula shooting is carried out to execute CT or C-arm function.The intervention of operation may be implemented
Treatment, radiography, can be used for orthopaedics, whole bone, reset, nailing.Since the accurate motion profile of mechanical arm can simulate the phase of C-arm
To location track.Can substitute C-arm come using.And it is easy-to-use compared with CT machine, privileged site emphasis shooting can be carried out
It is shot comprehensively, reduces human body radiation and bear.
It alternatively applies, multi-pose table is upright or inclination state, and the distance of transmitting unit and receiving unit is not
Become and along the length direction uniform motion of table, while carrying out continuously or discontinuously formula shooting to execute fluoroscopic machine or stomach machine function
Energy.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of intelligent radiation tomography device, which is characterized in that including console, two mechanical arms being oppositely arranged, respectively
The corresponding transmitting unit being fixedly installed on the robotic arm and receiving unit and human body information collecting mechanism, the mechanical arm,
Transmitting unit and receiving unit and human body information collecting mechanism are connect with console communication respectively, and the mechanical arm is by described
Console driving transmitting unit and receiving unit are pressed desired trajectory movement or are run to predetermined position.
2. intelligent radiation tomography device as described in claim 1, which is characterized in that be provided with protection on the mechanical arm
Unit.
3. intelligent radiation tomography device as claimed in claim 2, which is characterized in that the protective unit includes that setting exists
Range sensor on mechanical arm, and the pressure sensor being arranged on pipe ball unit and plate probe unit.
4. intelligent radiation tomography device as described in claim 1, which is characterized in that further include being arranged between two mechanical arms
And the multi-pose table controllably being connect with console.
5. intelligent radiation tomography device as described in claim 1, which is characterized in that the human body collecting mechanism includes bottom
The batheroom scale on bottom plate is arranged in plate, and range sensor and camera above batheroom scale are fixed at by upright bar.
6. intelligent radiation tomography device as claimed in claim 5, which is characterized in that further include being driven along the upright bar
The balladeur train moved up and down is respectively arranged with reflective sensor in the width direction two sides of the balladeur train.
7. a kind of control method of intelligent radiation tomography device as claimed in any one of claims 1 to 6, which is characterized in that packet
Include following steps；
1) the step of obtaining human body information,
2) two mechanical arms are driven to enter corresponding test pose according to human body information；
3) the step of driving mechanical arm carries out corresponding pose adjustment continuously or discontinuously while carrying out corresponding shooting.
8. the control method of intelligent radiation tomography device as claimed in claim 7, which is characterized in that multi-pose table is flat
Put state, the distance of transmitting unit and receiving unit is constant and synchronous uniform velocity movement and rotation center it is coaxial always, while being connected
The shooting of continuous or discontinuous is to execute CT or C-arm function.
9. the control method of intelligent radiation tomography device as claimed in claim 7, which is characterized in that multi-pose table is straight
The constant and length direction uniform motion along table of the distance of vertical or inclination state, transmitting unit and receiving unit, while being connected
The shooting of continuous or discontinuous is to execute fluoroscopic machine or stomach machine function.
10. the control method of intelligent radiation tomography device as claimed in claim 7, which is characterized in that set on the robotic arm
Reflective sensor is set, when executing set-up function, mechanical arm is risen from low spot by setting vertically and found anti-mechanical arm first
The changing value of sensor is penetrated to measure human body shoulder height, then the automatic positioning of two mechanical arms is carried out further according to shoulder height or presses matching
Track operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810092152.7A CN110090033A (en) | 2018-01-30 | 2018-01-30 | Intelligent radiation tomography device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810092152.7A CN110090033A (en) | 2018-01-30 | 2018-01-30 | Intelligent radiation tomography device and control method |
Publications (1)
| Publication Number | Publication Date |
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| CN110090033A true CN110090033A (en) | 2019-08-06 |
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