CN203896236U - Precise blade control structure of automatic multi-blade collimator - Google Patents
Precise blade control structure of automatic multi-blade collimator Download PDFInfo
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- CN203896236U CN203896236U CN201420317209.6U CN201420317209U CN203896236U CN 203896236 U CN203896236 U CN 203896236U CN 201420317209 U CN201420317209 U CN 201420317209U CN 203896236 U CN203896236 U CN 203896236U
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- 230000033001 locomotion Effects 0.000 claims abstract description 61
- 238000001514 detection method Methods 0.000 claims abstract description 12
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- 239000000835 fiber Substances 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 11
- 239000003381 stabilizer Substances 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 239000013256 coordination polymer Substances 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 4
- 206010028980 Neoplasm Diseases 0.000 description 3
- 238000001959 radiotherapy Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Abstract
Disclosed in the utility model is a precise blade control structure of an automatic multi-blade collimator. The precise blade control structure comprises a servo motor, an encoder, a position detection circuit, a motor drive control circuit, and a motor drive circuit. To be specific, the servo motor is used for driving a blade of a rotating shaft to make rotation. The encoder is used for detecting the rotation speed of the servo motor. The position detection circuit is used for detecting the initial position of the blade. The motor drive control circuit is connected with the encoder and the position detection circuit is used for receiving motion set data of the blade and generating a motor control signal based on the motion set data of the blade, the rotation speed of the servo motor, and the initial position of the blade. The motor drive circuit is connected with the motor drive control circuit and the servo motor and is used for amplifying the motor control signal and driving the servo motor to make rotation. Therefore, the motion speed and motion position precision of the automatic collimator blade are improved; the control error is reduced; and on the basis of the design of the hardware circuit, a problem of resource occupation caused by real-time controlling by a computer is solved.
Description
Technical field
The utility model relates to tumour accurate radiotherapy technical field, is specially the accurate control structure of a kind of automatic multi-diaphragm collimator blade.
Background technology
Multi-diaphragm collimator is by two groups of electromechanical integrated devices that grating blade forms of electronic control circuit, mechanical actuation device and symmetric arrays.By controlling the drive system of its grating, make the motion of blade forward and back, the launched field window of composition arbitrary shape; Ray only irradiates tumour target area by described window; and ray outside window will be attenuated because blade blocks its intensity; guarantee normal tissue degree of injury is down to minimum; the object that reaches treatment tumour, protection normal tissues, multi-diaphragm collimator has very consequence in modern radiotherapy equipment.
At present, control mode to multi-diaphragm collimator blade in prior art, mainly to complete by computer, computer calculates the revolution of motor according to the output signal of encoder, and then calculate advancing or backway of collimater blade, thus calculating the position of blade, it is actually a kind of control mode of semiclosed loop, on adjusting vane speed and position, there is very large error, and take a large amount of computer resources.
Summary of the invention
The utility model is for the proposition of above problem, and develops the accurate control structure of a kind of automatic multi-diaphragm collimator blade.
The technical solution of the utility model is:
The accurate control structure of a kind of automatic multi-diaphragm collimator blade, comprising:
Drive the servomotor of the described blade rotation in rotating shaft;
For detection of the encoder of described servomotor rotating speed;
For detection of the position detecting circuit of described blade initial position;
Connect described encoder and described position detecting circuit, for receiving blade movement setting data, and according to the motor driving controling circuit of blade movement setting data, servomotor rotating speed and blade initial position generation motor control signal;
Connect motor driving controling circuit and servomotor, for the motor-drive circuit that described motor control signal is amplified and drive servomotor to rotate;
And connect servomotor, encoder, position detecting circuit, motor driving controling circuit and motor-drive circuit, for the power supply VCC of working power being provided to described servomotor, encoder, position detecting circuit, motor driving controling circuit and motor-drive circuit;
Further, described position detecting circuit comprises:
For detection of Fibre Optical Sensor, resistance R 4, resistance R 5, voltage-stabiliser tube D3, voltage-stabiliser tube D4, six phase inverter U4A and the six phase inverter U4B of blade initial position; Described Fibre Optical Sensor output connects the input of described six phase inverter U4A by resistance R 5; Described Fibre Optical Sensor output connects 12V power supply by resistance R 4; Described voltage stabilizing didoe D3 and be connected in power supply VCC and the input of described six phase inverter U4A between; Described voltage stabilizing didoe D4 is also connected between the input and ground of described six phase inverter U4B; The output of described six phase inverter U4A connects the input of described six phase inverter U4B; The output of described six phase inverter U4B is as the output of described position detecting circuit;
Further, described motor driving controling circuit comprises motor special motion controller chip U1; Pin D0～D7 of described motor special motion controller chip U1 is used for receiving blade movement setting data; The pin of described motor special motion controller chip U1
be connected with described position detecting circuit output; The pin A of described motor special motion controller chip U1 is connected the output of described encoder with pin B; The pin PWMS of described motor special motion controller chip U1 and pin PWMM are as the output of described motor driving controling circuit;
In addition, also comprise:
The buffer U3B that input is connected with the pin PWMS of described motor special motion controller chip U1;
The buffer U3A that input is connected with the pin PWMM of described motor special motion controller chip U1;
Described motor-drive circuit comprises motor driver chip U2, resistance R 2, resistance R 30, capacitor C 24, capacitor C 17 and capacitor C 28; The pin CP of described motor driver chip U2 connects 12V power supply by capacitor C 17; Described capacitor C 24 is connected between the pin CP2 and pin CP1 of described motor driver chip U2; The pin PHASE of described motor driver chip U2 connects the output of described buffer U3B; The pin Rosc of described motor driver chip U2 is by resistance R 2 ground connection; The pin ENABLE of described motor driver chip U2 is connected with the output of described buffer U3A; The pin OUTA of described motor driver chip U2 connects the positive pole of described servomotor; The pin OUTB of described motor driver chip U2 connects the negative pole of described servomotor; The pin SENSE of described motor driver chip U2 is by resistance R parallel with one another 30 and capacitor C 28 ground connection;
Further, described motor special motion controller U1 adopts LM629;
Further, described motor driver chip U2 adopts A3959;
Further, described encoder adopts incremental optical-electricity encoder.
