CN113040805A - Push-pull boosting control method of CT (computed tomography) diagnosis bed - Google Patents
Push-pull boosting control method of CT (computed tomography) diagnosis bed Download PDFInfo
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- CN113040805A CN113040805A CN202110253481.7A CN202110253481A CN113040805A CN 113040805 A CN113040805 A CN 113040805A CN 202110253481 A CN202110253481 A CN 202110253481A CN 113040805 A CN113040805 A CN 113040805A
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000002591 computed tomography Methods 0.000 title abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
Abstract
The invention relates to a push-pull boosting control method of a CT (computed tomography) diagnosis bed, which is characterized in that the starting current value and the allowable time for stopping the horizontal movement of the diagnosis bed are set through upper computer software; calculating the weight of the patient on the premise that the system has stopped scanning and the diagnostic couch has stopped moving; the system monitors whether the horizontal servo current exceeds a set starting current value in real time, if the horizontal servo current exceeds the set starting current value, the diagnostic bed is unlocked, and otherwise, the monitoring is continued; simultaneously, the system determines the direction of the servo current value; the diagnosis bed is unlocked, and the system outputs proper power-assisted torque through the motor according to the direction of the current value of the horizontal servo and the weight of the patient; in the process that the diagnostic bed is in the locking state, the system monitors whether the diagnostic bed stops moving horizontally for more than the allowable time, if not, the system continues to maintain the locking state, otherwise, the system locks the diagnostic bed and cancels the assisting torque; the advantages are that: the adoption of the motor for assisting the force facilitates the doctor to pull out the bed board with small force.
Description
Technical Field
The invention relates to the technical field of CT, in particular to a push-pull boosting control method of a CT diagnosis bed.
Background
At the end of scanning, a doctor usually selects to hold a handle at the tail of a diagnostic bed and quickly pull out a bed board. Although the manual push-pull bed board is the most convenient, the following situations still exist: when the weight of an individual patient is heavy or the strength of an individual doctor is low, the patient is difficult to pull out.
Based on this, the present disclosure is thus directed.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a push-pull assist control method for a CT diagnostic couch, which realizes push-pull assist of the diagnostic couch.
In order to realize the purpose, the technical scheme is as follows:
a push-pull boosting control method of a CT diagnosis bed comprises the following steps:
setting a starting current value and the allowable time for stopping the horizontal movement of the diagnostic bed through upper computer software;
when the diagnosis bed is used, the weight of a patient is calculated on the premise that the system stops scanning and the diagnosis bed stops moving;
the system monitors whether the horizontal servo current exceeds a set starting current value in real time, if the horizontal servo current exceeds the set starting current value, the diagnostic bed is unlocked, and otherwise, the monitoring is continued; simultaneously, the system determines the direction of the servo current value;
the diagnosis bed is unlocked, and the system outputs proper power-assisted torque through the motor according to the direction of the current value of the horizontal servo and the weight of the patient;
and in the process of the locking state of the diagnostic bed, the system monitors whether the diagnostic bed stops moving horizontally for more than the allowable time, if not, the system continues to maintain the locking state, otherwise, the system locks the diagnostic bed and cancels the assisting force moment.
Further, the setting of the starting current value comprises the following steps: an operator pushes and pulls the diagnosis bed according to own strength, the system collects the current value of the horizontal servo at the moment and displays the current value on an operation interface, the operator appropriately reduces the value according to own needs, and the reduced current value is used as a starting current value to be recorded into the system.
Further, before calculating the weight of the patient, the system needs to monitor whether the horizontal servo current of the diagnosis bed is stable, if not, the monitoring is continued, and if so, the weight of the patient is calculated.
Further, the determination of the assist torque value comprises the following steps:
in the testing stage, a weight-torque table is recorded, wherein the weight-torque table comprises magnitude values of the power-assisted torques required under different weights;
during the use stage, the system determines the power assisting moment closest to the weight of the patient in a weight-moment table according to the direction of the servo current value and the weight of the patient.
