CN1483381A - X-ray imaye system moving controller and debugging method - Google Patents
X-ray imaye system moving controller and debugging method Download PDFInfo
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- CN1483381A CN1483381A CNA031336035A CN03133603A CN1483381A CN 1483381 A CN1483381 A CN 1483381A CN A031336035 A CNA031336035 A CN A031336035A CN 03133603 A CN03133603 A CN 03133603A CN 1483381 A CN1483381 A CN 1483381A
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- 230000004807 localization Effects 0.000 description 2
- 230000009017 pursuit movement Effects 0.000 description 2
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Abstract
The present invention relates to a X-ray machine image system movement control equipment and its debugging method. Said equipment consists of two portions of hardware and software, in which the hardware includes sensor, controller, actuator and protection circuit, and its control software includes running software and debugging software, said debugging software includes PLC software and upper-position machine software. The computer can utilize serial interface to transfer test command, after the command is received by PLC, the counter can be started, and the correspondent motor can be driven to implement test movement.
Description
Technical field
The invention belongs to technical field of medical instruments, relate to X line machine in the loxosis photography, the split campaign of image system, in the photography of axle position, the control device of the pursuit movement of image system, and for guaranteeing the precision of track and localization, at designed easy, the workable adjustment method of commissioning staff.
Background technology
Image system is the key component of X line machine, and it comprises light source (bulb and beam-defining clipper) and image-forming block (film system or image amplifier) two parts, realizes obtaining the function of image.On old-fashioned X line machine, because these two parts are fixed on the mechanical part, by the motion of sets of transmission mechanism realization image system, over against the center of image-forming block, photograph so can only realize the axle position all the time in the center of light source; In many clinical practices, as nasal cavity, vertebra etc. often need loxosis photography, and promptly light source and image-forming block but are photographed not on an axis at an angle.Novel X line machine at this function release, its light source and image-forming block are separately fixed on two mechanical parts, realize separately motion respectively by two sets of transmission mechanism, again because will take into account the function (often using more extensive clinically) of axle position photography, so, control system should realize two parts self-movements separately, realizes the pursuit movement of two parts again; Simultaneously, for guaranteeing the effect of photography, the precision of track and localization is high as much as possible; In addition, feel comfortable for making the patient, starting and parking are wanted steadily, and a process of quickening and slowing down just will be arranged; In addition, light source and image-forming block are heavier, add the fixedly mechanical part of usefulness, belong to than heavy load, require motor that enough moments of torsion will be arranged; The safety of armarium also is a very important index, in sum, control and performer has all been proposed higher requirement, the method of conventional motor control is a lot, but often there is such-and-such problem, such as: motor volume is too big, is unfavorable for installing; The hardware circuit design complexity, the fault rate height; Or select high accuracy for use, the motor drive modules of many feedbacks have increased the cost of system again.
Summary of the invention
At above-mentioned clinical practice and technical requirement, it is easy that purpose of the present invention has designed a cover, reliably, volume is little, the precision height, image system motion control device and adjustment method that cost is relatively low again, simultaneously, utilize the intrinsic configuration computer of X line machine to cooperate the realization adjustment method, do not increase extra system cost, and its friendly user interface has made things convenient for the commissioning staff to greatest extent.Design of the present invention is as follows: the present invention is made up of hardware components and control software two parts.Hardware components comprises: pick off, controller, executor, holding circuit; The control software section comprises operation software and debugging software, and debugging comprises PLC software and upper computer software with software.
Its hardware components is a core based on programmable controller, and the rotary encoder of column part, limit switch, calibration output switching terminal join with the input of Programmable Logic Controller respectively; Simultaneously; the rotary encoder of balladeur train part; limit switch; the calibration output switching terminal joins with the input of Programmable Logic Controller respectively; in addition; same and the Programmable Logic Controller input of the motion of column and balladeur train and control button or handle signal joins; the outfan of Programmable Logic Controller connects with the IPM brushless electric machine by two intelligent drivers respectively; Programmable Logic Controller outputting communication interface RS-485; RS-232 serial communication interface by PC/PPI cable and computer connects; the column part is protected switch respectively by holding circuit and intelligent driver control client link (as shown in Figure 1) with the utmost point of balladeur train part; select rotary encoder as position sensor among the present invention, select brushless electric machine and driver as the executor.