Owing to having adopted technique scheme, the accurate control structure of a kind of automatic multi-diaphragm collimator blade that the utility model provides, the utility model detects servomotor speed feedback to motor driving controling circuit by encoder, detect blade initial position by position detecting circuit and feed back to motor driving controling circuit, described motor driving controling circuit is according to blade movement setting data, in conjunction with the servomotor rotating speed and the blade initial position that detect, produce motor control signal, form motor speed Closed control and leaf position closed-loop control, and then the movement velocity of autocollimation device blade and the accuracy of movement position are improved, reduce departure, adopt hardware circuit design, avoid adopting real time computer control to take the problem of resource.
Brief description of the drawings
Fig. 1 is circuit theory diagrams of the present utility model;
Fig. 2 is the trapezoidal profile geometric locus figure that motor special motion controller chip U1 described in the utility model produces.
Embodiment
The accurate control structure of a kind of automatic multi-diaphragm collimator blade as shown in Figure 1, comprising: the servomotor that drives the described blade rotation in rotating shaft; For detection of the encoder of described servomotor rotating speed; For detection of the position detecting circuit of described blade initial position; Connect described encoder and described position detecting circuit, for receiving blade movement setting data, and according to the motor driving controling circuit of blade movement setting data, servomotor rotating speed and blade initial position generation motor control signal; Connect motor driving controling circuit and servomotor, for the motor-drive circuit that described motor control signal is amplified and drive servomotor to rotate; And connect servomotor, encoder, position detecting circuit, motor driving controling circuit and motor-drive circuit, for the power supply VCC of working power being provided to described servomotor, encoder, position detecting circuit, motor driving controling circuit and motor-drive circuit; Further, described position detecting circuit comprises: for detection of Fibre Optical Sensor, resistance R 4, resistance R 5, voltage-stabiliser tube D3, voltage-stabiliser tube D4, six phase inverter U4A and the six phase inverter U4B of blade initial position; Described Fibre Optical Sensor output connects the input of described six phase inverter U4A by resistance R 5; Described Fibre Optical Sensor output connects 12V power supply by resistance R 4; Described voltage stabilizing didoe D3 and be connected in power supply VCC and the input of described six phase inverter U4A between; Described voltage stabilizing didoe D4 is also connected between the input and ground of described six phase inverter U4B; The output of described six phase inverter U4A connects the input of described six phase inverter U4B; The output of described six phase inverter U4B is as the output of described position detecting circuit; Further, described motor driving controling circuit comprises motor special motion controller chip U1; Pin D0～D7 of described motor special motion controller chip U1 is used for receiving blade movement setting data; The pin of described motor special motion controller chip U1
be connected with described position detecting circuit output; The pin A of described motor special motion controller chip U1 is connected the output of described encoder with pin B; The pin PWMS of described motor special motion controller chip U1 and pin PWMM are as the output of described motor driving controling circuit; In addition, also comprise: the buffer U3B that input is connected with the pin PWMS of described motor special motion controller chip U1; The buffer U3A that input is connected with the pin PWMM of described motor special motion controller chip U1; Described motor-drive circuit comprises motor driver chip U2, resistance R 2, resistance R 30, capacitor C 24, capacitor C 17 and capacitor C 28; The pin CP of described motor driver chip U2 connects 12V power supply by capacitor C 17; Described capacitor C 24 is connected between the pin CP2 and pin CP1 of described motor driver chip U2; The pin PHASE of described motor driver chip U2 connects the output of described buffer U3B; The pin Rosc of described motor driver chip U2 is by resistance R 2 ground connection; The pin ENABLE of described motor driver chip U2 is connected with the output of described buffer U3A; The pin OUTA of described motor driver chip U2 connects the positive pole of described servomotor; The pin OUTB of described motor driver chip U2 connects the negative pole of described servomotor; The pin SENSE of described motor driver chip U2 is by resistance R parallel with one another 30 and capacitor C 28 ground connection; Further, described motor special motion controller U1 adopts LM629; Further, described motor driver chip U2 adopts A3959; Further, described encoder adopts incremental optical-electricity encoder.