Further, the calculation of the weight of the patient comprises the following steps: the system detects the torque T of the vertical servo motor based on
And calculating the weight of the patient, wherein G represents the external load (namely the weight of the patient), P is the lead screw lead of the diagnosis bed, and alpha is the included angle between the rod piece of the diagnosis bed and the horizontal plane.
The invention has the advantages that: the direction of the push-pull force and the weight of the patient are judged through the servo current, and the force is assisted by the motor, so that a doctor can pull out the bed plate conveniently with small force.
Drawings
FIG. 1 is a schematic diagram showing the change of horizontal servo current when the machine is pushed backward in the embodiment;
FIG. 2 is a schematic diagram showing the change of horizontal servo current when the forward broaching machine is operated in the embodiment;
FIG. 3 is a schematic diagram of weight calculation in an embodiment;
FIG. 4 is a flow chart of a CT diagnostic bed locking control method;
fig. 5 is a flow chart of a push-pull assisting control method of the CT diagnosis bed.
Detailed Description
The present invention will be described in further detail with reference to examples.
Referring to fig. 4 and 5, the present embodiment proposes two control methods, wherein the CT diagnostic couch push-pull assist control method in fig. 5 is implemented based on the CT diagnostic couch locking control method in fig. 4, so the present embodiment first describes the CT diagnostic couch locking control method.
The principle of the locking control of the CT diagnostic couch of the present embodiment is illustrated in FIGS. 1 and 2. The CT diagnosis bed needs high-precision positioning, transmission is realized through a high-precision servo system, the servo system can monitor the moment of each stage, and when a doctor pushes and pulls the bed, the signal can be conveniently acquired. Fig. 1 and 2 show the current change condition of a horizontal servo motor when the bed board is pulled when the bed board is enabled and stopped, and because the motor torque and the motor current are in a direct proportion relation, based on the characteristic, the motor torque can be calculated through the motor current, so that the horizontal stress condition of the bed board, including the direction and the magnitude of the force, can be conveniently known.
The servo controller can convert the current value of the motor into an analog quantity signal through the analog quantity output port, and can also send the current signal out through the bus, and the controller can directly read the analog quantity or bus data output by the servo controller to judge the stress condition of the bed plate. Through the programming, can set for when the current value of motor is greater than the set value, the controller control locking unit removes the bed board and locks, when the bed board stops horizontal movement time and is greater than the settlement time, the controller control locking unit locks the bed board.
The locking control method of the CT diagnostic bed can be specifically shown in figure 4, before the locking control method is used, the starting current value and the allowable time for stopping the horizontal movement of the diagnostic bed are set through software of an upper computer; when in use, the method specifically comprises the following steps:
t1, the system monitors whether it is in scanning state, if it is still in scanning state, it keeps current operation and continues monitoring, if it is not in scanning state, it goes to step T2;
t2, the system monitors whether the diagnostic bed is in a stop state currently, if the diagnostic bed is still in a motion state, the system continues to maintain the current state and returns to the step T1, and if the diagnostic bed is in the stop state, the system enters the step T3;
t3, at this time, because the scanning has been stopped and the diagnostic bed is in a stopped state, the operator can push and pull the bed body, a horizontal servo current is generated when the bed body is pushed and pulled, and the system determines whether the current diagnostic bed is being pushed and pulled by judging whether the horizontal servo current is larger than a starting current value; if the horizontal servo current is larger than the starting current, determining that the diagnostic bed is being pushed or pulled, entering T4, otherwise, returning to the step T1;
and T4, the controller releases the locking of the bed board, the bed board can be pushed and pulled to move, after the bed board is pushed and pulled to the right position, the system needs to judge whether the diagnostic bed is in a static state or not to complete the step of locking the bed board, at the moment, the system can judge whether the diagnostic bed stops moving horizontally for more than the allowed time or not, if the allowed time is exceeded, the controller controls the locking of the bed board, and if the allowed time is not exceeded, the controller keeps the unlocking state and judges whether the bed board can be locked again.
The setting of the starting current value comprises the following steps: an operator pushes and pulls the diagnosis bed according to own strength, the system collects the current value of the horizontal servo at the moment and displays the current value on an operation interface, the operator appropriately reduces the value according to own needs, and the reduced current value is used as a starting current value to be recorded into the system. And the allowable time is set according to the actual operating environment.
