CN113425322A

CN113425322A - Bed board movement control method and system, CT scanning system and storage medium

Info

Publication number: CN113425322A
Application number: CN202110710774.3A
Authority: CN
Inventors: 卢林林
Original assignee: Shanghai United Imaging Healthcare Co Ltd
Current assignee: Shanghai United Imaging Healthcare Co Ltd
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2021-09-24

Abstract

The invention provides a bed plate motion control method and system, a CT scanning system and a storage medium, wherein the bed plate motion control method comprises the following steps: controlling the bed board to move between a sampling initial position and a sampling end position by using a first motion instruction, and acquiring the measured values of the bed board at a plurality of sampling points and the expected value of the first motion instruction; establishing an error compensation model according to the measured value and the expected value; generating a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to the target position according to the third motion instruction. According to the bed board motion control method and system, the CT scanning system and the storage medium, the motion instruction is compensated through the error compensation model, the bed board motion precision can be improved, the imaging quality is improved, and the method and the system are simple to operate and easy to implement.

Description

Bed board movement control method and system, CT scanning system and storage medium

Technical Field

The invention relates to the technical field of error compensation of medical instruments, in particular to a bed plate motion control method and system, a CT scanning system and a storage medium.

Background

Ct (computed tomography), that is, electronic computed tomography, uses precisely collimated X-ray beams, gamma rays, ultrasonic waves, etc. to scan the cross section of a human body one by one together with a detector with extremely high sensitivity, has the characteristics of fast scanning time, clear image, etc., and can be used for the examination of various diseases. Helical scanning is one of the CT scanning techniques, and the scanning trajectory is helical, so it is called helical scanning, also called volume or volume scanning. Referring to fig. 1, fig. 1 is a schematic view illustrating a scanning process of scanning imaging of a CT scanning system. The CT scanning system includes a gantry 300, a couch 100, a couch support 200, an X-ray tube (not shown), a detector (not shown), and an imaging device (not shown). As can be seen from fig. 1, the table board 100 is disposed on the table board supporting device 200 and can be horizontally moved and horizontally lifted on the table board supporting device 200, and the frame 300 can be rotationally scanned. During the scanning process, the X-ray bulb tube rotates continuously around the frame 300 for exposure, the bed board 100 moves synchronously at a constant speed during exposure, the detector collects data at the same time, and the imaging device generates a scanning image according to the collected data. The precision of the movement of the table 100 during the whole scanning process will directly affect the quality of the scanning imaging.

Referring to fig. 2, fig. 2 is a schematic diagram of a bedplate motion control system in the prior art. As can be seen from fig. 2, the driving command drives the motor to drive the bed board 100 to move through the driver, and the motor performs position feedback. In the practical application process, due to the existence of geometric errors, the feedback system of the scanning imaging system cannot effectively measure the change of the scanning imaging system, so that the quality of the scanning imaging is affected. The geometric errors are caused by defects in the design of mechanical parts, the limitation of machining precision, assembly errors in the assembly process and the like, so that the actual geometric parameters have errors with the ideal parameters. In mechanical system motion, geometric errors bring about geometric deformation, which leads to the deviation of the positioning position from the ideal position in motion, especially in multi-axis systems, the errors become larger after coupling. In addition, since the mechanical geometry is changed by itself, the feedback system may not be able to effectively measure the change by itself. Taking the horizontal direction as an example, the expected moving distance of the motion command is 10cm, and the moving distance fed back by the feedback system is also 10cm, and due to the existence of the geometric error, the actual moving distance of the bed board 100 may be more or less than 10cm, such as 10.2cm or 9.9 cm.

How to provide a bed board motion control method, which improves the control precision of the bed board motion by measuring and compensating geometric errors, thereby improving the scanning imaging quality, becomes one of the technical problems to be solved by those skilled in the art.

It is noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The present invention aims to provide a method and a system for controlling the movement of a bed plate, a CT scanning system and a storage medium, which can achieve the purpose of improving the accuracy of controlling the movement of a CT patient bed by measuring and compensating geometric errors, thereby improving the scanning imaging quality.

In order to achieve the purpose, the invention is realized by the following technical scheme: a bed board movement control method comprises the following steps:

controlling the bed board to move between a sampling starting position and a sampling ending position by using a first motion instruction, and acquiring sampling data of the bed board at a plurality of sampling points; wherein the sampled data comprises a measured value and an expected value of the first motion instruction;

establishing an error compensation model according to the measured value and the expected value;

generating a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to a target position according to the third motion instruction.

