CN113367707A - Medical X-ray image system based on double robots and control method - Google Patents
Medical X-ray image system based on double robots and control method Download PDFInfo
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Abstract
The invention provides a medical X-ray imaging system based on double robots and a control method thereof, wherein the double robots refer to a master robot and a slave robot with 6-degree-of-freedom joints, the master robot clamps an X-ray bulb tube and a beam light device, the slave robot clamps a flat X-ray detector, the master robot and the slave robot are both directly controlled by respective independent controllers, a central control module is arranged on the master robot and the slave robot, the central control module integrates two independent coordinate systems of the master robot and the slave robot into a unified coordinate system, and in the unified coordinate system, the central control module plans respective poses of the master robot and the slave robot and sends commands to respective controllers of the master robot and the slave robot to coordinate the motion of the master robot and the slave robot. The central control module also controls a high-voltage generator, and the high-voltage generator drives a cathode filament of the X-ray bulb tube. The flat panel X-ray detector converts the detected image into an electric signal and transmits the electric signal to the image workstation.
Description
Technical Field
The invention relates to an X-ray imaging system, in particular to a medical X-ray imaging system based on double robots and a control method.
Background
The traditional X-ray machine is applied clinically for nearly one hundred years, plays an important role in the development and progress of human health and medical industry, but exposes some defects, image overlapping is the most important defect, and the fundamental reason for the defect is that X-ray imaging displays a three-dimensional real scene into a two-dimensional image, and information in the depth direction is overlapped to cause confusion.
The basis for solving the problem is CT, wherein the CT device utilizes an X-ray tube to carry out multidirectional scanning on the periphery of a section of an object, and calculates the content in the section in the object according to the absorption condition of X-rays in each scanning direction, the current CT device is generally multi-layer scanning, namely, the scanning of a plurality of sections can be finished at one time, but even if the scanning is finished, the CT device can be finished only by moving a certain distance in the longitudinal direction, and the radiation dose of CT detection is more than that of digital X-ray radiography detection, and the CT device is not suitable for moving use and is not suitable for use in an operation; in recent years, C-arm X-ray machines can be used in surgery, and X-ray bulbs, beam splitters and flat panel X-ray detectors (or image intensifiers) in the C-arm X-ray machines can move at spatially different positions and can capture X-ray images at different angles and positions, thereby overcoming the problem of image information overlapping caused by three-dimensional real-scene two-dimensional display of X-rays to a certain extent.
Because the C-arm machine has a C-shaped guide rail, the X-ray bulb tube, the beam splitter and the flat panel X-ray detector (or the image intensifier) move along the C-shaped guide rail, the C-shaped guide rail can translate and rotate, the structure part has larger volume and occupies the operation space, and the complicated mechanical structure and longer transmission chain have adverse effects on the repeated positioning precision and the image precision of the X-ray bulb tube, the beam splitter and the flat panel X-ray detector (or the image intensifier).
The X-ray image system based on the double robots, which is provided by the invention, can realize the real-time shooting of X-ray images at different positions and different angles, and has the characteristics of simple structure, high repeated positioning precision and high image precision.
Disclosure of Invention
Aiming at one of the defects or shortcomings in the prior art, the invention provides and designs a medical X-ray imaging system based on a double robot, which comprises two 6-degree-of-freedom joint robots, wherein one robot clamps an X-ray bulb tube and a light-splitting device, the other robot clamps a flat-panel X-ray detector, the robot clamping an X-ray tube and a light-splitting device is called a master robot, the robot clamping the flat-panel X-ray detector is called a slave robot, the master robot and the slave robot are directly controlled by respective controllers, a central control module is arranged on the master robot and the slave robot, the central control module integrates two independent coordinate systems of the master robot and the slave robot into a unified coordinate, in the unified coordinate system, the central control module plans the respective poses of the master robot and the slave robot according to the requirements of X-ray photographing angles and positions and coordinates the movement of the master robot and the slave robot, the central control module controls the high-voltage generator, the high-voltage generator drives a cathode filament of the X-ray bulb tube, and the flat-panel X-ray detector converts a detected image into an electric signal and transmits the electric signal to the image workstation.
