CN111110266B - Control method of X-ray protection device and X-ray protection device - Google Patents
Control method of X-ray protection device and X-ray protection device Download PDFInfo
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- CN111110266B CN111110266B CN202010016379.0A CN202010016379A CN111110266B CN 111110266 B CN111110266 B CN 111110266B CN 202010016379 A CN202010016379 A CN 202010016379A CN 111110266 B CN111110266 B CN 111110266B
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- 230000005855 radiation Effects 0.000 claims description 12
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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
- A61B6/10—Safety means specially adapted therefor
- A61B6/107—Protection against radiation, e.g. shielding
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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 control method of an X-ray protection device and the X-ray protection device, the method comprises the following steps: acquiring a preset moving path through a first camera, and controlling a movable base to move along the moving path; continuously scanning through a second camera until the second camera catches a label at a preset position, decelerating and calculating the distance of a target position according to the coordinates of the label; and controlling the movable base to move to a target position according to the calculation result, and then adjusting the cloth curtain. The moving path is obtained through the first camera, automatic tracing is achieved through an image processing mode, the solid track can be omitted, cost and installation space of the solid track are saved, the second camera captures a label of a preset position, fixed-point placing is achieved, the cloth curtain is adjusted after the cloth curtain reaches a target position, automatic arrangement of the X-ray protection device can be achieved, and time and labor are saved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a control method of an X-ray protection device and the X-ray protection device.
Background
In the clinical X-ray diagnosis process of the examinee, in order to avoid unnecessary irradiation of the non-irradiated part, X-ray protection is generally required to be performed on the examinee and medical staff. At present, when the X-ray protection device is used, the X-ray protection device needs to be manually arranged, the automation degree is low, and time and labor are wasted.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a control method of an X-ray protection device, which can improve the automation degree of the control of the X-ray protection device.
The invention further provides an X-ray protection device.
The control method of the X-ray protection device in the embodiment of the first aspect of the invention comprises the following steps:
acquiring a preset moving path through a first camera, and controlling a movable base to move along the moving path;
continuously scanning through a second camera until the second camera catches a label at a preset position, decelerating and calculating the distance of a target position according to the coordinates of the label;
and controlling the movable base to move to a target position according to a calculation result, and adjusting the cloth curtain.
The control method of the X-ray protection device provided by the embodiment of the invention at least has the following beneficial effects:
the moving path is obtained through the first camera, automatic tracing is achieved through an image processing mode, the solid track can be omitted, cost and installation space of the solid track are saved, the second camera captures a label of a preset position, fixed-point placing is achieved, the cloth curtain is adjusted after the cloth curtain reaches a target position, automatic arrangement of the X-ray protection device can be achieved, and time and labor are saved.
According to some embodiments of the present invention, calculating the distance of the target location according to the coordinates of the tag specifically includes the following steps:
after the label is captured by the second camera, reading the pixel center coordinate of the label corresponding to the screen;
and calculating the distance of the target position according to the pixel center coordinates.
According to some embodiments of the invention, the target position has a distance L = K/Cx, where K is a constant and Cx is a value of an abscissa of the pixel center coordinate.
According to some embodiments of the invention, after controlling the movable base to move to the target position according to the calculation result, the method further comprises the following steps:
recording and storing the displacement distance between the movable base and the initial position;
and when receiving a use ending signal, resetting the cloth curtain, closing the second camera, acquiring a preset moving path through the first camera, and controlling the movable base to return to the initial position according to the moving distance.
According to some embodiments of the invention, after recording and storing the displacement distance between the mobile base and the initial position, the method further comprises the following steps:
when the movable base is detected to move again, calculating the movement distance of the movable base;
and calculating and updating the displacement distance between the movable base and the initial position according to the movement distance.
According to some embodiments of the invention, the adjusting of the cloth curtain further comprises the following steps:
continuously scanning the label through the second camera, and reading the pixel center coordinate of the label corresponding to the screen;
and when detecting whether the pixel center coordinates are deviated or not, calculating the distance of the target position after deviation according to the deviated pixel center coordinates, and controlling the movable base to move to the target position according to the calculation result.
According to some embodiments of the invention, controlling the movement of the moveable base along the movement path further comprises:
when the horizontal sensor detects that the motion track of the movable base deviates, calculating the rotation angle of the steering engine;
and driving the steering engine to rotate according to the rotation angle of the steering engine so as to correct the motion track of the movable base.
The X-ray shielding apparatus according to the embodiment of the second aspect of the present invention is used for executing the control method of the X-ray shielding apparatus according to the embodiment of the first aspect of the present invention, and comprises: a movable base; a device body mounted on the movable base; a first camera mounted on the movable base or the device body, for acquiring a preset movement path; the second camera is arranged on the device main body and used for capturing a label at a preset position; and the extensible support is arranged on the device main body and is provided with a cloth curtain for adjusting the cloth curtain.