Optionally, before the controlling the bed board to move between the sampling start position and the sampling end position and acquire the sampling data of the bed board at a plurality of sampling points, the method further includes:

determining the sampling starting position and the sampling ending position to obtain the sampling stroke of the bed plate;

and dividing the sampling stroke into a plurality of sub-sampling strokes, and taking the starting position/the ending position of each sub-sampling stroke as the sampling point.

Optionally, the table board motion control method is used for a medical imaging system, the medical imaging system comprises a scanning device and an examination table, the scanning device comprises a frame and a scanning assembly, and the examination table comprises a table board supporting device and the table board arranged on the table board supporting device; wherein the bed plate extends along a first direction and is capable of reciprocating along the first direction relative to the bed plate supporting device; along the first direction, the frame is arranged close to the head end of the bed plate;

the method for determining the sampling starting position and the sampling ending position comprises the following steps: in the first direction, performing the steps of:

controlling the bed board to have no displacement relative to the bed board supporting device, and taking the position of the head end of the bed board as the sampling starting position/the sampling ending position;

controlling the bed board to move towards the frame until the bed board reaches the maximum displacement relative to the bed board supporting device, and taking the position of the head end of the bed board as the sampling ending position/the sampling starting position.

Optionally, the method for controlling the bed board to move between a sampling start position and a sampling end position and acquiring sampling data of the bed board at a plurality of sampling points includes:

controlling the bed board to reciprocate j times between the sampling starting position/the sampling ending position and the ending position/the starting position; j is not less than 1, and j is an integer.

Optionally, the method for controlling the bed board to move between a sampling start position and a sampling end position and acquiring sampling data of the bed board at a plurality of sampling points further includes:

and when the bed plate is unloaded and the environmental temperature and humidity meet a preset measurement temperature and humidity threshold value, controlling the bed plate to move between a sampling starting position and a sampling ending position by using the first motion instruction.

Optionally, the method for establishing an error compensation model according to the expected value and the measured value includes:

calculating error sample data of the error model according to the expected value and the measured value;

and carrying out interpolation operation on the error sample data to obtain the error compensation model.

Optionally, the method for generating a third motion instruction according to the error compensation model and the second motion instruction includes:

initializing the third motion instruction using the second motion instruction;

calculating to obtain a compensation value according to the expected value of the second motion instruction and the error compensation model;

and compensating the expected value of the third motion instruction according to the compensation value to obtain the expected value of the third motion instruction.

In order to achieve the above object, the present invention also provides a bed board motion control system, including:

the sampling device is configured to control the bed board to move between a sampling starting position and a sampling ending position by using a first motion instruction, and acquire sampling data of the bed board at a plurality of sampling points; wherein the sampled data comprises a measured value and an expected value of the first motion instruction;

an error compensation model building device configured to build an error compensation model according to the measured value and the expected value;

a bed plate motion control device configured to generate a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to a target position according to the third motion instruction.

In order to achieve the above object, the present invention further provides a CT scanning system, which includes an examining table, a CT apparatus, and a table board movement control system, wherein the examining table includes a table board supporting apparatus and a table board disposed thereon;

the bed board is configured to bear an object to be scanned, extends along a first direction and can move back and forth along the first direction relative to the bed board supporting device;

before scanning starts, the bed board motion control system is configured to control the bed board to move between a sampling starting position and a sampling ending position by using a first motion instruction, and acquire sampling data of the bed board at a plurality of sampling points; wherein the sampled data comprises a measured value and an expected value of the first motion instruction; the error compensation model is established according to the measured value and the expected value;

in the scanning process, the bed plate motion control system is configured to generate a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to a target position according to the third motion instruction, so that the CT device generates a CT image of the object to be scanned.

In order to achieve the above object, the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the bed board movement control method according to any one of the above.