A medical X-ray imaging system based on dual robots, comprising: the main robot and its controller, from robot and its controller, X ray bulb and beam light ware, high voltage generator, flat panel X ray detector, image processing workstation, central control module and man-machine operation interface, wherein:
the main robot is a 6-degree-of-freedom joint robot, multi-joint movement is realized under the control of a controller of the main robot, and an X-ray bulb tube and a beam splitter are clamped at the tail end of the main robot;
the slave robot is a 6-degree-of-freedom joint robot, is controlled by a controller thereof to realize multi-joint movement, and clamps the flat panel X-ray detector from the tail end of the slave robot;
the X-ray bulb tube and the beam light device are connected with a high-voltage generator, and the high-voltage generator drives a cathode filament of the X-ray bulb tube and controls voltage and current;
the flat panel X-ray detector receives X-rays which are emitted by the X-ray bulb tube and penetrate through the part to be detected of the patient, converts the X-rays into digital electric signals, processes the digital electric signals and then transmits the digital electric signals to the image workstation;
the image workstation is a personal computer, receives image information transmitted by the flat panel X-ray detector through the USB port, and stores, displays and edits the image information;
the central control module is an embedded controller, receives instructions of an operator through a man-machine operation panel, controls the actions of a master robot and a slave robot, and also sends parameters such as filament voltage, filament current and the like to the high-voltage generator to control the exposure of the X-ray tube.
A control method of a medical X-ray imaging system based on double robots comprises the following steps:
the method comprises the following steps: before the medical operation is started, the main robot for clamping the X-ray bulb tube and the slave robot for clamping the flat panel X-ray detector are moved to proper positions, the initial relative position measurement process of the double robots is started, and the transformation matrix between the base coordinate systems of the main robot and the slave robot is measured
Wherein
Rx，Ry，RzAre respectively coordinate vectors, V, of three coordinate axes of the slave robot base coordinate system in the master robot base coordinate system0＝(vxo vyo vzo) Is the coordinate vector in the master robot base coordinate system from the origin of the slave robot base coordinate system.
Step two: guiding the movement of the main robot to change the pose thereof so as to enable the X-ray bulb tube and the beam splitter to be in proper positions to facilitate X-ray irradiation inspection, clamping the X-ray bulb tube and the beam splitter at the tail end of the main robot, determining the X-axis and the y-axis of a tool coordinate system according to the right-hand rule by taking the center of a focus in the X-ray bulb tube as the origin of a tool coordinate system at the tail end of the main robot and the direction of the X-ray as the direction of the z-axis of the tool coordinate system, and determining the pose position matrix of the tool coordinate system at the tail end of the main robot in a base coordinate system of the main robot, wherein the pose position matrix is
Wherein
rx，ry，rzCoordinate vectors, p, of the three coordinate axes of the end tool coordinate system in the base coordinate system, respectively0＝(pxo pyo pzo) Is the coordinate vector of the origin of the end tool coordinate system (the center of the focal point of the X-ray tube and the beam-forming optics) in the main robot base coordinate system.
Step three: an end tool coordinate system of a slave robot holding a flat panel X-ray detector is determined, and an X-axis and a y-axis are determined according to a right-hand rule with a center point of the flat panel X-ray detector as an origin of the tool coordinate system and a normal direction (direction of X-rays) of the flat panel X-ray detector as a z-axis direction.
Step four: the main robot controller transmits the coordinate position of the end tool (i.e. the position of the X-ray bulb tube and the beam light device) to the central control module, the central control module calculates the position of the end of the slave robot (i.e. the position of the flat panel X-ray detector) according to the coordinate position, and the position matrix of the flat panel X-ray detector in the main robot base coordinate system is
Wherein p is1＝p0+h0For the general case there are: h is0＝(0 0 h)，p1＝(pxo pyo pzo+ h), h is the distance of the X-ray tube to the imaging medium, extending the pose matrix to
The central control module is used for obtaining a transformation matrix of the master-slave robot base coordinate system according to the pose matrix T and the pose matrix T
The pose of its end tool coordinate system (i.e. the pose of the flat panel X-ray detector) in the slave robot base coordinate system can be calculated and communicated to the slave robot controller.
Step five: and the slave robot controller controls the slave robot controller to move according to the pose information of the end tool coordinate system sent by the central control module in the fourth step, and the flat panel X-ray detector is adjusted to a proper position corresponding to the X-ray bulb tube and the beam splitter clamped by the master robot, wherein the space distance between the focal points of the X-ray bulb tube and the beam splitter and the flat panel X-ray detector is h.
Effects of the implementation
Compared with a common C-arm X-ray machine, the medical X-ray imaging system based on the double robots, which is provided by the invention, can realize the purpose of taking X-ray images of the detected part at different angles in real time, and has the characteristics of simple structure, high repeated positioning precision and high image precision.
Drawings
FIG. 1 is a schematic diagram of a medical X-ray imaging system and control method based on a dual robot.
