CN113768525A - Motion part control system and method of mammary X-ray machine - Google Patents
Motion part control system and method of mammary X-ray machine Download PDFInfo
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- 210000000481 breast Anatomy 0.000 claims description 18
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- 238000010191 image analysis Methods 0.000 claims description 7
- 210000005075 mammary gland Anatomy 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 8
- 238000009607 mammography Methods 0.000 description 8
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Abstract
The invention provides a control system and a method for a moving part of a mammary X-ray machine, which comprises an X-ray unit, wherein a high-voltage generator generates high-frequency pulse voltage to be applied to the X-ray unit so as to promote the X-ray unit to generate X-rays in a specified range; the detector unit is used for converting the received X-rays into image digital information, performing image optimization processing and display, and analyzing and sharing images; the foot brake control unit is used for outputting a foot brake control command; the motion control unit is in wired communication or wireless communication with the foot brake control unit and sends motion control instructions to all motion parts; and the moving part unit is used for receiving a motion control command so as to control the operation of each moving part. The method of the invention is applied to the system. The invention controls the movement of the moving part of the mammary X-ray machine through wired connection or wireless control, is convenient to control and adjust, and can improve the operation experience of medical personnel.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a control system of a moving part of a mammary X-ray machine and a control method applying the system, and particularly relates to a control method and a control system of a bearing table, a compression plate and the like of the mammary X-ray machine.
Background
Breast cancer is one of the cancers identified by the world health organization that can reduce mortality by early detection and treatment, and X-ray-based breast cameras are becoming more and more widespread in the application of breast diseases. X-rays are electromagnetic waves with short wavelengths and large energies, and have transparency. When X-rays pass through some substances, part of electromagnetic waves are absorbed, the intensity of the X-rays is attenuated in an exponential relation, different substances absorb the X-rays differently, and the X-rays which are not absorbed pass through the object and are received by a detector. The detector receives X-rays with different intensities, converts the X-rays into digital signals, and the signals are sent to a computer for processing and reconstructing images, which is the principle of digital mammary X-ray imaging. The strength of the signals received by the detector depends on the density of tissues in the cross section of the breast body, more X-rays are absorbed by the tissues with higher density, and the signals obtained by the detector are weaker, such as tumors, calcified tissues and the like; less dense tissue absorbs less X-rays and the detected signal is stronger, such as adipose tissue. The information received by the detector shows images of the breast shadow at different densities. According to the contrast of the shadow image and the clinical experience, whether the mammary tissue is abnormal or not can be judged easily.
When a patient takes an X-ray picture, in order to improve the imaging quality and the comfort of the patient taking, the moving parts of the mammary X-ray machine need to be adjusted according to the height of the patient and the characteristics of the breast, for example, the height of the bearing table, and the compression plate also needs to be adjusted according to the condition of the breast of the patient.
In addition, most of the mammary gland ray machines in the prior art are connected through wires, and the moving parts of the mammary gland X-ray machine cannot be controlled far and near, so that medical workers are inconvenient to operate and poor in control experience.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a motion part control system of a mammary gland X-ray machine and a method thereof, wherein the system and the method control the motion of the motion part of the mammary gland X-ray machine through wired connection or wireless control, are convenient to control and adjust, and can improve the operation experience of medical personnel.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a moving part control system of a breast X-ray machine, comprising: the X-ray unit generates high-frequency pulse voltage by the high-voltage generator and applies the high-frequency pulse voltage to the X-ray unit to prompt the X-ray unit to generate X-rays within a specified range; the detector unit is used for converting the received X-rays into image digital information, performing image optimization processing and display, and analyzing and sharing images; the foot brake control unit is used for outputting a foot brake control command; the motion control unit is in wired communication or wireless communication with the foot brake control unit and is used for receiving the foot brake control instruction and sending the motion control instruction to each motion part to realize motion control execution; the moving part unit is used for receiving a moving control command so as to control each moving part to work; and the exposure control module is respectively connected with the high-voltage generator, the detector unit and the motion control unit so as to realize exposure control.
The X-ray unit comprises an X-ray bulb tube module and a collimator module, wherein the X-ray bulb tube module is connected with a high-voltage generator, the high-voltage generator generates high-frequency pulse voltage, and the high-frequency pulse voltage is applied to the X-ray bulb tube module after being rectified so that the X-ray bulb tube module generates X rays; the collimator module is connected with the X-ray bulb tube module and used for restricting the field of view of the X-ray to a specified range.