The X-ray protection device provided by the embodiment of the invention has at least the following beneficial effects:
the moving path is obtained through the first camera, automatic tracing is achieved through an image processing mode, the solid track can be omitted, cost and installation space of the solid track are saved, the second camera captures a label of a preset position, fixed-point placing is achieved, the cloth curtain is adjusted after the cloth curtain reaches a target position, automatic arrangement of the X-ray protection device can be achieved, and time and labor are saved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an X-ray shielding method according to an embodiment of the present invention;
FIG. 2 is a schematic view of an X-ray shielding apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view of an X-ray shielding apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view illustrating an operation state of the X-ray shielding apparatus according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a pixel coordinate system of an X-ray shielding apparatus according to an embodiment of the present invention;
fig. 6 is a schematic view of the extendable support of the X-ray shielding device shown in fig. 2.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specifically limited, terms such as set, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
Referring to fig. 1 and fig. 2, a first embodiment of the present invention discloses a method for controlling an X-ray shielding device, which includes the following steps:
acquiring a preset moving path 310 through the first camera 300, and controlling the movable base 100 to move along the moving path 310;
continuously scanning through the second camera 400 until the second camera 400 catches the label 710 at the preset position, decelerating and calculating the distance of the target position according to the coordinates of the label 710;
and controlling the movable base 100 to move to the target position according to the calculation result, and adjusting the cloth curtain 600.
In order to better understand the technical solution of the embodiment of the present invention, referring to fig. 2, the X-ray shielding apparatus of the embodiment of the present invention includes a movable base 100, an apparatus main body 200, a first camera 300, a second camera 400, an expandable bracket 500, and a drape 600 disposed on the expandable bracket 500. In a conventional application, such as an X-ray radiation room, in order to make reasonable use of the indoor space, when the X-ray shielding device is not in use, the X-ray shielding device is placed at one end of a patient bed, a moving path 310 is painted or adhered on the ground and on one side of the patient bed, and the moving path 310 extends along the length direction of the patient bed. When the X-ray protection device receives the activation signal, the first camera 300 acquires the moving path 310 and controls the movable base 100 to move along the moving path 310. In order to obtain the moving path 310, the first camera 300 is installed on the movable base 100, and automatic tracking is realized in an image processing manner, so that a physical track can be omitted, the cost and the installation space of the physical track can be saved, and the indoor space can be reasonably and effectively utilized. When X-ray radiation is performed, the X-ray radiation bulb 700 is used. The X-ray radiation bulb tube 700 is arranged above a sickbed and used for emitting X-rays, in order to enable the X-ray protection device to reach a preset position for X-ray protection, a label 710 is adhered to the X-ray radiation bulb tube 700, the second camera 400 is installed on the device main body 200, in the movement process of the X-ray protection device, the second camera 400 continuously scans, the label 710 on the X-ray radiation bulb tube 700 is captured through the second camera 400, position detection is achieved, fixed-point placement is achieved, the cloth curtain 600 is transversely unfolded after the X-ray protection device reaches a target position, a preset X-ray radiation gap is reserved between the two cloth curtains 600, automatic arrangement of the X-ray protection device can be achieved, and time and labor saving are facilitated. The tag 710 of the embodiment of the present invention may be labeled using aprilat, which is a visual reference system and may be used for various tasks, including AR (Augmented Reality), robot and camera calibration, etc. April TAG has multiple styles, each style having a corresponding id, e.g., 587 styles for family (family) of TAG36H11, corresponding ids including 0 through 586, and location detection can be achieved by obtaining April TAG TAGs preset at different locations. When the X-ray protection device provided by the embodiment of the invention is used, the position detection and the fixed-point placement are realized by acquiring the AprilTag label adhered to the X-ray radiation bulb tube 700.
Referring to fig. 3, it is contemplated that the moving path 310 may be provided at a side of the patient's bed, and in order to facilitate the first camera 300 to acquire the moving path 310, the first camera 300 is mounted on the apparatus main body 200. The cloth curtain 600 may adopt a horizontal protection manner (please refer to fig. 2 or fig. 3) or a vertical protection manner (please refer to fig. 4), and the installation position of the second camera 400 and the position of the AprilTag mark are adaptively adjusted according to different protection manners of the cloth curtain 600, so as to achieve the fixed-point placement of the X-ray protection device.
Referring to fig. 5, after the second camera 400 captures the tag 710, a pixel coordinate system is established with the upper left corner of the screen of the second camera 400 as the origin, and the distance of the target position is calculated according to the coordinates of the tag 710, which specifically includes the following steps:
after the label 710 is captured by the second camera 400, reading the pixel center coordinates of the label 710 corresponding to the screen;
and calculating the distance of the target position according to the pixel center coordinates.