Fig. 2 is a control schematic diagram of a medical X-ray imaging system and a control method based on a double robot.
Fig. 3 is a flow chart of the medical X-ray imaging system and control method based on the dual robot.
In the attached figure 1: 1. a detector; 2. a slave robot; 3. a slave trolley; 4. a light bundling device; 5. a bulb tube; 6. a main robot; 7. a main trolley.
Detailed Description
The technical solutions in the present invention are clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a technical solution: a medical X-ray image system based on double robots comprises two vehicle-mounted 6-freedom-degree joint robots, wherein a main robot clamps an X-ray bulb tube and a beam splitter and is mounted on a main trolley; the slave robot clamps the flat panel X-ray detector and carries the flat panel X-ray detector on the slave trolley; the master and slave robots are directly controlled by respective controllers, and a central control module is arranged on the master and slave robots and integrates two independent coordinate systems of the master and slave robots into a unified coordinate system. In the unified coordinate system, the central control module plans the respective poses of the master robot and the slave robot according to the requirements of the angle and the position of X-ray photography, and coordinates the motion of the master robot and the slave robot. The central control module controls the high-voltage generator, and the high-voltage generator drives the cathode filament of the X-ray bulb tube. The double robots are provided with intelligent obstacle avoidance and anti-collision devices, and the safety of doctors and patients can be ensured in the moving process of the robots.
As shown in fig. 2, a block diagram of a control structure of a medical X-ray imaging system based on a dual robot according to an embodiment of the present invention is characterized by comprising: the main robot and its controller, from robot and its controller, X ray bulb and beam light ware, high voltage generator, flat panel X ray detector, image processing workstation, central control module and man-machine operation interface, wherein: the main robot is a 6-freedom joint robot, and is controlled by a controller thereof to realize multi-joint movement; the slave robot is a 6-degree-of-freedom joint robot, and is controlled by a controller thereof to realize multi-joint movement; the X-ray bulb tube and the beam light device are connected with a high-voltage generator, and the high-voltage generator generates high voltage through inversion to drive a cathode filament of the X-ray bulb tube and control voltage and current; the flat panel X-ray detector receives X-rays which are emitted by the X-ray bulb tube and penetrate through the part to be detected of the patient, converts the X-rays into digital electric signals and transmits the digital electric signals to the image workstation; the image workstation is a personal computer, receives image information transmitted by the flat panel X-ray detector through a USB port, stores, displays and edits the image information, and is connected with the cloud database through a remote data interface; the central control module is an embedded controller, sends commands to controllers of the master robot and the slave robot, coordinates and controls the actions of the master robot and the slave robot, and sends parameters such as filament voltage, filament current and the like to the high-voltage generator, the high-voltage generator drives a cathode filament of the X-ray tube, the central control module is connected with the human-computer operation interface, the central control module supports the field bus interface, and the double-robot X-ray image system can be accessed into the total full-automatic diagnosis and treatment environment through the field bus interface in future.
Reference throughout this specification to the description of "one embodiment," "an example," "a specific example," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and exemplary descriptions of the terms above do not necessarily refer to the same embodiment or example; furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention have been disclosed merely to aid in the explanation of the invention, and it is not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. Medical X ray image system based on two robots includes two 6 degrees of freedom joint robot and respective controllers, X ray bulb and beam light ware, central control module, man-machine operation interface, dull and stereotyped X ray detector, image server, its characterized in that: the two 6-degree-of-freedom robots can be divided into a master robot and a slave robot, the master robot clamps the X-ray bulb tube and the light bundling device, and the master robot is controlled by a controller of the master robot; the slave robot clamps the flat panel X-ray detector, is controlled by a slave robot controller, and is respectively connected with the master robot controller and the slave robot controller; the central controller is connected with the high-voltage generator; the high voltage generator is connected with a cathode filament of the X-ray bulb tube; the flat panel X-ray detector is connected with the image server through an interface.
2. The dual-robot based medical X-ray imaging system of claim 1, wherein: the master robot controller directly controls the master robot, the slave robot controller directly controls the slave robot, and the central control module sends commands to the master robot controller and the slave robot controller to control the master robot and the slave robot to move in a matched mode.
3. The dual-robot based medical X-ray imaging system of claim 1, wherein: the central control module controls the high-voltage generator, the high-voltage generator drives the exposure of the cathode filament of the X-ray bulb tube, the central control module receives an operation instruction sent by the man-machine operation interface, and the central control module is provided with a field bus interface and can be interconnected with other medical equipment through the field bus interface.