The detector unit comprises a detector plate module and an image processing module, wherein the detector plate module is used for converting the received X-rays into image digital information; the image processing module is used for acquiring the image information output by the detector plate module, and performing image optimization processing and display, image analysis and sharing on the information.
According to a further scheme, the motion component unit comprises a C-shaped arm, a compression plate module and a bearing table, and the motion control unit sends motion control instructions to the C-shaped arm, the compression plate module and the bearing table according to foot brake control commands so as to control the C-shaped arm, the compression plate module and the bearing table to work.
In a further aspect, the motion control unit includes a motion control module and a first communication module, the foot brake control unit includes a foot brake control module and a second communication module, and the first communication module and the second communication module are connected to a communication mode module.
According to a further scheme, the first communication module is used for realizing communication switching of a motion control terminal, the second communication module is used for realizing communication switching of a foot brake control terminal, and the communication mode module comprises wired communication and wireless communication; the motion control module receives a foot brake control command of the foot brake control module based on the first communication module so as to control the movement of each motion part; and the foot brake control module sends out a foot brake control command based on the second communication module.
A further scheme is that the motion control module includes a first processor, the gatekeeper control module includes a second processor and a plurality of gatekeepers, the first communication module is a wireless motion end adapter board, the second communication module is a wireless gatekeeper control end adapter board, whether wireless communication is performed is identified by detecting level signals of IO1 ends of the first processor and the second processor, a UART1 end of the first processor is connected with a UART end of the wireless motion end adapter board, a UART1 end of the second processor is connected with a UART end of the wireless gatekeeper control end adapter board, a UART2 end of the first processor is connected with a UART2 end of the second processor, an IO2 end of the first processor is grounded and used for identifying whether wired communication is performed, and IO2-IOn ends of the second processor are respectively connected with the plurality of gatekeepers.
A control method of a moving part of a mammary X-ray machine is applied to the control system of the moving part of the mammary X-ray machine, and comprises the following steps: selecting a foot brake control communication mode, detecting whether the communication mode is wired communication access or wireless communication access by a motion control unit, outputting a foot brake control command by the foot brake control unit after the communication mode is determined, and sending a motion control command to each motion part by the motion control unit according to the command to realize motion control execution; after the positions of all the moving parts are adjusted, high-frequency pulse voltage is generated by a high-voltage generator and applied to an X-ray unit to generate X-rays within a specified range, the X-rays pass through a target part through a compression plate module to be attenuated, the attenuated signals are received by a detector unit to obtain image digital information, and the information is further uploaded to an image processing module to perform image optimization processing and display, and image analysis and sharing.
Judging whether the foot brake control end is in wired communication access, if so, judging whether handshake communication is normal, if so, entering a wired communication mode of the foot brake, and if not, entering a wireless communication detection state, wherein the wireless communication detection state comprises a motion control end part and a foot brake control end part; and detecting whether the foot brake control end is accessed to the wireless communication, and if the access and handshake communication is normal, entering a foot brake wireless communication mode.
If the handshake communication is abnormal and the communication connection is overtime, the communication fault alarm of the foot brake is carried out; if the communication connection is not timed out, wired communication and wireless communication connection are attempted until the communication is successful.
A further scheme is that after the system is electrified and initialized, a foot brake control communication mode is selected; the method comprises the steps that whether wired communication access is achieved or not is detected through a host, namely whether the IO2 end of a first processor is in a high level or a low level is detected, when a foot brake control end is in wired communication access, a second processor is pulled down to enable the IO2 end of the first processor to be pulled down from the high level to the low level, and therefore wired communication access is determined; on the contrary, if the gatekeeper control terminal has no wired communication access, the IO2 terminal of the first processor defaults to high level; if the wired communication access is detected, detecting whether a serial port communication UART2 end is normal, and if so, entering a wired communication mode; and if the wired communication access or the wired communication abnormity is not detected, detecting whether the wireless communication is accessed.