The control running software is as follows with the software execution in step: (its flow chart as shown in Figure 2)
Beginning, initialization, judge whether to press interlock to upper handle, if then the setting high-speed enumerator increases counting, column and balladeur train move upward simultaneously, if the arrival scaling position, the counting of column and balladeur train is clear 0, if what press is that interlock is to lower handle, then the setting high-speed enumerator subtracts counting, and column and balladeur train move downward simultaneously; Judge whether to unclamp co-acting lever then, do not unclamp co-acting lever, column and balladeur train continue motion, unclamp co-acting lever, judge column and which pro-of balladeur train, the column pro-, then column stops, the parking spot of record column, and balladeur train is gone to the parking spot of column, stop, finish, otherwise, the balladeur train pro-, then balladeur train stops, the parking spot of record balladeur train, column is gone to the parking spot of balladeur train, stops, and finishes.
The control software debugging is as follows with the execution in step of PLC software: (its flow chart as shown in Figure 3)
Beginning, the test command of host computer is waited in initialization then, the column test command then is provided with column for increasing counting, the position code of record column in this way, the driving column moves upward, and starts 10 seconds timing simultaneously, after regularly finishing, column stops, and writes down the stud sign indicating number once more, calculates the alternate position spike of column, promptly be the speed of column, deposit among the RUM, wait for the reading order of host computer this moment, the speed sign indicating number of column is sent to host computer by serial ports, finish at last.Stop test command when the test command of host computer is that column is slow, column is set for increasing counting, the driving column moves upward, start 2 seconds timing simultaneously, after regularly finishing, column stops, and the position code of record column, start 4 seconds timing simultaneously, after regularly finishing, write down the position code of column once more, calculate the alternate position spike of column, promptly be that the slow of column stops, deposit among the RUM.Continue to wait for the reading order of host computer, the same, be that column slow stops order when what read, the slow sign indicating number that stops of column is sent to host computer by serial ports, finish.
Debugging is as follows with the execution in step of upper computer software: (its flow chart as shown in Figure 4)
The beginning initialization waits for that the commissioning staff sends out test command, is the slow test command that stops of order of column velocity test or column, then sends column velocity test or the slow test command code that stops of column by serial ports, finishes at last.When being reads the column order or read that column is slow to stop order, then send and read column speed or read the slow command code that stops of column by serial ports, receive PLC then and send the column speed of returning or the slow numerical value that stops of column, be converted into actual distance values with code this moment, need through following data conversion: 16 system ASCII characters--16 system real numbers--10 system real number---character string, data are shown on the screen with the dialog box form, finish at last.
Advantage of the present invention: hardware device is simple in structure, and working stability is reliable, the positioning accuracy height, and volume is little, is beneficial to the compactness of installation and equipment overall structure, and safeguard protection is implemented complete, simultaneously, has made things convenient for commissioning staff's operation again to greatest extent.
Description of drawings
Fig. 1 is an X line machine image system motion control device population structure block diagram;
Fig. 2 is an X line machine image system motion control device operation software flow pattern;
Fig. 3 is an X line machine image system motion control device debugging software flow pattern;
Fig. 4 is an X line machine image system motion control device debugging host computer software flow pattern.
The specific embodiment
Hardware components is by controller, pick off, and executor and holding circuit are formed, the present invention has selected IPM brushless electric machine and driver as the executor, select rotary encoder, as position sensor, wherein, because IPM dc brushless motor volume is little, in light weight, low speed torsion is big, is particularly suitable for the confidential compact conformation of asking of X line, the speed of service is low, the characteristics that load is bigger; The non-carbonate friction of this motor, non-maintaining, and price is relatively low; Simultaneously, also be furnished with intelligent driver, speed and acceleration and deceleration time can be adjusted arbitrarily; can guarantee easily to start and the stationarity when stopping; allow the patient feel comfortable, this driver has various defencive functions, also can be satisfied the requirement of armarium secure context.
The selected rotary encoder of the present invention is 2000 pulse/commentaries on classics, be installed on the output shaft of reductor, for column, reductor revolution 1 circle, column is walked 242mm, so, the positioning accuracy of column is 242mm/2000 pulse=0.121mm in theory, the location of balladeur train is 188mm/2000 pulse=0.094mm, because the influence that the sum of errors PLC of Theoretical Calculation is brought running time, and the deviation of the distance of being advanced when column and balladeur train ramp to stop, final through actual debugging, the tracking accuracy of system can reach in the 1mm, satisfies clinical requirement fully.
