CN111671457B - Motion interference algorithm suitable for nuclear medicine image equipment - Google Patents
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- 230000033001 locomotion Effects 0.000 title claims abstract description 126
- 238000004422 calculation algorithm Methods 0.000 title claims abstract description 17
- 238000009206 nuclear medicine Methods 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000006467 substitution reaction Methods 0.000 claims abstract description 8
- 239000000523 sample Substances 0.000 claims description 70
- 238000005305 interferometry Methods 0.000 claims description 18
- 238000003384 imaging method Methods 0.000 claims description 7
- 238000007689 inspection Methods 0.000 claims description 4
- 238000004088 simulation Methods 0.000 claims description 3
- 238000002603 single-photon emission computed tomography Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 238000002600 positron emission tomography Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
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- A61B6/4476—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit
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- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
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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
- A61B6/58—Testing, adjusting or calibrating thereof
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Abstract
The invention provides a motion interference algorithm suitable for nuclear medicine image equipment, which comprises the following steps: determining a system coordinate system OXYZ; simulating each moving part and each fixed part in a rectangular or other polygonal shape in a coordinate system OXY, and calibrating special points and special surfaces of each part; calculating the positions of special points and special surfaces of each component in real time, calculating and checking whether each special point enters the area of other components except the area where the special point is located, stopping movement immediately if a certain special point enters the area of other components, and setting the distance of movement interference through a threshold value; after the movement is stopped, judging whether the movement of which movement axes in a certain movement direction is forbidden or not according to the substitution method and the current position condition. The invention detects the motion interference generated in the motion process in real time, and stops the motion in time when the interference is about to occur; the method can also judge the interference occurrence distance according to the threshold condition, and can be used with various multi-axis motion systems.
Description
Technical Field
The invention belongs to the technical field of motion interference algorithms of nuclear medicine image equipment, and particularly relates to a motion interference algorithm suitable for the nuclear medicine image equipment.
Background
Nuclear medicine imaging devices are generally classified into two main categories according to the difference of radioactive tracers: one type is single photon imaging devices, such as gamma cameras, single Photon Emission Computed Tomography (SPECT); another category is positron imaging devices, such as Positron Emission Tomography (PET). A typical Single Photon Emission Computed Tomography (SPECT) requires a set of automated motion control systems to control the motion of the probe, the scan bed, and the host disk, either single axis motion or multi-axis combined motion in different scan modes. To meet different scanning requirements, a motion control system is required to control the position of the scanning bed and the probe so that the patient is positioned in the field of view of the probe, and also to control the probe to approach or rotate around the patient to acquire scanning images at different positions for reconstruction. For cardiac scanning, the probe is also required to be moved to different angular positions to achieve image acquisition.
In the process of executing various motions by a Single Photon Emission Computed Tomography (SPECT) motion control system, motion interference check is required to be carried out, so that the motion safety of each component in the motion system is ensured. Current interferometry is broadly divided into two categories: one type is interference check before movement, namely checking whether the current machine state allows movement of the movement axis before movement of each movement axis, but the check can only perform interference judgment on the state before movement starts, and cannot check and judge real-time interference in the movement process; the other is an interference check designed separately for a particular component or added component in the system, but not to cover all of the motion-related components of the system.
The prior art CN109659020A discloses a medical imaging equipment interference checking method, which adopts the geometric information of a connector of a detection scanning bed and the geometric information of an original scanning bed to determine the target geometric information corresponding to a target scanning bed after the connector is added; and determining a target interference curve corresponding to the target scanning bed according to the target geometric information, and performing interference check based on the target interference curve. However, this technique is only applicable to Positron Emission Tomography (PET) where the motion of the scan bed portion is only interferometrically inspected, and for Single Photon Emission Computed Tomography (SPECT) where the interferometry method cannot detect motion interference between the scan bed and the probe, probe and probe, and probe and the ground.
Disclosure of Invention
The invention aims to provide a real-time motion interference algorithm for nuclear medicine imaging equipment, which simulates all parts of a system in a rectangular shape or other polygonal shapes, checks motion interference of all motion related parts of the system in the motion process in real time, stops motion of a motion axis and inhibits motion of the motion axis in a certain direction when the motion interference happens, and reduces motion risk.