The detection of the wireless communication is divided into a motion control end part and a foot brake control end part, when whether the wireless communication is accessed is detected, IO1 end level signals of the first processor and the second processor are detected, and if the IO1 end level signals are low level, the wireless communication is accessed; if the level signal of the IO1 end of the first processor is detected, if the level signal is high level, it is determined that no wireless adapter board is accessed; if the level signal of the IO1 end of the first processor is pulled down by the wireless adapter plate of the moving end, determining wireless communication access, starting a wireless communication test, and if the wireless communication test is normal, entering a wireless communication mode; otherwise, if the wireless communication test is abnormal, the communication test step is repeated until the communication connection is overtime and the communication is abnormal is reported.
Compared with the prior art, the invention has the beneficial effects that:
(1) the motion control system of the mammary gland X-ray machine provided by the invention adopts various communication technologies, namely, a wireless or wired communication mode is adopted, so that the user can select and match the motion control system according to an application scene, and the user experience is improved;
(2) the invention adopts the wireless communication technology, eliminates wiring, has more flexible use of a foot brake, can be used in a detection room and also can be operated and used in a control room, and has wider application scenes;
(3) the invention adopts the wired and wireless switching technology, so that the communication mode is more intelligent and the use is more flexible;
(4) the invention provides a motion control system communication mechanism and a switching method thereof, which can ensure the reliability and stability of use;
(5) the invention specifically provides a principle and a working process of a motion control system for a mammary X-ray machine, and can effectively realize remote control;
(6) the motion control system of the mammary X-ray machine is compatible with wired and wireless system schemes, and is beneficial to market development.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a schematic diagram of a moving part control system of a mammography X-ray apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a motion control unit and a foot brake control unit in an embodiment of a motion component control system of a mammography X-ray apparatus according to the present invention.
Fig. 3 is a schematic circuit diagram of a motion control unit and a foot brake control unit in an embodiment of a motion component control system of a mammography X-ray apparatus according to the present invention.
Fig. 4 is a schematic structural diagram of a digital mammography system in an embodiment of a motion component control system of a mammography apparatus according to the present invention.
Fig. 5 is a control flowchart of a moving part control communication method in an embodiment of a moving part control method of a mammography X-ray apparatus according to the present invention.
Detailed Description
The embodiment of a moving part control system of a mammary X-ray machine comprises:
referring to fig. 1, a moving part control system of a breast X-ray machine includes:
the X-ray unit 110 is applied with high frequency pulse voltage generated by the high voltage generator 112, and the X-ray unit 110 is prompted to generate X-rays within a specified range. The X-ray unit 110 includes an X-ray tube module 111 and a collimator module 120, the X-ray tube module 111 is connected to a high voltage generator 112, the high voltage generator 112 generates a high frequency pulse voltage, and the high frequency pulse voltage is rectified and applied to the X-ray tube module 111, so that the X-ray tube module 111 generates X-rays; the collimator module 120 is connected to the X-ray tube module 111 for restricting the field of view of the X-rays to a specified range.
And the detector unit is used for converting the received X-rays into image digital information, performing image optimization processing and display, and analyzing and sharing images. The detector unit comprises a detector plate module 150 and an image processing module 160, wherein the detector plate module 150 is used for converting the received X-rays into image digital information; the image processing module 160 is used to obtain the image information output by the detector board module 150, and perform image optimization processing and display, and image analysis and sharing on the information.
The foot brake control unit 180 is configured to output a foot brake control command.
The motion control unit 170, which performs wired communication or wireless communication with the foot brake control unit 180, is configured to receive a foot brake control instruction and send a motion control instruction to each motion component, so as to implement motion control execution. Specifically, the motion control unit 170 includes a motion control module 210 and a first communication module 220, the foot brake control unit 180 includes a foot brake control module 250 and a second communication module 240, and the first communication module 220 and the second communication module 240 are connected to a communication mode module 230. The first communication module 220 is configured to implement communication switching of the motion control terminal 310, the second communication module 240 is configured to implement communication switching of the foot brake control terminal 320, and the communication mode module 230 includes wired communication and wireless communication. The motion control module 210 receives a foot brake control command of the foot brake control module 250 based on the first communication module 220 to control the movement of each motion part; the foot brake control module 250 issues a foot brake control command based on the second communication module 240.