The mechanical part of fixed light source and image-forming block is called column and balladeur train respectively in native system, in order in axially photographing, to realize the tracking of column and balladeur train, will know its position separately, therefore the selection of position sensor is most important, the precision of position sensor has determined the precision of following the tracks of to a certain extent, although some driver has pulse output, but number of pulses less (number of pole-pairs that depends on brushless electric machine), precision is lower, therefore, select rotary encoder as position sensor in this programme.In addition, Sensor section also comprises various limit switches, and the utmost point is protected switch and calibration switch etc.
The implementation of debugging software is as follows: computer is by serial port transmission speed test command, after PLC receives order, drive column or sledge movements, start timer and high-speed counter simultaneously, timing time arrives, motion is stopped, and calculate the distance of advancing, be placed among the RAM of PLC, after the speed sense command of receiving host computer, these data are spread out of, after host computer obtains these data, directly be presented on the screen, instruct commissioning staff's operation by dialog box, by this method, can eliminate the error of personal error and Theoretical Calculation.In addition, for realizing the tracking of column and balladeur train, the concordance of the distance that the acceleration and deceleration when guaranteeing its startup and parking are advanced also is vital, and its adjustment method and speed adjustment method are similar.
When actual motion, although it is the speed furnishing of column and balladeur train is consistent, but still can there be deviation, this deviation is compensated by operating software, the implementation of operating software is as follows: motion button or the handle signal of receiving control station as PLC, utilize the high-speed counting function of PLC, pulse signal to encoder output is counted, and according to handle orientations counting direction is set, by calculating the accurate position of column and balladeur train, in the moment of sending parking order, judge column and balladeur train which in front, stopping earlier in front, and note its parking spot, behind the parking spot of going to parking earlier of back, stop again, to guarantee the concordance of column and sledge position, in order to eliminate error, the calibration switch is set respectively in the travel range of column and balladeur train, when going to scaling position, counter O reset, the error of bringing for the effective range of eliminating the calibration switch simultaneously, in the design of operating software, a folk prescription is to zero clearing.
In a word, must finish at last: between computer and PLC, connect the PC/PPI cable;
Download debugging and also move, starting computer debugging software with PLC software;
Send out the velocity test order, send out the speed sense command;
Adjust according to the speed of displaying value, the speed furnishing of column and balladeur train is consistent;
Advance when using the same method ramp to stop apart from the furnishing unanimity;
Downloading-running PLC software, system can normally move.
Claims (4)
1. X line machine image system motion control device is characterized in that this device is made up of hardware components and control software two parts, and hardware components includes pick off, controller, executor, holding circuit; The control software section includes operation and use software with software and debugging, and its hardware components is a core based on programmable controller, the rotary encoder of column part, and limit switch is calibrated output switching terminal and is joined with the input of Programmable Logic Controller respectively; Simultaneously; the rotary encoder of balladeur train part; limit switch; the calibration output switching terminal joins with the input of Programmable Logic Controller respectively; in addition; same and the Programmable Logic Controller input of the motion of column and balladeur train and control button or handle signal joins; the outfan of Programmable Logic Controller connects with the IPM brushless electric machine by two intelligent drivers respectively; Programmable Logic Controller output interface RS-485; connect with the RS-232 data-interface of computer by the PC/PPI cable, the column part is protected switch with the utmost point of balladeur train part and is connected with intelligent driver control end by holding circuit respectively.
2. X line machine image system motor control and adjustment method, it is characterized in that this method comprises operation software and debugging software, wherein, operation with the execution in step of software is: beginning, initialization, judge whether to press interlock to upper handle, if, then the setting high-speed enumerator increases counting, and column and balladeur train move upward simultaneously, if arrive scaling position, the counting of column and balladeur train clear 0, if what press is to link to lower handle, then the setting high-speed enumerator subtracts counting, and column and balladeur train move downward simultaneously; Judge whether to unclamp co-acting lever then, do not unclamp co-acting lever, column and balladeur train continue motion, unclamp co-acting lever, judge column and which pro-of balladeur train, the column pro-, then column stops, the parking spot of record column, and balladeur train is gone to the parking spot of column, stop, finish, otherwise, the balladeur train pro-, then balladeur train stops, the parking spot of record balladeur train, column is gone to the parking spot of balladeur train, stops, and finishes.
