CN115530863B - Radioactive source position correction device and method based on mechanical arm - Google Patents
Radioactive source position correction device and method based on mechanical arm Download PDFInfo
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Abstract
The invention relates to the technical field of medical treatment, in particular to a device and a method for correcting the position of a radioactive source based on a mechanical arm, wherein the device for correcting the position of the radioactive source based on the mechanical arm comprises a machine table, a sliding table base, a first electric rotating arm, a second electric rotating arm and a radiator; the sliding table base is slidably arranged on the upper end face of the machine table, one end of the first electric rotating arm is rotatably connected with one end of the sliding table base, one end of the second electric rotating arm is rotatably arranged at the other end of the first electric rotating arm, and the radiator is fixedly arranged at the other end of the second electric rotating arm. In addition, the position correction method of the radioactive source based on the mechanical arm can solve the problems of inconvenient operation and low correction and correction efficiency existing in the prior art of using the radioactive source to calibrate and correct the medical imaging equipment.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a radioactive source position correction device and method based on a mechanical arm.
Background
A single photon emission tomography system is a large medical device for performing tomography on specific nuclides, and functions to image the distribution of radioactive sources in a human body by capturing gamma rays, and its field of view is cylindrical distributed along an axial direction. The calibration device needs to calibrate the target position to eliminate position errors introduced by the assembly and the components. The calibration process requires that the radioactive source can be installed on a plurality of known and accurate correcting devices with space coordinates, and the offset radioactive source can be corrected through the comparison of the known position and the actual measurement, so that the positioning accuracy is improved.
The traditional radioactive source placing method for correction relies on manual measurement and positioning of people, so that the problems of low position accuracy and poor repeatability exist, and when the position is required to be changed, calibration steps are required to be repeated, so that the problem of low efficiency is caused.
Disclosure of Invention
The invention aims to provide a radioactive source position correction device and method based on a mechanical arm, which are used for solving the problems of inconvenient operation and low correction and correction efficiency existing in the existing calibration and correction of medical imaging equipment by using a radioactive source.
To achieve the purpose, the invention adopts the following technical scheme:
a position correction device of a radioactive source based on a mechanical arm comprises a machine table, a sliding table base, a first electric rotating arm, a second electric rotating arm and a radiator;
the sliding table base is slidably arranged on the upper end face of the machine table, and the length directions of the machine table and the sliding table base are parallel to the Z axis of the space rectangular coordinate system;
one end of the first electric rotating arm is rotatably connected to one end of the sliding table base, and the rotating shaft of the first electric rotating arm is parallel to the Z axis of the space rectangular coordinate system;
one end of the second electric rotating arm is rotatably arranged at the other end of the first electric rotating arm, and the rotating shaft of the second electric rotating arm is parallel to the rotating shaft of the first electric rotating arm;
the emitter is fixedly arranged at the other end of the second electric rotating arm, and the radiation direction of the emitter is parallel to the rotating shaft of the first electric rotating arm.
Preferably, the arm body lengths of the first electric rotating arm and the second electric rotating arm are equal.
Preferably, the motor further comprises an electromechanical controller, a first motor and a second motor;
the electromechanical controller is electrically coupled to the first motor and the second motor;
the first motor is fixedly arranged at the joint of the sliding table base and the first electric rotating arm, the rotating shaft of the first motor is connected with the rotating shaft end of the first electric rotating arm in a transmission manner, and the first motor is used for driving the first electric rotating arm to rotate relative to the rotating shaft of the first electric rotating arm;
the second motor is fixedly arranged at the joint of the first electric rotating arm and the second electric rotating arm, the rotating shaft of the second motor is in transmission connection with the rotating shaft end of the second electric rotating arm, and the second motor is used for driving the second electric rotating arm to rotate relative to the rotating shaft of the second electric rotating arm.
Preferably, the first motor and the second motor are deceleration stepping motors, and the stepping angle of the deceleration stepping motors is 1.8 degrees.
Preferably, the reduction ratio of the first motor to the second motor is 100:1, and the ratio of the first motor to the second motor is 1:32.
Preferably, the photoelectric switch assembly comprises a photoelectric switch and a shading sheet, the photoelectric switch is electrically connected with the electromechanical controller, the photoelectric switch is provided with a groove, and the shading sheet can be embedded in the groove of the photoelectric switch and is used for shading a light path of the photoelectric switch;
the three photoelectric switches are respectively arranged on the machine table, the sliding table base and the first electric rotating arm, and the three light shielding sheets are respectively arranged on the sliding table base, the first electric rotating arm and the second electric rotating arm.