And the moving part unit is used for receiving a motion control command so as to control the operation of each moving part. The motion control unit 170 sends motion control commands to the C-shaped arm 131, the compression plate module 130, and the carrying platform 132 according to the foot brake control command, so as to control the C-shaped arm 131, the compression plate module 130, and the carrying platform 132 to work.
And the exposure control module 140 is respectively connected with the high voltage generator 112, the detector unit and the motion control unit 170 to realize exposure control.
The invention relates to a communication system, motor control, hardware circuit signal processing, software identification and the like. Through closed-loop control, realize the control of moving part, for example the motion position regulation and control of oppression board, plummer, satisfy the patient and shoot the demand.
Specifically, as shown in fig. 1, the motion part control system of the breast X-ray machine according to the present invention includes: an X-ray tube module 111, a collimator module 120, a compression plate module 130, an exposure control module 140, a detector plate module 150, an image processing module 160, a motion control module 210, and a foot-gate control module 250. The alternating current energy generates high-frequency pulse voltage through the high-voltage generation part, the high-frequency pulse voltage is rectified and then added on the X-ray bulb tube to generate X-rays, the X-rays are adjusted through the collimator module 120 and pass through the mammary gland body part of a patient to be attenuated, the attenuated signals are received by the detector plate module 150 to obtain image information, the image information is further uploaded to the image processing workstation to be processed by image digital signals, and the processed image information can be printed out to be used as clinical diagnosis reference of medical staff or be remotely shared and diagnosed.
In practical applications, the X-ray unit 110 includes a high voltage generator 112, an X-ray tube module 111, etc., and a high frequency pulse voltage is generated by the high voltage generator 112, and the voltage is rectified and applied to the X-ray tube, so that the X-ray tube generates X-rays; the collimator module 120 constrains the field of view of the X-rays to a specified range, preventing the patient from being exposed to additional X-rays; the compression plate module 130 receives the motion control instruction, controls the compression plate to move up and down, and compresses the breast to obtain a better breast shooting effect; the exposure control module 140 realizes exposure control, and realizes control of the high-voltage module and control of the detector board; the detector board module 150 receives the X-rays and converts the X-rays into image digital information; the image processing module 160 obtains the image information of the detector plate, and further performs image optimization processing and display, and image analysis and sharing; the motion control module 210 controls the motion of the C-arm, the motion of the compression plate, the control of the collimator, the lifting of the bearing table, and the like, and meanwhile, keeps communication with the foot brake control, the exposure control, and the like, receives a foot brake control information instruction, and realizes the execution of the motion control; the foot brake control module 250 controls the foot brake command to control the moving parts, such as the plummer 132 to move up and down to adapt to different people and the compression plate to adapt to different breast shots.
As shown in fig. 2 and 3, the motion control module 210 includes a first processor 1(U31), the foot brake control module 250 includes a second processor 2(U32) and a plurality of foot brakes, such as the first foot switch 370(U33) and the second foot switch 380(U34), the first communication module 220 is a wireless patch panel for the mobile terminal, the second communication module 240 is a wireless patch panel for the control terminal of the foot switch, the wireless communication is identified by detecting the level signals of the IO1 terminals of the first processor 1 and the second processor 2, the UART1 terminal of the first processor 1 is connected with the UART terminal of the motion terminal wireless adapter board, the UART1 terminal of the second processor 2 is connected with the UART terminal of the foot brake control terminal wireless adapter board, the UART2 terminal of the first processor 1 is connected with the UART2 terminal of the second processor 2, the IO2 terminal of the first processor 1 is grounded, for identifying whether the communication is wired communication, the IO2-IOn terminal of the second processor 2 is connected to a plurality of foot gates respectively.
In this embodiment, the motion control unit 170 and the foot gate control unit 180 respectively include a motion control module 210, a first communication module 220, a communication mode module 230, a second communication module 240, and a foot gate control module 250. Wherein, the motion control module 210 receives the control command of the foot brake, and controls the upgrade of the bearing platform 132 and the lifting of the compression plate; the first communication module 220 realizes communication switching of a moving end; the communication mode module 230 can implement communication, including wired communication and wireless communication, i.e. wired or wireless communication; the second communication module 240 realizes communication switching of the foot brake control end; the foot brake control module 250 controls the movement of the loading platform 132, the compression plate, etc. according to the foot brake command, and controls different objects according to the number of the foot brakes. Therefore, the medical staff can control the movement of the bearing platform 132, the compression plate and the like by operating the foot brake; can be controlled through wired connection or wireless, be convenient for medical personnel to control, improve and control experience.