In the embodiment of the present invention, the coordinates of the center of the pixel corresponding to the screen of the tag 710 are (Cx, cy), where Cx is the value of the abscissa and Cy is the value of the ordinate, and since the X-ray shielding apparatus moves along the moving path 310, the distance of the target position only needs to be calculated by considering the movement of the X-ray shielding apparatus corresponding to the direction of the abscissa in the pixel coordinate system, specifically, the distance L = K/Cx where K is a constant and Cx is the value of the abscissa of the pixel center coordinate.
In order to facilitate the return to the initial position after the use of the X-ray shielding device is finished, the method further comprises the following steps after controlling the movable base 100 to move to the target position according to the calculation result:
recording and storing the displacement distance between the mobile base 100 and the initial position;
when receiving the use end signal, the cloth curtain 600 is reset, the second camera 400 is closed, the preset moving path 310 is acquired through the first camera 300, and the movable base 100 is controlled to return to the initial position according to the moving distance.
The fixed-point parking can be realized according to the displacement distance when the X-ray protection device returns to the initial position by recording the displacement distance without adopting the positioning label 710, so that the calculation mode is simplified, the chip resource is saved, and the requirement on the chip is reduced.
The X-ray radiation bulb 700 moves during the use process so as to irradiate different parts of the examinee, the X-ray protection device moves along with the X-ray radiation bulb 700, and in order to ensure the accuracy of the displacement distance, after the displacement distance between the movable base 100 and the initial position is recorded and stored, the method further comprises the following steps:
when the movable base 100 is detected to move again, calculating the moving distance of the movable base 100;
the displacement distance between the movable base 100 and the initial position is calculated and updated according to the movement distance.
In the embodiment of the present invention, the step of adjusting the cloth curtain 600 further includes the following steps:
continuously scanning the label 710 through the second camera 400, and reading the pixel center coordinates of the label 710 corresponding to the screen;
when detecting whether the pixel center coordinates are shifted, calculating the distance of the shifted target position according to the shifted pixel center coordinates, and controlling the movable base 100 to move to the target position according to the calculation result. Where the distance of the target location L = K/dCx, where K is a constant and dCx is a displacement value of the abscissa of the pixel center coordinate, for example, where the abscissa value before the re-offset is Cx1 and the abscissa value after the re-offset is Cx2, then dCx = Cx1-Cx2.
In order to ensure the correct moving direction, the process of controlling the movable base 100 to move along the moving path 310 further includes the following steps:
when the horizontal sensor detects that the motion track of the movable base 100 deviates, the rotation angle of the steering engine is calculated;
and driving the steering engine to rotate according to the rotation angle of the steering engine so as to correct the motion track of the movable base 100.
Referring to fig. 2, the X-ray shielding apparatus according to the second embodiment of the present invention for performing the control method of the X-ray shielding apparatus according to the first embodiment of the present invention includes a movable base 100, an apparatus main body 200, a first camera 300, a second camera 400, and an extendable stand 500; the apparatus main body 200 is mounted on the movable base 100; the first camera 300 is mounted on the movable base 100 or the apparatus body 200, and the first camera 300 is used for acquiring a preset moving path 310; the second camera 400 is installed on the device body 200, and the second camera 400 is used for capturing the label 710 at a preset position; the extendable bracket 500 is mounted on the apparatus body 200, and the drape 600 is provided on the extendable bracket 500, and the extendable bracket 500 is used to adjust the drape 600. Specifically, referring to fig. 6, the extendable support 500 includes a guide rail 510, and a motor 520, a transmission belt 530 and a support rod 540 all mounted on the guide rail 510, the cloth curtain 600 is mounted on the support rod, the motor 520 is connected to the transmission belt 530 and connected to the support rod 540 through the transmission belt 530, and the motor 520 drives the support rod 540 to move away from or close to each other through the transmission belt 530, so as to adjust the cloth curtain 600. Specifically, one end of the transmission belt 530 is in transmission connection with the motor 520, the other end of the transmission belt 530 is in transmission connection with a driven wheel, the longitudinal section of the transmission belt 530 is in a long circle shape, the transmission belt 530 is divided into an upper portion and a lower portion, and the two support rods 540 are respectively fixedly connected with the upper portion and the lower portion of the transmission belt 530, so that the support rods 540 are driven to be away from or close to each other through the transmission belt 530.