The method for correcting the position of the radiation source based on the mechanical arm comprises a single photon emission tomography system, a computer and the device for correcting the position of the radiation source based on the mechanical arm, and comprises the following steps:
step A: calibrating the correction device, and acquiring and storing a relative angle A and a relative angle B, wherein the relative angle A is a correction rotation angle between the first electric rotating arm and the horizontal plane, and the relative angle B is a correction rotation angle between the second electric rotating arm relative to the first electric rotating arm;
and (B) step (B): installing a correction device into a correction imaging view field of the single photon emission tomography system, and mechanically measuring and adjusting the correction device according to the relative angle A and the relative angle B to enable the position of a radioactive source on the correction device to coincide with an axial zero point of the correction imaging view field of the emission tomography system;
step C: the computer acquires the target position, judges whether the position of the radioactive source is the target position, and if so, controls the radioactive source to perform radiographic imaging; if not, acquiring data of a relative geometric position between the position of the radioactive source and the target position;
step D: the computer analyzes the data of the geometric position according to a built-in algorithm to obtain the rotation angles of the first electric rotating arm and the second electric rotating arm on the correcting device and sends the rotation angles to an electromechanical controller on the correcting device;
step E: and the electromechanical controller moves the emission source position of the correction device according to the rotation angle, so that the moved emission source position is the target position.
Preferably, the step a includes the steps of:
step A1: the correction device is horizontally placed, one end, provided with the first electric rotating arm and the second electric rotating arm, of the correction device is taken as a projection point to project the correction device, the first electric rotating arm and the second electric rotating arm are overlapped on a projection surface, and the first electric rotating arm and the second electric rotating arm are parallel to a horizontal plane;
step A2: the first electric rotating arm moves clockwise, and when the photoelectric switch on the first electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step A3: the first electric rotating arm moves anticlockwise, and when the first electric rotating arm is parallel to the horizontal plane, the relative angle A of rotation relative to the step A2 is stopped and recorded;
step A4: the second electric rotating arm moves clockwise, and when the photoelectric switch on the second electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step A5: moving the second electric rotating arm anticlockwise, stopping and recording the relative angle B rotating relative to the step A4 when the second electric rotating arm is overlapped with the first electric rotating arm;
step A6: the relative angle a and the relative angle B are stored.
Preferably, in step B, the mechanical measuring and adjusting step comprises the following:
step B1: the first electric rotating arm moves clockwise, and when the photoelectric switch on the first electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step B2: the second electric rotating arm moves clockwise, and when the photoelectric switch on the second electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step B3: acquiring a relative angle A and a relative angle B;
step B4: the first electric rotating arm moves anticlockwise by a relative angle A;
step B5: the second motorized boom is moved counter-clockwise by a relative angle B.
Preferably, in step D, the built-in algorithm of the computer includes the following data calculation steps:
step D1: taking the position of the radioactive source in the projection surface as (0, 0), and obtaining the arm body length l of the first electric rotating arm and the second electric rotating arm;
step D2: judging whether the target position is located in the first quadrant, if yes, the coordinate of the target position is (x) 1 ,y 1 ) And x is 1 >0,y 1 Not less than 0, calculating the rotation angle A of the first electric rotating arm relative to the horizontal plane 1 And a rotation angle B between the second electric rotating arm and the first electric rotating arm 1 The calculation formula is as follows:
if not, the step D3 is entered;
step D3: judging whether the target position is positioned in the second quadrant, if so, the coordinate of the target position is (x) 2 ,y 2 ) And x is 2 <0,y 2 >0, repeating the calculation formula calculation of step D1 (y 2 ,-x 2 ) The rotation angle A of the first electric rotating arm relative to the horizontal plane 2 And a rotation angle B between the second electric rotating arm and the first electric rotating arm 2 ；
Then at the rotation angle A of the first electric rotating arm relative to the horizontal plane 2 Upper continuous rotation of the first electric rotating arm angle
If not, the step D4 is entered;