Compared with the prior art, the bed board movement control method and system, the CT scanning system and the storage medium provided by the invention have the following beneficial effects:

the invention provides a bed board movement control method, which comprises the following steps: controlling the bed board to move between a sampling starting position and a sampling ending position by using a first motion instruction, and acquiring sampling data of the bed board at a plurality of sampling points; wherein the sampled data comprises a measured value and an expected value of the first motion instruction; establishing an error compensation model according to the measured value and the expected value; generating a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to a target position according to the third motion instruction. According to the configuration, an error compensation model is established through actual measurement data, and the measurement of geometric errors is realized; by adding the error model into the control system, the geometric error in a mechanical system is reduced or even eliminated, so that the precision of motion control is improved, and the imaging quality can be obviously improved.

Further, the method for controlling the movement of the bed plate provided by the present invention further includes, before controlling the movement of the bed plate between the sampling start position and the sampling end position and acquiring the sampling data of the bed plate at a plurality of sampling points: determining the sampling starting position and the sampling ending position to obtain the sampling stroke of the bed plate; and dividing the sampling stroke into a plurality of sub-sampling strokes, and taking the starting position/the ending position of each sub-sampling stroke as the sampling point. So the configuration, through the reasonable setting of sampling point, can reduce the randomness that the sampling point was selected to improve the universality and the rationality of error compensation model sample data, thereby improve the compensation precision of error compensation model.

In summary, the method and system for controlling the movement of the bed plate, the CT scanning system and the storage medium provided by the invention can provide the movement control precision of the bed plate aiming at the geometric error of the sickbed system in the CT scanning system, thereby improving the imaging quality, and the control is simple and easy to implement.

Drawings

FIG. 1 is a schematic diagram of a scanning process of scanning imaging of a CT scanning system;

fig. 2 is a schematic diagram of a bed plate movement control system in the prior art;

fig. 3 is a schematic diagram of a bed plate movement control method provided by the invention;

fig. 4 is a schematic flow chart of a method for controlling movement of a bed plate according to an embodiment of the present invention;

fig. 5 is a schematic diagram illustrating a method for controlling movement of a bed plate according to an embodiment of the present invention, in which a laser interferometer is used to measure an initial position of a geometric error of a CT bed;

fig. 6 is a schematic diagram illustrating a method for controlling movement of a bed plate according to an embodiment of the present invention, in which a laser interferometer is used to measure a termination position of a geometric error of a CT bed;

fig. 7 is a schematic diagram of a movement track of a method for controlling movement of a bed plate according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a bed plate movement control system according to an embodiment of the present invention;

wherein the reference numerals are as follows:

100-bed plate, 110-bed plate head end, 120-bed plate tail end, 200-bed plate supporting device, 300-frame, 400-measuring mirror and 500-laser emitting head;

610-sampling device, 620-error compensation model building device and 630-bed plate motion control device.

Detailed Description

To make the objects, advantages and features of the present invention more clear, the method and system for controlling the movement of the table, the CT scanning system and the storage medium according to the present invention will be described in detail with reference to the accompanying drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. It should be understood that the drawings are not necessarily to scale, showing the particular construction of the invention, and that illustrative features in the drawings, which are used to illustrate certain principles of the invention, may also be somewhat simplified. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, locations, and configurations, will be determined in part by the particular intended application and use environment. In the embodiments described below, the same reference numerals are used in common between different drawings to denote the same portions or portions having the same functions, and a repetitive description thereof will be omitted. In this specification, like reference numerals and letters are used to designate like items, and therefore, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

These terms, as used herein, are interchangeable where appropriate. Similarly, if the method described herein comprises a series of steps, the order in which these steps are presented herein is not necessarily the only order in which these steps may be performed, and some of the described steps may be omitted and/or some other steps not described herein may be added to the method.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Before specifically describing the method for controlling the movement of the bed plate provided by the present invention, a basic principle of the method for controlling the movement of the bed plate provided by the present invention will be described.