In order to achieve the above object, the present invention provides a motion interferometry algorithm suitable for a nuclear medicine imaging device, which is characterized by comprising the following steps.
Step 1: and determining a system coordinate system OXYZ, wherein the origin O of the coordinate system OXYZ is the rotation center of the equipment, the OX axis is parallel to the ground, the OY axis is perpendicular to the ground, and the OZ axis is parallel to the movement direction of the bed board.
Step 2: each of the moving parts and the fixed parts is simulated in a rectangular or other polygonal shape in a coordinate system OXY, and specific points and specific surfaces of each part are calibrated.
Step 3: and calculating the positions of the special points and the special surfaces of each component in real time, calculating and checking whether each special point enters the areas of other components except the area where the special point is located, if a certain special point enters the areas of other components, considering that motion interference or motion interference is about to occur, immediately stopping motion, wherein the motion interference or motion interference is about to occur, and the distance of the motion interference can be set through a threshold value.
Step 4: after the movement is stopped, judging whether the movement of which movement axes in a certain movement direction is forbidden or not according to the substitution method and the current position condition.
Preferably, the polygon is a polygon with a number of sides not greater than 8.
Preferably, the special points are vertices of a rectangle or polygon simulating a system component; the special plane is a plane parallel to the OZ axis direction, which is represented by one side of a rectangle or polygon of the analog system component in the system plane coordinate system.
Preferably, the motion interference algorithm sets a distance of motion interference through a threshold value, and the method comprises the following steps: the deceleration distance of the motion axis is calculated according to the motion speed and deceleration parameters of each motion axis, a threshold value is set, and the size of the rectangle or polygon of the simulation system component is adjusted according to the threshold value.
Preferably, the substitution method is a virtual calculation method, that is, it is assumed that a certain motion moves a certain distance along a certain direction, whether interference exists after the motion is judged, if so, the motion along the direction is forbidden, and if not, the motion along the direction is allowed.
The algorithm simulates all the parts of the system by rectangles or other polygons, not only can check motion interference in real time, but also can cover all the motion related parts in the system, and is suitable for nuclear medicine checking equipment such as SPECT, SPECT/CT and the like. Compared with the prior art, the invention has the beneficial effects that: 1. the motion interference algorithm can detect motion interference occurring in the motion process in real time, and when the interference is about to occur, the motion is stopped in time. 2. The motion interference algorithm can judge the interference occurrence distance according to the threshold condition. 3. The motion interference algorithm can accurately judge whether the motion of a certain motion axis in a certain motion direction is forbidden or not in any state after the motion is stopped. 4. The motion interference algorithm can be matched with various multi-axis motion systems.
Drawings
FIG. 1 is a schematic diagram of the system coordinate system of the present invention.
Fig. 2 is a schematic diagram of the components in the coordinate system OXY of the present invention.
FIG. 3 is a flow chart of the interferometry of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
A motion interference algorithm suitable for nuclear medicine image equipment comprises the following steps.
Step 1: determining a system coordinate system OXYZ: as shown in fig. 1, the origin O of the coordinate system ozz is the rotation center of the device, the OX axis is parallel to the ground, the OY axis is perpendicular to the ground, and the OZ axis is parallel to the direction of the bed board.
Step 2: each of the moving parts and the fixed parts is simulated in a rectangular or other polygonal shape in a coordinate system OXY, and specific points and specific surfaces of each part are calibrated. As shown in figure 2, the moving part probe A of the dual-probe SPECT is arranged with special points a, b, c, d, L ’ ，R，R ’ The enclosed polygonal area represents that the probe B is represented by special points a, B, c, d, L ’ ，R，R ’ The enclosed polygonal area represents that the bed board is represented by a rectangular area enclosed by special points i, j, k and l; the anchor 1 and the anchor 2 of the fixing component are respectively represented by rectangular areas surrounded by special points a, b, c and d, and the connecting line of any adjacent special points in each component is a special surface of the component, for example, the connecting line of a and b of the probe A is a special surface of the component of the probe A.
Step 3: and calculating the positions of the special points and the special surfaces of each component in real time, calculating and checking whether each special point enters the area of other components except the area of the special point, if a certain special point enters the area of other components, considering that motion interference or motion interference is about to occur, and immediately stopping motion, wherein the method for checking whether each special point enters the area of other components except the area of the special point is as follows.