step D4: judging whether the target position is in the third quadrant, if so, the coordinate of the target position is (x) 3 ,y 3 ) And x is 3 <0,y 3 <0, repeating the calculation formula of the step D1 to calculate (-x) 3 ,-y 3 ) The rotation angle A of the first electric rotating arm relative to the horizontal plane 3 And a rotation angle B between the second electric rotating arm and the first electric rotating arm 3 ；
Then at the rotation angle A of the first electric rotating arm relative to the horizontal plane 3 Upper continuous rotation of the first electric rotating arm angle theta 2 ＝π；
If not, the step D5 is entered;
step D5: judging whether the target position is in the fourth quadrant, if so, the coordinate of the target position is (x) 4 ,y 4 ) And x is 4 <0,y 4 <0, repeating the calculation formula of the step D1 to calculate (-y) 4 ,x 4 ) The rotation angle A of the first electric rotating arm relative to the horizontal plane 4 And the angle of rotation B between the second motorized boom 4 relative to the first motorized boom 4 ；
Then at the rotation angle A of the first electric rotating arm relative to the horizontal plane 4 Upper continuous rotation of the first electric rotating arm angle
Compared with the prior art, the technical scheme has the following beneficial effects:
(1) The correcting device comprises a sliding table base capable of moving along the axial direction, one end of the sliding table base is rotatably provided with one end of a first electric rotating arm, the other end of the first electric rotating arm is rotatably provided with a second electric rotating arm, and a radiator fixed at the other end of the second electric rotating arm. Through driving slip table base, first electronic rocking arm and second electronic rocking arm, correcting unit can obtain a translational degree of freedom and two degrees of freedom of rotation, can make first electronic rocking arm and second electronic rocking arm rotate wantonly and lock around respective pivot simultaneously, so just can control rotation angle through the signal of telecommunication, control is convenient, and control accuracy is high, can solve current arm and have the problem of calibration and correction inconvenient operation that exists.
(2) The correction method is applied to the correction device, firstly, the correction device is calibrated in the step A-B, and the correction device is calibrated according to the recorded calibration result of the correction device, namely the stored relative angle A and the stored relative angle B, so that repeated calibration can be avoided when the correction device is used each time; then in the step C-E, according to the built-in algorithm of the computer and the electromechanical controller, the high-accuracy radioactive source positioning is obtained, and the accurate correction and optimization are carried out on the movement position of the radioactive source.
Drawings
FIG. 1 is a schematic diagram of a position correction device for a radiation source based on a mechanical arm according to the present invention;
FIG. 2 is a schematic view of a projection of a position correction device for a radiation source based on a mechanical arm according to the present invention;
FIG. 3 is a schematic diagram illustrating the operation of a method for correcting the position of a radiation source based on a mechanical arm according to the present invention;
FIG. 4 is a schematic diagram of a method for calibrating the position of a radiation source based on a robotic arm according to the present invention;
in the accompanying drawings: the device comprises a machine table 1, a sliding table base 2, a first electric rotating arm 3, a second electric rotating arm 4, a radiator 5, a first motor 6, a second motor 7, a rotating shaft 101 of the first rotating arm, a rotating shaft 102 of the second rotating arm, a shading sheet 21/31/41 and a photoelectric switch 22/32/42.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, a position correction device of a radiation source based on a mechanical arm comprises a machine table 1, a sliding table base 2, a first electric rotating arm 3, a second electric rotating arm 4 and a radiator 5;
the sliding table base 2 is slidably arranged on the upper end face of the machine table 1, and the length directions of the machine table 1 and the sliding table base 2 are parallel to a Z axis of a space rectangular coordinate system;
one end of the first electric rotating arm 3 is rotatably connected to one end of the sliding table base 2, and a rotating shaft 101 of the first electric rotating arm 3 is parallel to a Z axis of a space rectangular coordinate system;
one end of the second electric rotating arm 4 is rotatably installed at the other end of the first electric rotating arm 3, and a rotating shaft 102 of the second electric rotating arm 4 is parallel to a rotating shaft 101 of the first electric rotating arm 3;
the radiator 5 is fixedly installed at the other end of the second electric rotating arm 4, and the radiating direction of the radiator 5 is parallel to the rotating shaft 101 of the first electric rotating arm 3.
Because the existing mechanical arm has the problems of inconvenient operation and low calibration and correction efficiency, and the radiation therapy has high requirements on precision, the invention provides a position correction device of a radiation source based on the mechanical arm, which is used for correcting a single photon emission tomography system, can install a radiator 5 and place the radiator 5 at any coordinate of a system visual field.