As shown in FIG. 5, the push-pull assisting control method of the CT diagnostic bed comprises the following steps that before use, the starting current value and the allowable time for stopping the horizontal movement of the diagnostic bed are set through the software of an upper computer; when in use, the method specifically comprises the following steps:
s1, the system monitors whether it is in scanning state, if it is still in scanning state, it keeps current operation and continues monitoring, if it is not in scanning state, it goes to step S2;
s2, the system monitors whether the diagnostic bed is in a stop state at present, if the diagnostic bed is still in a motion state, the system continues to maintain the current state and returns to the step S1, and if the diagnostic bed is in the stop state, the system enters the step S3;
s3, calculating the weight of the patient through the vertical servo current; and proceeds to step S4
S4, at the moment, because the scanning is stopped and the diagnostic bed is in a stop state, an operator can push and pull the bed body, a horizontal servo current is generated when the bed body is pushed and pulled, and the system determines whether the current diagnostic bed is being pushed and pulled by judging whether the horizontal servo current is larger than a starting current value or not; if the horizontal servo current is larger than the starting current, determining that the diagnostic bed is pushed or pulled, and entering S5, otherwise, returning to the step S1; meanwhile, the push-pull direction of the current is determined according to the current direction;
s5, the controller unlocks the bed board, and the bed board can be pushed and pulled to move;
s6, in the present embodiment, a push-pull assisting torque is provided by the horizontal servo motor to reduce the push-pull burden of the operator, the direction of the torque is determined by the direction of the horizontal servo current, and the magnitude of the torque is formed by inputting in the early debugging stage, specifically: in the testing stage, a weight-moment table is recorded, the weight-moment table comprises magnitude values of the power-assisted moment required under different weights, and the weight-moment table is determined through experiments; in the using stage, the system determines the power-assisted moment closest to the weight of the patient in a weight-moment table according to the direction of the servo current value and the weight of the patient; it should be noted here that the moment is not enough to drive the bed plate alone, so that the bed plate can stop automatically after the doctor looses his hands;
s7, after the push-pull is finished, the bed plate needs to be locked, and the system needs to judge whether the diagnostic bed is in a static state to finish the step of locking the bed plate; at the moment, the system judges whether the horizontal movement of the diagnosis bed stops and exceeds the allowable time, if the horizontal movement of the diagnosis bed stops and exceeds the allowable time, the controller controls the bed board to be locked, and if the horizontal movement of the diagnosis bed does not exceed the allowable time, the system keeps an unlocking state and judges whether the bed board can be locked again;
and S8, after the bed plate is locked, the assisting moment is cancelled.
The method also comprises the following steps between the step S2 and the step S3 of the CT diagnosis bed push-pull assisting control method: the system needs to monitor whether the horizontal servo current of the diagnosis bed is stable, if not, the system returns to the step S1 to continue monitoring, and if so, the system goes to the next step to calculate the weight of the patient. The reason for this step increase is: when a patient just lies on a sickbed, the servo current is unstable, and at the moment, the function of releasing the bed board locking by false triggering and inaccurate weight measurement can be caused. After the step is added, the subsequent operation can be carried out after the patient is completely laid down, namely when the servo current is stable.
The principle of using the vertical servo current to measure the weight of the patient in step S3 is shown in fig. 3: fig. 3 is a schematic structural diagram of the diagnostic bed, and it can be known from mechanics knowledge that when the external load borne by the diagnostic bed is G, the torque transmitted to the lead screw by the servo motor for keeping the structure stationary is, where T represents the motor torque, G represents the external load (i.e. the weight of the patient), P is the lead screw lead, and α is the angle between the rod and the horizontal plane. As can be seen from the above, the motor torque can be calculated from the motor current, so that the CT system can monitor the torque of the vertical servo motor to calculate the weight of the patient, thereby determining the magnitude of the horizontal assisting force torque.
The control method of the straight push/pull machine can be further expanded to quickly pull the bed plate twice to trigger other action instructions and the like (similar gesture control).