As shown in fig. 3, the motion control unit 170 and the foot brake control unit 180 specifically include: a motion control terminal 310 (host terminal), a foot brake control terminal 320, a motion control module 210, a motion terminal wireless adapter board, a foot brake control terminal wireless adapter board (installing wireless communication modules such as ZigBee, bluetooth, LoRa, etc.), a foot brake control module 250, a first foot brake 370, and a second foot brake 380.
As shown in fig. 4, the present embodiment further provides a digital breast X-ray imaging system, which includes a C-shaped arm 11, a frame 12, an image processing workstation 13, an X-ray emission module 14, a compression plate 15, a detector 16, a carrying table 17, a foot lock 18, and the like. The C-shaped arm 11 is controlled to rotate, so that the mammary gland conditions of all directions can be scanned, and the rack 12 can be lifted and lowered to adapt to people with different heights; the image processing workstation 13 processes and outputs a breast image desired by the medical staff. The working principle is as follows: alternating current energy generates high-frequency pulse voltage through a high-voltage generation part, the high-frequency pulse voltage is rectified and then is added to an X-ray emission module 14 to generate X-rays, the X-rays pass through a breast body part of a patient to be attenuated through a compression plate 15 after being adjusted by a collimator, the attenuated signals are received by a detector 16 to obtain image digital information, and the information is further uploaded to an image processing workstation 13 to be subjected to image digital signal processing. During the period, medical personnel can control the moving part of the machine through the foot brake 18, for example, the lifting of the bearing platform 17 can be controlled to be suitable for patients with different heights, the lifting of the compression plate 15 is suitable for patients with different breasts and characteristics, and the experience of the medical personnel is improved.
Compared with the prior art, the invention has the beneficial effects that:
(1) the motion control system of the mammary gland X-ray machine provided by the invention adopts various communication technologies, namely, a wireless or wired communication mode is adopted, so that the user can select and match the motion control system according to an application scene, and the user experience is improved;
(2) the invention adopts the wireless communication technology, eliminates wiring, has more flexible use of a foot brake, can be used in a detection room and also can be operated and used in a control room, and has wider application scenes;
(3) the invention adopts the wired and wireless switching technology, so that the communication mode is more intelligent and the use is more flexible;
(4) the invention provides a motion control system communication mechanism and a switching method thereof, which can ensure the reliability and stability of use;
(5) the invention specifically provides a principle and a working process of a motion control system for a mammary X-ray machine, and can effectively realize remote control;
(6) the motion control system of the mammary X-ray machine is compatible with wired and wireless system schemes, and is beneficial to market development.
An embodiment of a method for controlling a moving part of a mammography X-ray apparatus is applied to the system for controlling a moving part of a mammography X-ray apparatus, and the method includes the following steps:
selecting a foot brake control communication mode, detecting whether the communication mode is wired communication access or wireless communication access by the motion control unit 170, outputting a foot brake control command by the foot brake control unit 180 after determining the communication mode, and sending a motion control instruction to each motion part by the motion control unit 170 according to the command to realize motion control execution.
After the positions of the moving components are adjusted, a high-frequency pulse voltage is generated by the high-voltage generator 112 and applied to the X-ray unit 110 to generate X-rays within a specified range, the X-rays pass through the target part through the compression plate module 130 to be attenuated, the attenuated signals are received by the detector unit to obtain image digital information, and the image digital information is further uploaded to the image processing module 160 to perform image optimization processing and display, and image analysis and sharing.
In this embodiment, the detecting, by the motion control unit 170, whether the access is the wired communication access or the wireless communication access includes: and judging whether the control end of the foot brake is accessed by wired communication, if so, judging whether handshake communication is normal, and if so, entering a wired communication mode of the foot brake.
And if the wireless communication detection state is determined not to be wired communication access, entering a wireless communication detection state, wherein the wireless communication detection state comprises a motion control end part and a foot brake control end part.
And detecting whether the foot brake control end is accessed to the wireless communication, and if the access and handshake communication is normal, entering a foot brake wireless communication mode.