The correction device of the present invention includes a slide table base 2 movable in an axial direction, one end of which is rotatably mounted with one end of a first electric rotating arm 3, and the other end of the first electric rotating arm 3 is rotatably mounted with a second electric rotating arm 4, and a radiator 5 fixed to the other end of the second electric rotating arm 4. Through driving slip table base 2, first electronic rocking arm 3 and second electronic rocking arm 4, correcting unit can obtain a translational degree of freedom and two degrees of freedom of rotation, can make first electronic rocking arm 3 and second electronic rocking arm 4 rotate wantonly and lock around respective pivot simultaneously, so just can control rotation angle through the signal of telecommunication, control is convenient, and control accuracy is high, can solve current arm and have the problem of calibration and correction inconvenient operation that exists.
Further, the arm body lengths of the first power rotating arm 3 and the second power rotating arm 4 are equal. The correction device is formed by connecting and combining the first electric rotating arm 3 and the second electric rotating arm 4 which are equal in length, can rotate and twist by 360 degrees, and is smooth in rotating action.
Further illustration, it also includes an electromechanical controller, a first motor 6 and a second motor 7;
the electromechanical controller is electrically coupled to the first motor 6 and the second motor 7;
the first motor 6 is fixedly arranged at the joint of the sliding table base 2 and the first electric rotating arm 3, the rotating shaft of the first motor 6 is connected to the rotating shaft end of the first electric rotating arm 3 in a transmission manner, and the first motor 6 is used for driving the first electric rotating arm 3 to rotate relative to the rotating shaft 101 of the first electric rotating arm 3;
the second motor 7 is fixedly installed at the joint of the first electric rotating arm 3 and the second electric rotating arm 4, the rotating shaft of the second motor 7 is in transmission connection with the rotating shaft end of the second electric rotating arm 4, and the second motor 7 is used for driving the second electric rotating arm 4 to rotate relative to the rotating shaft 102 of the second electric rotating arm 4. When the sliding table base 2 is installed, the sliding table base is axially parallel to the visual field of the single photon emission tomography system, and the first motor 6 and the second motor 7 are electrically connected to the electromechanical controller, so that the sliding table base can realize controlled movement of a relative distance and realize sliding relatively parallel to the machine table 1 under the control of a computer program module.
The first electric rotating arm 3 and the sliding table base 2 are sequentially installed to be connected through the first motor 6 and rotate relatively, the first electric rotating arm 3 and the second electric rotating arm 4 can rotate relatively through the second motor 7 and are connected to the electromechanical controller, and the first electric rotating arm 3 and the second electric rotating arm 4 can rotate relatively to the first electric rotating arm 3 through the rotation of the motors under the control of program modules of a computer.
Furthermore, the electromechanical controller can also be electrically connected with a computer, and the subdivision control of the first motor 6 and the second motor 7 is supported through a storable program, so that the parallel movement of the sliding table is supported.
By way of further illustration, the first motor 6 and the second motor 7 are deceleration stepper motors having a step angle of 1.8 degrees. The step motor is a step motor with a reduction gearbox, and the most common purpose is to improve the output torque of the motor without obviously increasing the size of a motor flange. The step angle means the corresponding angular displacement of the rotor of the stepping motor, which is input with an electric pulse signal. The smaller the step angle is, the better the running stability is, so that by adjusting and limiting the step angle of the first motor 6 and the second motor 7, the emitter 5 can be ensured to be accurately rotated to any coordinate designated by the system, namely, the radiotherapy position required by a patient under the control of a program.
To illustrate further, the reduction ratio of the first motor 6 to the second motor 7 is 100:1, and the ratio of the first motor 6 to the second motor 7 is 1:32. According to the invention, the reduction ratio and subdivision ratio of the speed reduction stepping motor are regulated and limited, so that the applicability of the speed reduction stepping motor to the demands of users can be improved, the use flexibility of the speed reduction stepping motor is improved, and the practicability of the device is improved. The speed reduction ratio mainly enables the motor rotation speed to avoid the resonance point of the device, and the subdivision mainly improves the running performance of the motor.
Further described, the photoelectric switch assembly comprises a photoelectric switch and a light shielding sheet, wherein the photoelectric switch is electrically connected with the electromechanical controller and is provided with a groove, and the light shielding sheet can be embedded in the groove of the photoelectric switch and is used for shielding a light passage of the photoelectric switch;
the three photoelectric switches are respectively arranged on the machine table 1, the sliding table base 2 and the first electric rotating arm 3, and the three light shielding sheets are respectively arranged on the sliding table base 2, the first electric rotating arm 3 and the second electric rotating arm 4.