As described above, the inventors of the present invention have found that, although the position information of the table fed back by the position feedback system is the same as the position information of the expected value of the motion command, in the case of the table of the CT scanning system, the actual position information of the table may deviate from the expected value by a certain amount due to the existence of the geometric error. In view of the situation, the inventor of the present invention has proposed a method for controlling the movement of a bed plate, referring to fig. 3, and fig. 3 is a schematic diagram illustrating the principle of the method for controlling the movement of a bed plate according to the present invention. As can be seen from fig. 3, in the method for controlling the movement of the bed plate, an error compensation model is applied to the movement instruction to compensate the expected value of the movement instruction, so that the geometric error is eliminated, and the control accuracy of the movement of the bed plate is improved. Based on the basic principle, the inventor of the invention creatively provides a method for establishing the error compensation model through continuous and intensive research and extensive practice, and controls the movement of the bed plate through the error compensation model so as to improve the precision of the control of the movement of the bed plate. As will be understood by those skilled in the art, in the CT hospital bed system, as shown in fig. 1, the movement of the bed board mainly has two directions, i.e., a vertical direction and a horizontal direction, and usually, the vertical direction is not fixed. Therefore, for the most extensive purposes of understanding, description and application of the present invention, the description is focused on the example of compensating the geometric error of the horizontal motion structure, and in fact, those skilled in the art can understand that the method for controlling the movement of the bed board provided by the present invention is not limited to compensating the geometric error of the horizontal motion structure, and is also applicable in the vertical direction, and the basic principles are the same, and therefore, the description is omitted here. Further, although the present invention is described by taking the table of the CT scanning system as an example, the method for controlling the movement of the table provided by the present invention is not limited to the CT scanning system, and other medical devices having a table, such as an MRI imaging system, are also applicable to the method, which is not illustrated.

The following describes a method for controlling the movement of the bed plate according to the present invention.

Referring to fig. 4, fig. 4 is a schematic flow chart of a method for controlling a movement of a bed plate according to an embodiment of the present invention. As can be seen from fig. 4, the method for controlling the movement of the bed plate provided by the embodiment includes the following steps:

s1: controlling the bed board to move between a sampling starting position and a sampling ending position by using a first motion instruction, and acquiring sampling data of the bed board at a plurality of sampling points; wherein the sampled data includes a measured value and an expected value of the first motion command.

S2: establishing an error compensation model according to the measured value and the expected value;

s3: generating a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to a target position according to the third motion instruction.

In particular, the purpose of the first motion command is to obtain sampling data, so as to build an error compensation model to obtain geometric errors in the mechanical system, i.e. the first motion command bed comprises bed plate position (position of sampling point) information determined according to sampling design requirements; the second motion instruction comprises bed plate position (position of a point to be scanned) information determined according to scanning index requirements; the third motion instruction comprises the information of the position of the bed plate (the position of a scanning point when the scanning task is actually executed) after being adjusted according to the error compensation model. According to the bed board movement control method, the error compensation model is established through actual measurement data, the measurement of the geometric error is realized, and the defect that the feedback system cannot find the geometric error is overcome; by adding the error model into the control system, the geometric error in a mechanical system is reduced or even eliminated, so that the precision of motion control is improved, and the imaging quality can be obviously improved.

Preferably, in one exemplary embodiment, before step S2, the method further includes:

By the configuration, the bed board motion control method provided by the invention can reduce the randomness of sampling point selection through reasonable setting of the sampling points, thereby improving the universality and rationality of the sampling data of the error compensation model and improving the compensation precision of the error compensation model.

As described above, the method for controlling the movement of the table is applied to a medical imaging system including a scanning device (imaging device) including a frame and a scanning assembly, and an examination table including a table support device and the table disposed thereon. Including but not limited to CT scanning systems, MRI imaging systems, X-ray imaging systems, and the like. In the following, the description is given only by taking the example that the bed plate motion control method is used in a CT scanning system, and the application to other medical imaging systems can be summarized accordingly, which is not repeated herein.

Specifically, referring to fig. 5 and 6, fig. 5 is a schematic diagram illustrating that a laser interferometer is used to measure a starting position of a geometric error of a CT hospital bed in the bed board movement control method according to an embodiment of the present invention, and fig. 6 is a schematic diagram illustrating that a laser interferometer is used to measure an ending position of a geometric error of a CT hospital bed in the bed board movement control method according to an embodiment of the present invention. As can be seen from fig. 5 and 6, the CT scanning system includes a CT apparatus (not shown) including a gantry 300 and a scanning assembly (not shown), and an examination table including a table support 200 and the table 100 disposed thereon; wherein the deck 100 extends in a first direction and is reciprocally movable in the first direction relative to the deck support 200; along the first direction, the frame 300 is disposed near the bed board head end 110. In this embodiment, the first direction is a horizontal direction.

controlling the bed plate 100 to be not displaced relative to the bed plate support device 110, taking the position of the bed plate head end 110 as the sampling start position/the sampling end position. Referring to fig. 5, the location of the head end 110 of the head of the bed in fig. 5 is taken as an example of the sampling start location.