Whether the special point is in a rectangular area surrounded by special surfaces of other components or not is calculated, whether the special point is between two non-adjacent sides which surround a rectangle or not is only required to be calculated, for example, whether the e point of the probe B is in a rectangular area surrounded by special points a, B, c and d of the probe A or not is calculated, namely, whether the e point of the probe B is simultaneously between the points a, B, c and d of the probe A and between the points a, c, B and d of the probe A or not is calculated, if the requirements are met, the e point of the probe B is considered to be in the rectangular area of the probe A, and otherwise, the e point of the probe B is considered not to be in the rectangular area of the probe A.
The size of each moving part can be adjusted according to the threshold value, and the distance for judging the occurrence of the movement interference can be set or adjusted by combining parameters such as the movement speed of different movement axes.
To check all motion interference in the system, the following interference check needs to be performed separately.
1. Checking whether all special points of the probe A interfere with the area of the probe B, namely checking a rectangular area surrounded by the special points of the probe A and the special points a, B, c and d of the probe B, a rectangular area surrounded by the special points e, f, g and h of the probe B and the special points L and L of the probe B ’ ，R，R ’ Whether the enclosed rectangular area interferes.
2. Checking whether all special points of the probe A interfere with the bed board area or not, namely checking whether the special points of the probe A interfere with a rectangular area surrounded by special points i, j, k and l of the bed board or not.
3. Checking whether all special points of the probe A interfere with the ground foot area or not, namely checking whether the rectangular area surrounded by the special points of the probe A and the special points a, b, c and d of the ground foot 1 and the rectangular area surrounded by the special points a, b, c and d of the ground foot 2 interfere or not.
4. Checking all special points of the probe B and the probe A areaChecking whether there is interference, i.e. checking the rectangular area enclosed by the specific points of the probe B and the specific points a, B, c, d of the probe A and the specific points L, L of the probe A ’ ，R，R ’ Whether the enclosed rectangular area interferes.
5. Checking whether all special points of the probe B interfere with the bed board area or not, namely checking whether the special points of the probe B interfere with a rectangular area surrounded by special points i, j, k and l of the bed board or not.
6. Checking whether all special points of the probe B interfere with the ground foot area, namely checking whether the rectangular area surrounded by the special points of the probe B and the special points a, B, c and d of the ground foot 1 and the rectangular area surrounded by the special points a, B, c and d of the ground foot 2 interfere or not.
7. Checking whether all special points of the bed board interfere with the probe A area, namely checking a rectangular area formed by the special points of the bed board and the special points a, b, c and d of the probe A and the special points L and L of the probe A ’ ,R，R ’ Whether the enclosed rectangular area interferes.
8. Checking whether all special points of the bed board interfere with the probe B area, namely checking a rectangular area surrounded by the special points of the bed board and the special points a, B, c and d of the probe B, a rectangular area surrounded by the special points e, f, g and h of the probe B and the special points L and L of the probe B ’ ，R，R ’ Whether the enclosed rectangular area interferes.
9. Checking whether all special points of the ground feet 1 and 2 interfere with the probe A area, namely checking a rectangular area surrounded by the special points of the ground feet 1 and 2 and the special points a, b, c and d of the probe A and the special points L, L of the probe A ’ ,R，R ’ Whether the enclosed rectangular area interferes.
10. Checking whether all special points of the ground feet 1 and 2 interfere with the area of the probe B, namely checking a rectangular area surrounded by the special points of the ground feet 1 and 2 and the special points a, B, c and d of the probe B, a rectangular area surrounded by the special points e, f, g and h of the probe B and the special points L and L of the probe B ’ ，R，R ’ Whether the enclosed rectangular area interferes.
According to the movement range of each movement axis, interference check can be not performed on some areas where movement interference is not likely to occur, for example, a special point of the bed board is unlikely to interfere with the areas of the foundation 1 and the foundation 2, so that the interference check can not be performed on the parts.
As shown in fig. 3, before the interference inspection, judging the position of the bed plate in the OZ direction, and if the bed plate enters an OXY plane area, performing all the interference inspection with the serial numbers of 1-10; if the bed plate does not enter the OXY-plane region, only the interference check of sequence number 1,3,4,6,9,10 is performed.