The specific working principle is as follows: the machine 1 is provided with a groove type photoelectric switch 22, the slipway base 2 is provided with a corresponding shading sheet 21, when the slipway base 2 moves to a specific position along the machine 1, the shading sheet 21 can shade the light path of the photoelectric switch 22, and the photoelectric switch 22 is connected with a controller and can be read by a computer program module.
Correspondingly, a groove type photoelectric switch 32 is installed on the machine table 1, a corresponding light shielding sheet 31 is installed on one side of the first electric rotating arm 3, facing the machine table 1, when the first electric rotating arm 3 rotates to a specific position around a shaft, the light shielding sheet 31 can shield the light path of the photoelectric switch 32, and the photoelectric switch 32 is connected with a controller and can be read by a computer program module.
Correspondingly, a groove type photoelectric switch 42 is arranged on one side of the first electric rotating arm 3 facing the second electric rotating arm 4, a corresponding light shielding sheet 41 is arranged on one side of the second electric rotating arm 4 facing the first electric rotating arm 3, when the second electric rotating arm 4 rotates around a specific position, the light shielding sheet 41 can shield the light path of the photoelectric switch 42, and the photoelectric switch 42 is connected with a controller and can be read by a computer program module.
According to the invention, through three groups of photoelectric light-opening assemblies, the pre-calibration of the correction device can be automatically completed, and the accuracy of the correction device in determining the pre-calibration point and the pre-calibration efficiency are improved.
As shown in fig. 2-4, a method for correcting a position of a radiation source based on a mechanical arm includes a single photon emission tomography system, a computer, and a device for correcting a position of a radiation source based on a mechanical arm, including the following steps:
step A: calibrating the correction device, and acquiring and storing a relative angle A and a relative angle B, wherein the relative angle A is a correction rotation angle between the first electric rotating arm 3 and the horizontal plane, and the relative angle B is a correction rotation angle between the second electric rotating arm 4 and the first electric rotating arm 3;
and (B) step (B): installing a correction device into a correction imaging view field of the single photon emission tomography system, and mechanically measuring and adjusting the correction device according to the relative angle A and the relative angle B to enable the position of a radioactive source on the correction device to coincide with an axial zero point of the correction imaging view field of the emission tomography system;
step C: the computer acquires the target position, judges whether the position of the radioactive source is the target position, and if so, controls the radioactive source to perform radiographic imaging; if not, acquiring data of a relative geometric position between the position of the radioactive source and the target position;
step D: the computer analyzes the data of the geometric position according to a built-in algorithm to obtain the rotation angles of the first electric rotating arm 3 and the second electric rotating arm 4 on the correcting device and sends the rotation angles to an electromechanical controller on the correcting device;
step E: and the electromechanical controller moves the emission source position of the correction device according to the rotation angle, so that the moved emission source position is the target position.
The correction method is applied to the correction device, firstly, the correction device is calibrated in the step A-B, and the correction device is calibrated according to the recorded calibration result of the correction device, namely the stored relative angle A and the stored relative angle B, so that repeated calibration can be avoided when the device is used each time; then in the step C-E, according to the built-in algorithm of the computer and the electromechanical controller, the high-accuracy radioactive source positioning is obtained, and the accurate correction and optimization are carried out on the movement position of the radioactive source.
Still further, the step a includes the steps of:
step A1: the correction device is horizontally placed, one end, provided with the first electric rotating arm 3 and the second electric rotating arm 4, of the correction device is taken as a projection point to project the correction device, the first electric rotating arm 3 and the second electric rotating arm 4 are overlapped on a projection surface, and the first electric rotating arm 3 and the second electric rotating arm 4 are parallel to a horizontal plane;
step A2: the first electric rotating arm 3 moves clockwise, and when the photoelectric switch on the first electric rotating arm 3 and the corresponding shading sheet are triggered, the movement is stopped;
step A3: moving the first electric rotating arm 3 anticlockwise, stopping and recording the relative angle A of rotation relative to the step A2 when the first electric rotating arm 3 is parallel to the horizontal plane;
step A4: the second electric rotating arm 4 moves clockwise, and when the photoelectric switch on the second electric rotating arm 4 and the corresponding shading sheet are triggered, the movement is stopped;
step A5: moving the second electric rotating arm 4 anticlockwise, stopping and recording the relative angle B of rotation relative to the step A4 when the second electric rotating arm 4 is overlapped with the first electric rotating arm 3;
step A6: the relative angle a and the relative angle B are stored.