And if the handshake communication is abnormal and the communication connection is overtime, performing the communication fault alarm of the foot brake.
If the communication connection is not timed out, wired communication and wireless communication connection are attempted until the communication is successful.
Specifically, after the system is powered on and initialized, a communication mode is controlled by selecting a foot brake.
Then, the host detects whether the access is a wired communication access, that is, detects whether the IO2 terminal of the first processor 1 is at a high or low level, when the gatekeeper control terminal 320 is the wired communication access, the second processor 2 is pulled down to pull the IO2 terminal of the first processor 1 from the high level to the low level, thereby determining the access is the wired communication access; on the contrary, if the gatekeeper control terminal 320 has no wired communication access, the IO2 terminal of the first processor 1 defaults to high level;
if the wired communication access is detected, whether the serial port communication UART2 end is normal is detected, and if the serial port communication UART2 end is normal, the wired communication mode is entered.
And if the wired communication access or the wired communication abnormity is not detected, detecting whether the wireless communication is accessed.
The detection of the wireless communication is divided into a motion control end part and a foot brake control end 320 part, when whether the wireless communication is accessed is detected, the IO1 end level signals of the first processor 1 and the second processor 2 are detected, and if the IO1 end level signals are low level, the wireless communication is accessed.
If the level signal at the IO1 end of the first processor 1 is detected, if the level signal is high, it is determined that no wireless patch panel is accessed.
If the level signal of the IO1 end of the first processor 1 is pulled down by the wireless adapter board of the moving end, determining the wireless communication access, starting the wireless communication test, and if the wireless communication test is normal, entering the wireless communication mode.
Otherwise, if the wireless communication test is abnormal, the communication test step is repeated until the communication connection is overtime and the communication is abnormal is reported.
In practical application, after the power-on initialization of the host system is completed, a communication mode of the foot brake control is selected.
First, the host detects whether the communication is wired communication access, and detects whether the IO2 side of the first processor 1 is at a high or low level (wired communication access). The principle is as follows: when the gatekeeper control terminal 320 is connected, the electrical level at the gatekeeper control terminal 320 is pulled low (grounded), so that the IO2 terminal of the first processor 1 is pulled low from the high electrical level, thereby determining the wired communication connection; otherwise, if no pin gate control terminal 320 is accessed, the IO2 terminal of the first processor 1 defaults to high.
If the wired communication access is detected, whether serial port communication (a UART2 end) is normal is detected, and if the serial port communication (the UART2 end) is normal, wired communication is selected.
And if the wired communication access is not detected or the wired communication is abnormal, detecting whether the wireless communication is accessed or not.
The method for detecting wireless communication of this embodiment divides the motion control end part and the foot brake control end part, and the two parts detect wireless access in the same manner, that is, the port level of the IO1 of the first processor 1 and the second processor 2 is detected, and then the low level is the wireless communication access. Taking the motion control terminal 310 as an example, the level of the IO1 terminal of the first processor 1 is detected, if the level is high, no wireless adapter board is accessed, otherwise, if the level is pulled down (grounded) by the wireless adapter board of the motion terminal, it is determined that the wireless communication module is accessed, the wireless communication test is started, and if the wireless communication is normal, the wireless communication is selected. Otherwise, if the communication is abnormal, the communication detection step is repeated until the communication abnormality is reported due to time-out.
According to the steps, the wired and wireless selection of the system can be effectively completed, the communication condition can be effectively monitored, the control flexibility and the communication reliability are improved, and the communication requirement of the machine can be easily met.
Specifically, as shown in fig. 5, the control flow of the communication method for controlling the moving part of the breast X-ray machine according to the present invention includes the following steps:
(1) after the system initialization is finished, entering a system self-checking mode;
(2) whether the system self-check is normal or not, if the fault is abnormal, a system fault alarm prompt is given;
(3) if the system self-checking is normal, the user determines the working mode;
(4) judging whether the foot brake control is wired communication access or not, and if so, judging whether handshake communication is normal or not;
(5) if the handshake communication is normal, entering a wired communication mode of a foot brake, otherwise, entering wireless communication detection;
(6) detecting whether the wireless communication of the foot brake is accessed, and if the wireless communication is accessed and normal, entering a foot brake wireless communication mode;
(7) if the communication is abnormal and the communication connection is overtime, the communication fault of the foot brake is alarmed;
(8) if the communication connection is not timed out, wired and wireless communication connections are attempted until the communication is successful.