And controlling the bed board to move towards the rack until the bed board reaches the maximum displacement relative to the bed board supporting device, and taking the position of the head end of the bed board as the sampling termination position. Referring to fig. 6, the location of the head end 110 of the head of the bed in fig. 6 is taken as an example of the sampling termination location.

As will be understood by those skilled in the art, the sampling start position and the sampling end position are relative, and if the position of the head end 110 in FIG. 5 is taken as the sampling end position, and corresponds to it, the position of the head end 110 in FIG. 6 is taken as the sampling start position. Further, the sampling start position and the sampling end position are for determining a sampling stroke of the bed plate, the sampling start position and the sampling end position are not limited at all, the above description is only about a maximum stroke of the movement of the bed plate 100 as a sampling stroke, and in other embodiments, the sampling start position and the sampling end position may be reasonably selected according to actual working condition requirements.

Further, before the dividing the sampling run into a plurality of sub-sampling runs and taking the start position/end position of each sub-sampling run as the sampling point, the method further includes: a measuring device is provided for acquiring the measured value.

In particular, with continued reference to fig. 5 or 6, in one of the preferred embodiments, the measuring device includes a measuring mirror 400 and a laser emitting head 500; the setting method of the measuring device comprises the following steps:

the measuring mirror 400 is fixedly arranged on the bed board 100 near the tail end 120 of the bed board;

the laser emitting head 500 is disposed near the bed plate tail end 120, and the position of the laser emitting head 500 relative to the bed plate supporting device 200 is fixed.

With this arrangement, the measuring mirror 400 can move along with the top board 100 while the position of the laser emitting head 500 is fixed, and the moving position of the top board 100 can be reliably reflected by the optical path between the laser emitting head 500 and the measuring mirror 400, so that a high-precision measurement value can be obtained. And the measuring mirror 400 and the laser emitting head 500 have light weight, small volume, simple operation, and high speed and accuracy. It will be understood by those skilled in the art that in practical applications, other measurement methods may be used to obtain the measurement values, including but not limited to electromagnetic wave distance measurement, direct distance measurement, etc., and are not described in detail.

Preferably, in one exemplary embodiment, the method for dividing the sampling run into a plurality of sub-sampling runs according to a preset sampling point division rule includes:

and averagely dividing the sampling travel into i sub-sampling travels, wherein i is more than or equal to 2, and i is an integer.

By the configuration, the bed board control method provided by the invention is simple in sampling point acquisition method and easy to implement.

Preferably, in one exemplary embodiment, in step S1, the method for controlling the bed board to move between a sampling start position and a sampling end position and acquiring sampling data of the bed board at a plurality of sampling points includes:

controlling the bed board 100 to move from the sampling start position/the sampling end position to the end position/the start position j times in a single direction; or controlling the bed board 100 to reciprocate j times between the sampling start position/the sampling end position and the end position/the start position; j is not less than 1, and j is an integer.

Specifically, please refer to fig. 7, and fig. 7 is a schematic diagram of a motion trajectory of a method for controlling a movement of a bed plate according to an embodiment of the present invention. The full travel of the bed board 100 is divided into a plurality of sections, sampling points are arranged between each section, the measured value of each sampling point is obtained by circularly moving the bed board 100 for a plurality of times, i is the position of the sampling point in the circular movement, and j is the number of times of circulation.

Preferably, in one exemplary embodiment, in step S1, the method for controlling the bed board to move between a sampling start position and a sampling end position and acquiring the sampling data of the bed board at a plurality of sampling points further comprises: and when the bed plate is unloaded and the environmental temperature and humidity meet a preset measurement temperature and humidity threshold value, controlling the bed plate to move between a sampling starting position and a sampling ending position by using the first motion instruction. Due to the configuration, the measurement error caused by different external measurement environments can be reduced, and the geometric error in the moving process of the bed plate can be acquired more accurately.

Wherein the expected value of the first motion command comprises a sampling distance of the sub-sampling trip; accordingly, the measured values include the measured actual distance the couch plate 100 moves (sub-sampling stroke). In other embodiments, the sampling distance may be a distance from the sampling start position to a sampling point, and correspondingly, the measurement distance may be a distance from the sampling start position to a sampling point.