In addition, in other embodiments, the positions of the first electric rotating arm 3 and the second electric rotating arm 4 and the horizontal plane can be tested in real time through additional equipment such as a mechanical horizontal device, so as to ensure that the first electric rotating arm 3 and the second electric rotating arm 4 ensure absolute level with the horizontal plane, and improve the correction precision of the correction device. Wherein the mechanical leveling device can comprise a level bar and other existing devices.
Further illustratively, in step B, the mechanical measuring and adjusting step includes the steps of:
step B1: the first electric rotating arm 3 moves clockwise, and when the photoelectric switch on the first electric rotating arm 3 and the corresponding shading sheet are triggered, the movement is stopped;
step B2: the second electric rotating arm 4 moves clockwise, and when the photoelectric switch on the second electric rotating arm 4 and the corresponding shading sheet are triggered, the movement is stopped;
step B3: acquiring a relative angle A and a relative angle B;
step B4: the first electric rotating arm 3 moves anticlockwise by a relative angle A;
step B5: the second motorized boom 4 is moved counter-clockwise by a relative angle B.
The single photon emission tomography system corrects the spatial position of the system through the known target position coordinates and errors determined in the calibration step, so that the correction accuracy of the correction device is improved, and the correction efficiency is also improved.
To further illustrate, in step D, the built-in algorithm of the computer includes the following data calculation steps:
step D1: taking the position of the radioactive source in the projection surface as (0, 0), and acquiring the arm body length l of the first electric rotating arm 3 and the second electric rotating arm 4;
step D2: judging whether the target position is located in the first quadrant, if yes, the coordinate of the target position is (x) 1 ,y 1 ) And x is 1 >0,y 1 Not less than 0, calculating the rotation angle A of the first electric rotating arm 3 relative to the horizontal plane 1 And a rotation angle B between the second electric swivel arm 4 relative to the first electric swivel arm 3 1 The calculation formula is as follows:
if not, the step D3 is entered;
step D3: judging whether the target position is positioned in the second quadrant, if so, the coordinate of the target position is (x) 2 ,y 2 ) And x is 2 <0,y 2 >0, repeating the calculation formula calculation of step D1 (y 2 ,-x 2 ) The rotation angle a of the first electric swivel arm 3 with respect to the horizontal plane 2 And a rotation angle B between the second electric swivel arm 4 relative to the first electric swivel arm 3 2 ；
Then at the rotation angle A of the first electric rotating arm 3 relative to the horizontal plane 2 The first electric rotating arm is continuously rotated by 3 degrees
If not, the step D4 is entered;
step D4: judging whether the target position is in the third quadrant, if so, the coordinate of the target position is (x) 3 ,y 3 ) And x is 3 <0,y 3 <0, repeating the calculation formula of the step D1 to calculate (-x) 3 ,-y 3 ) The rotation angle a of the first electric swivel arm 3 with respect to the horizontal plane 3 And a rotation angle B between the second electric swivel arm 4 relative to the first electric swivel arm 3 3 ；
Then at the rotation angle A of the first electric rotating arm 3 relative to the horizontal plane 3 The upper continues to rotate by an angle theta of 3 degrees 2 ＝π；
If not, the step D5 is entered;
step D5: judging whether the target position is in the fourth quadrant, if so, the coordinate of the target position is (x) 4 ,y 4 ) And x is 4 <0,y 4 <0, repeating the calculation formula of the step D1 to calculate (-y) 4 ,x 4 ) The rotation angle a of the first electric swivel arm 3 with respect to the horizontal plane 4 And a rotation angle B between the second electric swivel arm 4 relative to the first electric swivel arm 3 4 ；
Then at the rotation angle A of the first electric rotating arm 3 relative to the horizontal plane 4 The first electric rotating arm is continuously rotated by 3 degrees
The embodiment controls the correction device through a built-in algorithm of the computer, so that the correction device is driven by a program, and the correction device is fast in test and accurate in position.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will occur to those skilled in the art from consideration of this specification without the exercise of inventive faculty, and such equivalent modifications and alternatives are intended to be included within the scope of the invention as defined in the claims.