The control flow can effectively complete the switching of the communication system and meet the requirement of the communication reliability of the system.
In addition, the communication ports of this embodiment are: the wired/wireless communication adopts a serial port communication, and the switching can adopt an analog switch, namely, after the wired communication is accessed, the wired communication can be selected, and the wireless communication can be selected if the wired communication is not checked.
The wired communication in this embodiment includes, but is not limited to, communication modes such as RS485, RS422, CAN bus, and ethernet.
The wireless communication in this embodiment includes, but is not limited to, communication modes such as ZigBee, BLE, WiFi, NB-IOT, LoRa, and the like.
The number of the pin gates in this embodiment includes, but is not limited to, 2 bits, 3 bits, 4 bits, or more. The corresponding moving parts can be controlled according to the position number of the foot brake, such as the up-and-down control of a bearing platform, the up-and-down control of a compression plate, the up-and-down motion of a C-shaped arm, the left-and-right motion of the C-shaped arm, the up-and-down motion of a rack, the lifting of a bulb tube and the like, and the remote control of the foot brake can be realized.
The foot gate of the present embodiment includes, but is not limited to, being placed near the host, and can also be placed in the control room for remote control. The foot brake can be controlled independently and wirelessly, can also be connected simultaneously in a wired and wireless mode, and the communication process is switched over with each other, so that the most reliable and stable communication is selected according to the communication stability and reliability.
Therefore, the invention adopts a method of wireless communication technology to realize the wireless connection between the moving part end of the mammary X-ray machine and the foot brake control end; wireless communication and wired communication technologies are adopted, and the wireless communication and the wired communication are combined to complete the distance control of moving parts of the mammary gland X-ray machine; the switching between wireless communication and wired communication is realized, and the switching method is effective, practical and reliable; a hardware principle switching mechanism of wired and wireless communication is provided, and the selection principle is simple and practical; the principle and the processing flow of wired and wireless communication switching are specifically given, and communication switching and control can be effectively realized; the motion control system of the mammary gland X-ray machine is wireless and switched in communication, various communication options are provided for users, and user experience is greatly improved.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (12)
1. A moving part control system of a mammary X-ray machine is characterized by comprising:
the X-ray unit generates high-frequency pulse voltage by the high-voltage generator and applies the high-frequency pulse voltage to the X-ray unit to prompt the X-ray unit to generate X-rays within a specified range;
the detector unit is used for converting the received X-rays into image digital information, performing image optimization processing and display, and analyzing and sharing images;
the foot brake control unit is used for outputting a foot brake control command;
the motion control unit is in wired communication or wireless communication with the foot brake control unit and is used for receiving the foot brake control instruction and sending the motion control instruction to each motion part to realize motion control execution;
the moving part unit is used for receiving a moving control command so as to control each moving part to work;
and the exposure control module is respectively connected with the high-voltage generator, the detector unit and the motion control unit so as to realize exposure control.
2. The system of claim 1, wherein:
the X-ray unit comprises an X-ray bulb tube module and a collimator module, the X-ray bulb tube module is connected with a high-voltage generator, the high-voltage generator generates high-frequency pulse voltage, and the high-frequency pulse voltage is applied to the X-ray bulb tube module after being rectified so that the X-ray bulb tube module generates X rays; the collimator module is connected with the X-ray bulb tube module and used for restricting the field of view of the X-ray to a specified range.
3. The system of claim 1, wherein:
the detector unit comprises a detector plate module and an image processing module, wherein the detector plate module is used for converting the received X-rays into image digital information; the image processing module is used for acquiring the image information output by the detector plate module, and performing image optimization processing and display, image analysis and sharing on the information.
4. The system of claim 1, wherein:
the motion control unit sends motion control instructions to the C-shaped arm, the compression plate module and the bearing platform according to foot brake control commands so as to control the C-shaped arm, the compression plate module and the bearing platform to work.
5. The system according to any one of claims 1 to 4, wherein:
the motion control unit comprises a motion control module and a first communication module, the foot brake control unit comprises a foot brake control module and a second communication module, and the first communication module and the second communication module are connected with a communication mode module.