The moving path 310 is obtained through the first camera 300, automatic tracing is achieved through an image processing mode, a solid track can be omitted, cost and installation space of the solid track are saved, a label 710 of a preset position is captured through the second camera 400, fixed-point placement is achieved, the cloth curtain 600 is adjusted after the target position is reached, automatic arrangement of an X-ray protection device can be achieved, and time and labor are saved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (1)
1. A control method of an X-ray protection device is characterized by comprising the following steps:
acquiring a preset moving path through a first camera, and controlling a movable base to move along the moving path; the first camera realizes automatic tracing in an image processing mode;
continuously scanning through a second camera until the second camera catches a label on the X-ray radiation bulb tube, decelerating and calculating the distance of a target position according to the coordinates of the label;
after the movable base is controlled to move to the target position according to the calculation result, the two cloth curtains are adjusted, and a preset X-ray radiation gap is reserved between the two cloth curtains; the two cloth curtains are respectively arranged on the two support rods, the motor is connected with the transmission belt and connected with the two support rods through the transmission belt, and the motor can drive the two support rods to be away from or close to each other through the transmission belt, so that the two cloth curtains can be adjusted;
calculating the distance of the target position according to the coordinates of the label, and specifically comprising the following steps:
after the label is captured by the second camera, reading the pixel center coordinate of the label corresponding to the screen;
calculating the distance of the target position according to the pixel center coordinates; the pixel center coordinates are (Cx, cy), the distance L = K/Cx for the target location, where K is a constant, cx is a value of the abscissa of the pixel center coordinates, and Cy is a value of the ordinate of the pixel center coordinates; the X-ray protection device moves along the moving path, so that the movement of the X-ray protection device corresponding to the direction of the abscissa in the pixel center coordinate system is only considered when the distance of the target position is calculated;
after controlling the movable base to move to the target position according to the calculation result, the method also comprises the following steps:
recording and storing the displacement distance between the movable base and the initial position;
when the movable base is detected to move again, calculating the movement distance of the movable base;
calculating and updating the displacement distance between the movable base and the initial position according to the movement distance;
when receiving a use ending signal, resetting the two cloth curtains, closing the second camera, acquiring a preset moving path through the first camera, and controlling the movable base to return to the initial position according to the displacement distance;
after the two cloth curtains are adjusted, the method also comprises the following steps:
continuously scanning the label through the second camera, and reading the pixel center coordinate of the label corresponding to the screen;
when the pixel center coordinates are detected to be deviated, calculating the distance of the target position after deviation according to the pixel center coordinates after deviation, and controlling the movable base to move to the target position after deviation according to the calculation result; wherein the distance L1= K/dCx of the shifted target position, where K is a constant and dCx is a displacement value of the abscissa of the pixel center coordinate;
in the process of controlling the movable base to move along the moving path, the method also comprises the following steps:
when the horizontal sensor detects that the motion track of the movable base deviates, calculating the rotation angle of the steering engine;
and driving the steering engine to rotate according to the rotation angle of the steering engine so as to correct the motion track of the movable base.
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| CN202010016379.0A CN111110266B (en) | 2020-01-08 | 2020-01-08 | Control method of X-ray protection device and X-ray protection device |
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| CN202010016379.0A CN111110266B (en) | 2020-01-08 | 2020-01-08 | Control method of X-ray protection device and X-ray protection device |
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| CN111110266B true CN111110266B (en) | 2023-04-18 |
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| CN111839127A (en) * | 2020-06-05 | 2020-10-30 | 珠海威瑞医疗科技有限公司 | Electric protection screen and control method and storage medium thereof |
| EP4088660A1 (en) * | 2021-05-11 | 2022-11-16 | Koninklijke Philips N.V. | Medical imaging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6496754B2 (en) * | 2000-11-17 | 2002-12-17 | Samsung Kwangju Electronics Co., Ltd. | Mobile robot and course adjusting method thereof |
| JP5047709B2 (en) * | 2007-07-04 | 2012-10-10 | 株式会社日立製作所 | Moving device, system, moving method, and moving program |
| EP2485642B1 (en) * | 2009-10-06 | 2013-04-03 | Koninklijke Philips Electronics N.V. | Patient table comprising a positioning system and method of using such a patient table |
| US9348337B2 (en) * | 2014-05-14 | 2016-05-24 | Swissray Asia Healthcare Co., Ltd. | Environment recognition guide system for movable medical equipment and method |
| KR20170074435A (en) * | 2015-12-22 | 2017-06-30 | 삼성전자주식회사 | X-ray imaging apparatus, control method for the same and x-ray detector |
| CN105943075B (en) * | 2016-04-13 | 2018-10-16 | 中国人民解放军第三军医大学第三附属医院 | The vertical position automatic tracing protective device of dept. of radiology |
| CN209122266U (en) * | 2018-03-28 | 2019-07-19 | 蒋兆贯 | A kind of lift protecting screen with automatic tracking function |
| CN108969003B (en) * | 2018-06-26 | 2022-02-15 | 云南邑通科技有限公司 | Medical radioactive ray intelligent protection device and protection method |
| CN209391967U (en) * | 2018-10-17 | 2019-09-17 | 珠海威瑞医疗科技有限公司 | A kind of environmental radiation cutting means enclosure |
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