4. The control method of the medical X-ray image system based on the double robots is characterized by comprising the following steps:
the method comprises the following steps: before the medical operation begins, the main robot holding the X-ray shadow lamp and the beam light device and the slave robot holding the flat-plate X-ray detector are moved to proper positions, the initial relative position measuring process of the double robots is started, and the transformation matrix of the basic coordinate systems of the main robot and the slave robot is measured
Wherein
，
、
、
Respectively coordinate vectors of three coordinate axes of the slave robot base coordinate system in the master robot base coordinate system,
is the coordinate vector from the origin of the robot base coordinate system (in the master robot base coordinate system;
step two: guiding the movement of the main robot to change the pose thereof so that the X-ray tube and the beam splitter are in proper positions to facilitate X-ray irradiation inspection, clamping the X-ray tube and the beam splitter at the tail end of the main robot, determining the X-axis and the y-axis of a tool coordinate system according to the right-hand rule by taking the center of a focus in the X-ray tube as the origin of a tool coordinate system at the tail end of the main robot and the direction of the X-ray as the direction of the z-axis of the tool coordinate system, wherein the pose position matrix of the tool coordinate system in a basic coordinate system of the main robot is
Wherein
，
、
、
Respectively coordinate vectors of three coordinate axes of the end tool coordinate system in the base coordinate system,
is the coordinate vector of the origin of the end tool coordinate system (the focus center of the X-ray bulb tube and the beam splitter) in the main robot base coordinate system;
step three: determining a terminal tool coordinate system of a slave robot for clamping the flat panel X-ray detector, determining an X axis and a y axis according to a right-hand rule by taking the central point of the flat panel X-ray detector as a tool coordinate origin and the normal direction (the direction of an X ray) of the flat panel X-ray detector as a z axis direction;
step four: the main robot controller transmits the coordinate position of the end tool (i.e. the position of the X-ray bulb tube and the beam light device) to the central control module, the central control module calculates the position of the end of the slave robot (i.e. the position of the flat panel X-ray detector) according to the coordinate position, and the position matrix of the flat panel X-ray detector in the main robot base coordinate system is
Wherein
For the general case there are
，
H is the distance from the X-ray tube to the imaging medium, extending the pose matrix to
The central control module is based on the position and posture matrixTThe transformation matrix of the master-slave robot base coordinate system obtained in the step two can calculate the pose of the end tool coordinate system (namely the pose of the flat X-ray detector) in the slave robot base coordinate system and transmit the pose to the slave robot controller;
step five: the slave robot controller controls the motion of the slave robot controller according to the position and posture information of the coordinate system of the end tool sent by the central control module in the fourth step, and the flat panel X-ray detector is adjusted to a proper position corresponding to the X-ray bulb tube and the beam splitter clamped by the master robot, and the space distance between the focal points of the X-ray bulb tube and the beam splitter and the flat panel X-ray detector is equal to that between the focal points of the X-ray bulb tube and the beam splitter and the flat panel X-ray detectorh。
5. The method as claimed in claim 4, wherein the master robot controller controls the master robot based on its base coordinate system, the slave robot controller controls the slave robot based on its base coordinate system, the central control module integrates the base coordinate systems of the master and slave robots into a unified coordinate system, and the central control module plans the poses of the master and slave robots in the unified coordinate system, and issues commands to the controllers of the master and slave robots to coordinate the movements of the master and slave robots.
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| CN104116517A (en) * | 2014-07-18 | 2014-10-29 | 北京航空航天大学 | Intraoperative X-ray image system based on cooperation of double mechanical arms |
| CN108095748A (en) * | 2018-01-31 | 2018-06-01 | 邦盛医疗装备（天津）股份有限公司 | X-ray DR robot systems and its detection method |
| US20200003703A1 (en) * | 2018-07-02 | 2020-01-02 | David R. ZAVAGNO | Systems and methods for x-ray computed tomography |
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2020
- 2020-02-25 CN CN202010114413.8A patent/CN113367707A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6435715B1 (en) * | 1998-11-30 | 2002-08-20 | Siemens Aktiengesellschaft | Radiography device |
| US20110069818A1 (en) * | 2008-03-31 | 2011-03-24 | Kuka Roboter Gmbh | X-Ray Apparatus And Medical Workstation |
| CN104116517A (en) * | 2014-07-18 | 2014-10-29 | 北京航空航天大学 | Intraoperative X-ray image system based on cooperation of double mechanical arms |
| CN108095748A (en) * | 2018-01-31 | 2018-06-01 | 邦盛医疗装备（天津）股份有限公司 | X-ray DR robot systems and its detection method |
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Application publication date: 20210910 |