Claims (3)
1. The method is characterized by comprising a single photon emission tomography system, a computer and a radiation source position correction device based on the mechanical arm, wherein the radiation source position correction device based on the mechanical arm comprises a machine table, a sliding table base, a first electric rotating arm, a second electric rotating arm and a radiator;
the sliding table base is slidably arranged on the upper end face of the machine table, and the length directions of the machine table and the sliding table base are parallel to the Z axis of the space rectangular coordinate system;
one end of the first electric rotating arm is rotatably connected to one end of the sliding table base, and the rotating shaft of the first electric rotating arm is parallel to the Z axis of the space rectangular coordinate system;
one end of the second electric rotating arm is rotatably arranged at the other end of the first electric rotating arm, and the rotating shaft of the second electric rotating arm is parallel to the rotating shaft of the first electric rotating arm;
the radiator is fixedly arranged at the other end of the second electric rotating arm, and the radiation direction of the radiator is parallel to the rotating shaft of the first electric rotating arm;
the length of the arm body of the first electric rotating arm is equal to that of the arm body of the second electric rotating arm;
the motor also comprises an electromechanical controller, a first motor and a second motor;
the electromechanical controller is electrically coupled to the first motor and the second motor;
the first motor is fixedly arranged at the joint of the sliding table base and the first electric rotating arm, the rotating shaft of the first motor is connected with the rotating shaft end of the first electric rotating arm in a transmission manner, and the first motor is used for driving the first electric rotating arm to rotate relative to the rotating shaft of the first electric rotating arm;
the second motor is fixedly arranged at the joint of the first electric rotating arm and the second electric rotating arm, the rotating shaft of the second motor is connected with the rotating shaft end of the second electric rotating arm in a transmission manner, and the second motor is used for driving the second electric rotating arm to rotate relative to the rotating shaft of the second electric rotating arm;
the first motor and the second motor are deceleration stepping motors, and the stepping angle of the deceleration stepping motors is 1.8 degrees;
the reduction ratio of the first motor to the second motor is 100:1, wherein the weight ratio of the first motor to the second motor is 1:32;
the photoelectric switch assembly comprises a photoelectric switch and a shading sheet, the photoelectric switch is electrically connected with the electromechanical controller, the photoelectric switch is provided with a groove, and the shading sheet can be embedded in the groove of the photoelectric switch and is used for shading a light path of the photoelectric switch;
the three photoelectric switches are respectively arranged on the machine table, the sliding table base and the first electric rotating arm, and the three light shielding sheets are respectively arranged on the sliding table base, the first electric rotating arm and the second electric rotating arm;
the method for correcting the position of the radiation source based on the mechanical arm comprises the following steps:
step A: calibrating the correction device, and acquiring and storing a relative angle A and a relative angle B, wherein the relative angle A is a correction rotation angle between the first electric rotating arm and the horizontal plane, and the relative angle B is a correction rotation angle between the second electric rotating arm relative to the first electric rotating arm;
the step A comprises the following steps:
step A1: the correction device is horizontally placed, one end, provided with the first electric rotating arm and the second electric rotating arm, of the correction device is taken as a projection point to project the correction device, the first electric rotating arm and the second electric rotating arm are overlapped on a projection surface, and the first electric rotating arm and the second electric rotating arm are parallel to a horizontal plane;
step A2: the first electric rotating arm moves clockwise, and when the photoelectric switch on the first electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step A3: the first electric rotating arm moves anticlockwise, and when the first electric rotating arm is parallel to the horizontal plane, the relative angle A of rotation relative to the step A2 is stopped and recorded;
step A4: the second electric rotating arm moves clockwise, and when the photoelectric switch on the second electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step A5: moving the second electric rotating arm anticlockwise, stopping and recording the relative angle B rotating relative to the step A4 when the second electric rotating arm is overlapped with the first electric rotating arm;
step A6: storing the relative angle A and the relative angle B;
and (B) step (B): installing a correction device into a correction imaging view field of the single photon emission tomography system, and mechanically measuring and adjusting the correction device according to the relative angle A and the relative angle B to enable the position of a radioactive source on the correction device to coincide with an axial zero point of the correction imaging view field of the emission tomography system;
step C: the computer acquires the target position, judges whether the position of the radioactive source is the target position, and if so, controls the radioactive source to perform radiographic imaging; if not, acquiring data of a relative geometric position between the position of the radioactive source and the target position;
step D: the computer analyzes the data of the geometric position according to a built-in algorithm to obtain the rotation angles of the first electric rotating arm and the second electric rotating arm on the correcting device and sends the rotation angles to an electromechanical controller on the correcting device;
step E: and the electromechanical controller moves the emission source position of the correction device according to the rotation angle, so that the moved emission source position is the target position.