The above-mentioned embodiments are merely illustrative of the inventive concept and are not intended to limit the scope of the invention, which is defined by the claims and the insubstantial modifications of the inventive concept can be made without departing from the scope of the invention.
Claims (5)
1. A push-pull boosting control method of a CT diagnosis bed is characterized by comprising the following steps:
setting a starting current value and the allowable time for stopping the horizontal movement of the diagnostic bed through upper computer software;
when the diagnosis bed is used, the weight of a patient is calculated on the premise that the system stops scanning and the diagnosis bed stops moving;
the system monitors whether the horizontal servo current exceeds a set starting current value in real time, if the horizontal servo current exceeds the set starting current value, the diagnostic bed is unlocked, and otherwise, the monitoring is continued; simultaneously, the system determines the direction of the servo current value;
the diagnosis bed is unlocked, and the system outputs proper power-assisted torque through the motor according to the direction of the current value of the horizontal servo and the weight of the patient;
and in the process of the locking state of the diagnostic bed, the system monitors whether the diagnostic bed stops moving horizontally for more than the allowable time, if not, the system continues to maintain the locking state, otherwise, the system locks the diagnostic bed and cancels the assisting force moment.
2. The push-pull assist control method for the CT diagnostic bed as claimed in claim 1, wherein the setting of the starting current value comprises the steps of: an operator pushes and pulls the diagnosis bed according to own strength, the system collects the current value of the horizontal servo at the moment and displays the current value on an operation interface, the operator appropriately reduces the value according to own needs, and the reduced current value is used as a starting current value to be recorded into the system.
3. The push-pull assist control method for the CT diagnostic bed as claimed in claim 1, wherein: before calculating the weight of the patient, the system needs to monitor whether the horizontal servo current of the diagnosis bed is stable, if not, the monitoring is continued, and if so, the weight of the patient is calculated.
4. The push-pull assist control method for the CT diagnostic bed as claimed in claim 1, wherein the determination of the assist torque value comprises the following steps:
in the testing stage, a weight-torque table is recorded, wherein the weight-torque table comprises magnitude values of the power-assisted torques required under different weights;
during the use stage, the system determines the power assisting moment closest to the weight of the patient in a weight-moment table according to the direction of the servo current value and the weight of the patient.
5. The push-pull assist control method for the CT diagnostic couch of claim 1, wherein the calculation of the patient's weight comprises the steps of: the system detects the torque T of the vertical servo motor based on
And calculating the weight of the patient, wherein G represents the external load (namely the weight of the patient), P is the lead screw lead of the diagnosis bed, and alpha is the included angle between the rod piece of the diagnosis bed and the horizontal plane.
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| CN202110253481.7A CN113040805B (en) | 2021-03-09 | 2021-03-09 | Push-pull boosting control method for CT diagnosis bed |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080098525A1 (en) * | 2006-10-31 | 2008-05-01 | Stefan Doleschal | Patient positioning apparatus |
| US20100037394A1 (en) * | 2008-08-15 | 2010-02-18 | Koninklijke Philips Electronics N.V. | Method and apparatus to maintain motion control during manual patient positioning |
| CN104224222A (en) * | 2014-08-08 | 2014-12-24 | 沈阳东软医疗系统有限公司 | Scanning bed and control device of bed board thereof |
| JP2020068879A (en) * | 2018-10-29 | 2020-05-07 | キヤノンメディカルシステムズ株式会社 | Bed device and medical diagnostic system |
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- 2021-03-09 CN CN202110253481.7A patent/CN113040805B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080098525A1 (en) * | 2006-10-31 | 2008-05-01 | Stefan Doleschal | Patient positioning apparatus |
| US20100037394A1 (en) * | 2008-08-15 | 2010-02-18 | Koninklijke Philips Electronics N.V. | Method and apparatus to maintain motion control during manual patient positioning |
| CN104224222A (en) * | 2014-08-08 | 2014-12-24 | 沈阳东软医疗系统有限公司 | Scanning bed and control device of bed board thereof |
| JP2020068879A (en) * | 2018-10-29 | 2020-05-07 | キヤノンメディカルシステムズ株式会社 | Bed device and medical diagnostic system |
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