Preferably, in one exemplary embodiment, in step S2, the method for creating an error compensation model according to the expected value and the measured value includes:

s21: and calculating error sample data of the error model according to the expected value and the measured value. Preferably, in one preferred embodiment, for each of the sampling points, the following steps are performed to obtain the error sample data:

s211: and calculating to obtain a measurement average value according to the sampling times and the measurement value obtained by each sampling.

S212: and calculating an error value of the measured average value and the expected value, and taking the error value and the expected value as the error sample data of the sampling point.

It is to be understood that this is merely a description of the preferred embodiment and not a limitation of the invention, and that the operation is more straightforward. In other embodiments, the median, mode, range, variance, or standard deviation of the expected value may also be used as the error sample data of the sampling point, and details are not repeated.

S22: and carrying out interpolation operation on the error sample data to obtain the error compensation model. Since the measured values of the measured sampling points are in the form of discrete data, it is necessary to interpolate these discrete data points in order to be able to compensate for all positions. It is to be understood that the present invention is not limited to the particular interpolation method, including but not limited to piecewise linear interpolation, lagrange interpolation, spline interpolation, or the like. Preferably, the error compensation model characterizes a relationship between the desired value and the error compensation value.

It should be understood that the above is only an exemplary description, and not a limitation, and in practical applications, the sampling start position, the sampling end position, and each sampling point may also be reasonably selected according to different scanning needs, so as to establish a plurality of error compensation models that meet different scanning needs. For example, the sampling points of the error compensation model for obtaining the head scanning image are arranged more densely, and the sampling points of the error compensation model for obtaining the push plate scanning image are arranged sparsely. Those skilled in the art can take this from a counter-example to a third.

Preferably, in one exemplary embodiment, in step S3, the method for generating a third motion command according to the error compensation model and the second motion command includes:

s31: initializing the third motion instruction using the second motion instruction;

s32: calculating to obtain a compensation value according to the expected value of the second motion instruction and the error compensation model;

s33: and compensating the expected value of the third motion instruction according to the compensation value to obtain the expected value of the third motion instruction.

By the configuration, the bed board motion control system provided by the invention can reduce or eliminate geometric errors in a mechanical system, improve the motion control precision and improve the imaging quality by adding the obtained error compensation model into the control system.

It is understood that in one practical application scenario, the error compensation model may be obtained in advance through steps S1 and S2, and then the obtained error compensation model information is introduced into the table motion control system of the CT scanning system. Finally, at each scanning imaging, the accuracy of the table movement control is improved by step S3. Namely: and acquiring the error compensation model once and applying for many times. In a further application scenario, the error compensation model may be reacquired prior to each scan imaging. That is, the present invention does not limit the steps S1 to S3 to be performed in a sequential order. Obviously, the former is a relatively economical and convenient application mode.

A bed board movement control system according to another embodiment of the present invention is provided, referring to fig. 8, and fig. 8 is a schematic structural diagram of the bed board movement control system according to an embodiment of the present invention. As can be seen from fig. 8, the bed plate movement control system comprises: a sampling device 610, an error compensation model building device 620 and a bed plate motion control device 630.

Specifically, the sampling device 610 is configured to control the bed board to move between a sampling start position and a sampling end position using a first motion instruction, and acquire sampling data of the bed board at a plurality of sampling points; wherein the sampled data includes a measured value and an expected value of the first motion command. The error compensation model building means 620 is configured to build an error compensation model according to the measured value and the expected value. The bed plate motion control device 630 is configured to generate a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to a target position according to the third motion instruction.

Because the bed board motion control system and the bed board motion control method provided by the invention belong to the same inventive concept, the invention at least has the same beneficial effects, and the description is omitted.

Based on the same inventive concept, another embodiment of the present invention further provides a CT scanning system, which includes an examining table, a CT apparatus and a table board movement control system, wherein the examining table includes a table board supporting device and a table board arranged thereon. The bed board is configured to bear an object to be scanned, extends along a first direction and can move back and forth along the first direction relative to the bed board supporting device.

The following is a brief description of the scanning process of the CT scanning system provided by the present invention:

(1) the sickbed state is confirmed and the sickbed is positioned outside the machine frame.

(2) The vertical motor drives the sickbed to lower (only point position movement is completed at the moment, and track interpolation is not needed), and after the sickbed is lowered, the sickbed is positioned and fixed on a patient.