3. by the described adjustment method of claim 2, the execution in step that it is characterized in that PLC software in the debugging software is: beginning, initialization, wait for the test command of host computer then, column test command in this way, column then is set for increasing counting, the position code of record column drives column and moves upward, start 10 seconds timing simultaneously, after regularly finishing, column stops, and writes down the stud sign indicating number once more, calculate the alternate position spike of column, promptly be the speed of column, deposit among the RUM, wait for the reading order of host computer this moment, the speed sign indicating number of column is sent to host computer by serial ports, finish at last, stop test command, column is set for increasing counting when the test command of host computer is that column is slow, the driving column moves upward, start 2 seconds timing simultaneously, after regularly finishing, column stops, and the position code of record column, start 4 seconds timing simultaneously, after regularly finishing, write down the position code of column once more, calculate the alternate position spike of column, promptly be that the slow of column stops, deposit among the RUM, ditto wait for the reading order of host computer, when what read is that column slow stops order, the slow sign indicating number that stops of column is sent to host computer by serial ports, finish, the execution in step of the software of debugging balladeur train motor is identical with column.
4. by the described adjustment method of claim 2, the execution in step that it is characterized in that upper computer software in the debugging software is: beginning, initialization, wait for that the commissioning staff sends out test command, it is the slow test command that stops of order of column velocity test or column, then send column velocity test or the slow test command code that stops of column by serial ports, finish at last, when being reads the column order or read that column is slow to stop order, then send and read column speed or read the slow command code that stops of column by serial ports, receive PLC then and send the column speed of returning or the slow numerical value that stops of column, be converted into actual distance values with code this moment, need through following data conversion: 16 system ASCII characters--16 system real numbers--10 system real number---character string, data are shown on the screen with the dialog box form, finish at last, the execution in step of the software of debugging balladeur train motor is identical with column.
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| CN03133603.5A CN1277509C (en) | 2003-07-28 | 2003-07-28 | X-ray imaye system moving controller and debugging method |
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| CN03133603.5A CN1277509C (en) | 2003-07-28 | 2003-07-28 | X-ray imaye system moving controller and debugging method |
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| CN1277509C CN1277509C (en) | 2006-10-04 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1301083C (en) * | 2004-08-20 | 2007-02-21 | 东软飞利浦医疗设备系统有限责任公司 | 1/4 path deviation interpolation method for CT system |
| CN102599924A (en) * | 2011-01-25 | 2012-07-25 | 南京普爱射线影像设备有限公司 | Movement control device for medical U-shaped arm X-ray machine |
| CN103777585A (en) * | 2012-10-24 | 2014-05-07 | 上海联影医疗科技有限公司 | Machine rack control system and method of computed tomography device |
| CN104287752A (en) * | 2013-07-19 | 2015-01-21 | 南京普爱射线影像设备有限公司 | Movement control method and device used for movable type X-ray machine |
| CN104871099A (en) * | 2012-12-25 | 2015-08-26 | 三菱电机株式会社 | Positioning apparatus and positioning method |
| CN106308826A (en) * | 2015-06-26 | 2017-01-11 | 上海雄捷医疗器械有限公司 | C type arm of C-arm X-ray machine |
| CN113907776A (en) * | 2021-10-13 | 2022-01-11 | 武汉联影生命科学仪器有限公司 | Medical equipment component debugging system, device and method and electronic equipment |
-
2003
- 2003-07-28 CN CN03133603.5A patent/CN1277509C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1301083C (en) * | 2004-08-20 | 2007-02-21 | 东软飞利浦医疗设备系统有限责任公司 | 1/4 path deviation interpolation method for CT system |
| CN102599924A (en) * | 2011-01-25 | 2012-07-25 | 南京普爱射线影像设备有限公司 | Movement control device for medical U-shaped arm X-ray machine |
| CN103777585A (en) * | 2012-10-24 | 2014-05-07 | 上海联影医疗科技有限公司 | Machine rack control system and method of computed tomography device |
| CN104871099A (en) * | 2012-12-25 | 2015-08-26 | 三菱电机株式会社 | Positioning apparatus and positioning method |
| CN104287752A (en) * | 2013-07-19 | 2015-01-21 | 南京普爱射线影像设备有限公司 | Movement control method and device used for movable type X-ray machine |
| CN106308826A (en) * | 2015-06-26 | 2017-01-11 | 上海雄捷医疗器械有限公司 | C type arm of C-arm X-ray machine |
| CN113907776A (en) * | 2021-10-13 | 2022-01-11 | 武汉联影生命科学仪器有限公司 | Medical equipment component debugging system, device and method and electronic equipment |
| CN113907776B (en) * | 2021-10-13 | 2024-04-23 | 武汉联影生命科学仪器有限公司 | Medical equipment component debugging system, device and method and electronic equipment |
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| CN1277509C (en) | 2006-10-04 |
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