2. The method of claim 1, wherein in step B, the mechanical measuring and adjusting step comprises:
step B1: the first electric rotating arm moves clockwise, and when the photoelectric switch on the first electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step B2: the second electric rotating arm moves clockwise, and when the photoelectric switch on the second electric rotating arm and the corresponding shading sheet are triggered, the movement is stopped;
step B3: acquiring a relative angle A and a relative angle B;
step B4: the first electric rotating arm moves anticlockwise by a relative angle A;
step B5: the second motorized boom is moved counter-clockwise by a relative angle B.
3. The method of claim 1, wherein in step D, the built-in algorithm of the computer includes the following data calculation steps:
step D1: taking the position of the radioactive source in the projection surface as (0, 0), and obtaining the arm body length l of the first electric rotating arm and the second electric rotating arm;
step D2: judging whether the target position is located in the first quadrant, if yes, the coordinate of the target position is (x) 1 ,y 1 ) And x is 1 ＞0,y 1 Not less than 0, calculating the rotation angle A of the first electric rotating arm relative to the horizontal plane 1 And a rotation angle B between the second electric rotating arm and the first electric rotating arm 1 The calculation formula is as follows:
if not, the step D3 is entered;
step D3: judging whether the target position is positioned in the second quadrant, if so, the coordinate of the target position is (x) 2 ,y 2 ) And x is 2 ＜0,y 2 > 0, repeating the calculation formula calculation of step D1 (y 2 ,-x 2 ) The rotation angle A of the first electric rotating arm relative to the horizontal plane 2 And a rotation angle B between the second electric rotating arm and the first electric rotating arm 2 ；
Then at the rotation angle A of the first electric rotating arm relative to the horizontal plane 2 Upper continuous rotation of the first electric rotating arm angle
If not, the step D4 is entered;
step D4: judging whether the target position is in the third quadrant, if so, the coordinate of the target position is (x) 3 ,y 3 ) And x is 3 ＜0,y 3 < 0, repeating the calculation formula of step D1 to calculate (-x) 3 ,-y 3 ) The rotation angle A of the first electric rotating arm relative to the horizontal plane 3 And a rotation angle B between the second electric rotating arm and the first electric rotating arm 3 ；
Then at the rotation angle A of the first electric rotating arm relative to the horizontal plane 3 Upper continuous rotation of the first electric rotating arm angle theta 2 ＝π；
If not, the step D5 is entered;
step D5: judging whether the target position is in the fourth quadrant, if so, the coordinate of the target position is (x) 4 ,y 4 ) And x is 4 ＜0,y 4 < 0, repeating the calculation formula of step D1 to calculate (-y) 4 ,x 4 ) The rotation angle A of the first electric rotating arm relative to the horizontal plane 4 And the angle of rotation B between the second motorized boom 4 relative to the first motorized boom 4 ；
Then at the rotation angle A of the first electric rotating arm relative to the horizontal plane 4 Upper continuous rotation of the first electric rotating arm angle
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| JPH07178689A (en) * | 1993-12-24 | 1995-07-18 | Ricoh Co Ltd | Getting-out-of position measuring method for robot arm, and getting-out-of position correcting method and system for this robot arm |
| CN2796972Y (en) * | 2005-04-04 | 2006-07-19 | 天津市华志计算机应用有限公司 | Structure of fire freedom space location robot |
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| US20150260859A1 (en) * | 2012-09-10 | 2015-09-17 | Werth Messtechnik Gmbh | Method and device for correcting computed tomographiy measurements, comprising a coordinate measuring machine |
| CN103565529B (en) * | 2013-11-11 | 2015-06-17 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
| CN104799879A (en) * | 2015-04-16 | 2015-07-29 | 明峰医疗系统股份有限公司 | Portable uniform correcting device for PET equipment and correcting method of portable uniform correcting device |
| CN104825185B (en) * | 2015-05-22 | 2017-10-24 | 武汉数字派特科技有限公司 | A kind of PET image bars source device and PET device |
| CN106618618A (en) * | 2016-11-21 | 2017-05-10 | 上海联影医疗科技有限公司 | Radioactive source control device and method for medical imaging equipment |
| CN109605344B (en) * | 2019-01-09 | 2021-02-09 | 北京精密机电控制设备研究所 | Multi-degree-of-freedom open-loop stepping series mechanical arm and control method thereof |
| CN112168482A (en) * | 2020-08-21 | 2021-01-05 | 西安交通大学 | Operation mechanism of ophthalmic cornea transplantation operation robot |
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