6. The system of claim 5, wherein:
the first communication module is used for realizing communication switching of a motion control terminal, the second communication module is used for realizing communication switching of a foot brake control terminal, and the communication mode module comprises wired communication and wireless communication;
the motion control module receives a foot brake control command of the foot brake control module based on the first communication module so as to control the movement of each motion part; and the foot brake control module sends out a foot brake control command based on the second communication module.
7. The system of claim 6, wherein:
the motion control module comprises a first processor, the foot brake control module comprises a second processor and a plurality of foot brakes, the first communication module is a motion end wireless adapter plate, the second communication module is a foot brake control end wireless adapter plate, whether wireless communication is achieved is identified through detecting level signals of IO1 ends of the first processor and the second processor, a UART1 end of the first processor is connected with a UART end of the motion end wireless adapter plate, a UART1 end of the second processor is connected with a UART end of the foot brake control end wireless adapter plate, a UART2 end of the first processor is connected with a UART2 end of the second processor, an IO2 end of the first processor is grounded and used for identifying whether wired communication is achieved, and IO2-ION ends of the second processor are respectively connected with the plurality of foot brakes.
8. A method for controlling a moving part of a breast X-ray machine, which is applied to the moving part control system of the breast X-ray machine according to claims 1 to 7, the method comprising the steps of:
selecting a foot brake control communication mode, detecting whether the communication mode is wired communication access or wireless communication access by a motion control unit, outputting a foot brake control command by the foot brake control unit after the communication mode is determined, and sending a motion control command to each motion part by the motion control unit according to the command to realize motion control execution;
after the positions of all the moving parts are adjusted, high-frequency pulse voltage is generated by a high-voltage generator and applied to an X-ray unit to generate X-rays within a specified range, the X-rays pass through a target part through a compression plate module to be attenuated, the attenuated signals are received by a detector unit to obtain image digital information, and the information is further uploaded to an image processing module to perform image optimization processing and display, and image analysis and sharing.
9. The method of claim 8, wherein the selecting the mode of gatekeeper control communication for the motion control unit to detect whether wired communication access or wireless communication access comprises:
judging whether the control end of the foot brake is accessed by wired communication, if so, judging whether handshake communication is normal, and if so, entering a wired communication mode of the foot brake;
if the wireless communication detection state is determined not to be wired communication access, entering a wireless communication detection state, wherein the wireless communication detection state comprises a motion control end part and a foot brake control end part;
and detecting whether the foot brake control end is accessed to the wireless communication, and if the access and handshake communication is normal, entering a foot brake wireless communication mode.
10. The method of claim 9, wherein:
if the handshake communication is abnormal and the communication connection is overtime, performing a foot brake communication fault alarm;
if the communication connection is not timed out, wired communication and wireless communication connection are attempted until the communication is successful.
11. The method of claim 9, wherein:
when the system is electrified and initialized, selecting a foot brake control communication mode;
the method comprises the steps that whether wired communication access is achieved or not is detected through a host, namely whether the IO2 end of a first processor is in a high level or a low level is detected, when a foot brake control end is in wired communication access, a second processor is pulled down to enable the IO2 end of the first processor to be pulled down from the high level to the low level, and therefore wired communication access is determined; on the contrary, if the gatekeeper control terminal has no wired communication access, the IO2 terminal of the first processor defaults to high level;
if the wired communication access is detected, detecting whether a serial port communication UART2 end is normal, and if so, entering a wired communication mode;
and if the wired communication access or the wired communication abnormity is not detected, detecting whether the wireless communication is accessed.
12. The method of claim 11, wherein:
the detection of the wireless communication is divided into a motion control end part and a foot brake control end part, when whether the wireless communication is accessed is detected, IO1 end level signals of a first processor and a second processor are detected, and if the IO1 end level signals are low level, the wireless communication is accessed;
if the level signal of the IO1 end of the first processor is detected, if the level signal is high level, it is determined that no wireless adapter board is accessed;
if the level signal of the IO1 end of the first processor is pulled down by the wireless adapter plate of the moving end, determining wireless communication access, starting a wireless communication test, and if the wireless communication test is normal, entering a wireless communication mode;
otherwise, if the wireless communication test is abnormal, the communication test step is repeated until the communication connection is overtime and the communication is abnormal is reported.
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