Step 4: after the movement is stopped, judging whether the movement of which movement axes are forbidden in a certain movement direction according to a substitution method and a current position condition, wherein the substitution method is a virtual calculation method, namely, if a certain movement axis moves for a certain distance in a certain direction, judging whether interference exists after the movement, if the interference exists, the movement in the direction is forbidden, and if the interference exists, the movement in the direction is allowed.
The method for judging whether interference exists after movement is consistent with the method described in the step 3, namely, whether the special point is in a rectangular area surrounded by special surfaces of other components is calculated by using a vector method, and if the special point after movement is still in the rectangular area surrounded by the special surfaces of other components, the movement in the direction is forbidden; if the special point after movement is not within the rectangular area enclosed by the special faces of the other components, movement in that direction is allowed.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. A motion interferometry algorithm suitable for use with nuclear medicine imaging devices, comprising the steps of:
step 1: determining a system coordinate system OXYZ, wherein an origin O of the coordinate system OXYZ is the rotation center of the equipment, an OX axis is parallel to the ground, an OY axis is perpendicular to the ground, and an OZ axis is parallel to the movement direction of the bed board;
step 2: simulating each moving part and each fixed part in a rectangular or other polygonal shape in a coordinate system OXY, and calibrating special points and special surfaces of each part;
the moving part comprises a probe A, a probe B and a bed board, and the fixed part comprises a ground leg 1 and a ground leg 2;
the other polygons are polygons with the edge number not more than 8; the special points are vertexes of a rectangle or other polygons of the analog system component; the special surface is a plane parallel to the OZ axis direction, which is formed by the side of a rectangle or other polygon of the simulation system component, and the plane is represented by one side of the rectangle or other polygon in a system plane coordinate system;
step 3: calculating the positions of special points and special surfaces of each component in real time, calculating and checking whether each special point enters the area of other components except the area where the special point is located, if a certain special point enters the area of other components, considering that motion interference or motion interference is about to occur, immediately stopping motion, wherein the motion interference or motion interference is about to occur, and the distance of the motion interference can be set through a threshold value;
step 4: after the movement is stopped, judging whether the movement of the movement axis in a certain movement direction is forbidden or not according to a substitution method and the current position condition; the substitution method is a virtual calculation method, namely, a certain motion is assumed to move for a certain distance along a certain direction, whether interference exists after the motion is judged, if the interference exists, the motion along the direction is forbidden, and if the interference does not exist, the motion along the direction is allowed;
step 3, judging the position of the bed plate in the OZ direction before interference inspection, and if the bed plate enters an OXY plane area, carrying out interference inspection with the serial number of 1 to 10; if the bed board does not enter the OXY plane area, performing interference check with the serial numbers of 1,3,4,6,9 and 10;
the interferometry with number 1 includes: checking whether all special points of the probe A interfere with the probe B area;
the interferometry with number 2 includes: checking whether all special points of the probe A interfere with the bed board area or not;
the interferometry with number 3 includes: checking whether interference exists between all special points of the probe A and a region surrounded by special points of the foundation 1 and a region surrounded by special points of the foundation 2;
the interferometry of sequence number 4 includes: checking whether all special points of the probe B interfere with the area of the probe A or not;
the interferometry of sequence number 5 includes: checking whether all special points of the probe B interfere with the bed board area or not;
the interferometry of sequence number 6 includes: checking whether interference exists between all special points of the probe B and a region surrounded by special points of the foundation 1 and a region surrounded by special points of the foundation 2;
the interferometry of sequence number 7 includes: checking whether all special points of the bed board interfere with the probe A area;
the interferometry of sequence number 8 includes: checking whether all special points of the bed board interfere with the probe B area;
the interferometry of serial number 9 includes: checking whether all special points of the ground feet 1 and 2 interfere with the probe A area or not;
the interferometry of sequence number 10 includes: it is checked whether all special points of the ground feet 1 and 2 interfere with the probe B area.
2. A motion interferometry algorithm adapted for use with a nuclear medicine imaging device according to claim 1, wherein the motion interferometry algorithm sets a distance of motion interferometry by a threshold, comprising: the deceleration distance of the motion axis is calculated according to the motion speed and deceleration parameters of each motion axis, a threshold value is set, and the size of a rectangle or other polygon of the simulation system component is adjusted according to the threshold value.
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