(3) After the hospital bed is driven by the vertical motor to rise to a specified height, the horizontal motor drives the bed board to move to a specified position of a point to be scanned from the outside (at the moment, point position movement is only completed, and track interpolation is not needed).

(4) Before the system starts scanning, according to the requirement of a scanning index, the motion trail of the sickbed is subjected to interpolation calculation and the calculation result is cached.

(5) When the system starts scanning, the sickbed movement track points are sent to the sickbed track point cache module in a time-sharing and partitioning mode according to the synchronous time setting, after the sickbed receives data, the sickbed starts to be driven to move according to the track points, and the movement position and the movement time are fed back to the system.

It is understood that steps (4) and (5) are: generating a third motion instruction according to the error compensation model and the second motion instruction; and driving the bed plate to move to a target position according to the third motion instruction.

(6) And the system receives the position information and the time information and synchronously scans according to the scanning setting.

(7) The system bus monitoring module monitors the feedback of the movement position of the sickbed in real time, and if the movement track of the sickbed is monitored to be abnormal in the scanning process, the system processes the abnormal movement track according to different abnormal points.

(8) After the scanning is finished, the system sends an exit command, and the horizontal driving motor drives the sickbed to leave the scanning rack to a specified position (only point position movement is finished at the moment, and track interpolation is not needed).

(9) After the patient moves horizontally to a designated outer position, the vertical motor drives the sickbed to be lowered to a designated height, and then the patient fixing device is removed to enable the patient to leave the sickbed.

Because the CT scanning system provided by the invention and the bed board movement control method belong to the same inventive concept, the CT scanning system at least has the same beneficial effects, and the detailed description is omitted.

It should be noted that the systems and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, a program, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments herein may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

Still another embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, can implement the steps of the bed movement control method described above.

The readable storage media of embodiments of the invention may take any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this context, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

It should be noted that computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

In summary, the method and system for controlling the movement of the bed plate, the CT scanning system and the storage medium provided by the present invention establish the error compensation model through the actual measurement data, thereby realizing the measurement of the geometric error and overcoming the defect that the feedback system cannot find the set error; by adding the error model into the control system, the geometric error in a mechanical system is reduced or even eliminated, so that the precision of motion control is improved, and the imaging quality can be obviously improved; and the operation is simple and the implementation is easy.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

In summary, the above embodiments have described in detail various configurations of the method, system, CT scanning system and storage medium for controlling the movement of the table, and it is understood that the above description is only for describing the preferred embodiment of the present invention, and does not limit the scope of the present invention in any way.

Claims

1. A bed board motion control method is characterized by comprising the following steps:

2. The method of claim 1, further comprising, before the controlling the movement of the bed between the sampling start position and the sampling end position and acquiring the sampled data of the bed at a plurality of sampling points:

3. The couch motion control method of claim 2, wherein the couch motion control method is for a medical imaging system including a scanning device and an examination couch, the scanning device including a gantry and a scanning assembly, the examination couch including a couch support and the couch disposed thereon; wherein the bed plate extends along a first direction and is capable of reciprocating along the first direction relative to the bed plate supporting device; along the first direction, the frame is arranged close to the head end of the bed plate;

4. The method of controlling movement of a bed as set forth in claim 2, wherein the method of controlling movement of the bed between a sampling start position and a sampling end position and acquiring sampling data of the bed at a plurality of sampling points comprises:

5. The method of controlling movement of a bed as set forth in claim 2, wherein the method of controlling movement of the bed between a sampling start position and a sampling end position and acquiring sampling data of the bed at a plurality of sampling points further comprises:

6. A method of controlling movement of a bed in accordance with claim 1, wherein the method of building an error compensation model based on the desired value and the measured value comprises: calculating error sample data of the error model according to the expected value and the measured value; and carrying out interpolation operation on the error sample data to obtain the error compensation model.

7. The method of claim 1, wherein the method of generating a third motion command according to the error compensation model and the second motion command comprises:

initializing the third motion instruction using the second motion instruction;

8. A bed board motion control system, comprising:

9. A CT scanning system is characterized by comprising an examination bed, a CT device and a bed board motion control system, wherein the examination bed comprises a bed board supporting device and a bed board arranged on the bed board supporting device;

10. A computer-readable storage medium, characterized in that the readable storage medium has stored therein a computer program which, when executed by a processor, implements the bed movement control method of any one of claims 1 to 7.