The accurate control structure of blade described in the utility model also comprises: for receive the RS485 interface circuit of blade movement setting data by RS485 interface, connect RS485 interface circuit, for described blade movement setting data being sent to the host computer of motor driving controling circuit, described blade movement setting data comprises blade target location, blade maximal rate and acceleration, described encoder adopts incremental optical-electricity encoder, and its rotation situation by servomotor feeds back to pin A and the pin B of described motor special motion controller chip U1, described Fibre Optical Sensor is installed on blade tail end, and collimation device blade zero point, corresponding position was detected, and when collimater blade triggers after Fibre Optical Sensor, position detecting circuit outgoing position signal transfers to the pin of described motor special motion controller chip U1
, it is original position as benchmark zero point of later motion that motor special motion controller chip U1 records this position, described motor special motion controller chip U1 adopts LM629, it is the special motion control processor of full digital control, inside is integrated with position, speed and acceleration register, programmable digital PID controller, order and position maker, position feedback processor, and encoder interfaces etc., can be according to the blade movement setting data receiving as blade target location, blade maximal rate and acceleration etc., in conjunction with the rotary speed data of servomotor, the initial position data of blade are calculated required trapezoidal profile geometric locus figure and to motor control signal that should geometric locus figure, be specially motor special motion controller chip U1 using the position signalling of position detecting circuit output as original position, in conjunction with the target location in blade movement setting data, and generate geometric locus figure the output motor control signal of correspondence with it as shown in Figure 2 in inside according to the blade velocity of the current rotating speed of servomotor, setting and acceleration, wherein v represents that blade velocity, t represent that time, p1 represent that blade initial position, p2 represent blade target location, and this partial function is the inside integrated functionality of existing motor special motion controller chip U1, described motor control signal comprises pwm signal and motor direction of rotation signal, this motor control signal carries out shaping filter by buffer U3A and buffer U3B, export described motor-drive circuit to described motor control signal is carried out to power amplification, motor control signal after motor-drive circuit output is amplified drives servomotor to rotate, and then drives blade movement, the pin SENSE of described motor driver chip U2, by resistance R parallel with one another 30 and capacitor C 28 ground connection, plays metering function, and then protects described motor special motion controller chip U1.
The utility model detects servomotor speed feedback to motor driving controling circuit by encoder, detect blade initial position by position detecting circuit and feed back to motor driving controling circuit, described motor driving controling circuit is according to blade movement setting data, in conjunction with the servomotor rotating speed and the blade initial position that detect, produce motor control signal, form motor speed Closed control and leaf position closed-loop control, and then the movement velocity of automatic multi-diaphragm collimator blade and the accuracy of movement position are improved, reduce departure, adopt hardware circuit design, avoid adopting real time computer control to take the problem of resource, the utility model is taking the motor drive controller chip of digital control as core, complete the accurate control to automatic multi-diaphragm collimator blade, global design and simple in structure, discharge the shared software resource of control mode of prior art, can realize automatic multi-diaphragm collimator blade and reach with rational speed the position that expection is set, increase the stability of blade movement, for the enforcement of four-dimensional radiotherapy provides good collimater blade control program, the utility model is special (2012DFA10700) scientific achievement of subsidizing of national International Sci & Tech Cooperation.
The above; it is only preferably embodiment of the utility model; but protection range of the present utility model is not limited to this; any be familiar with those skilled in the art the utility model disclose technical scope in; be equal to replacement or changed according to the technical solution of the utility model and inventive concept thereof, within all should being encompassed in protection range of the present utility model.
Claims (7)
1. the accurate control structure of automatic multi-diaphragm collimator blade, is characterized in that comprising:
Drive the servomotor of the described blade rotation in rotating shaft;
For detection of the encoder of described servomotor rotating speed;
For detection of the position detecting circuit of described blade initial position;
Connect described encoder and described position detecting circuit, for receiving blade movement setting data, and according to the motor driving controling circuit of blade movement setting data, servomotor rotating speed and blade initial position generation motor control signal;
Connect motor driving controling circuit and servomotor, for the motor-drive circuit that described motor control signal is amplified and drive servomotor to rotate;
And connect servomotor, encoder, position detecting circuit, motor driving controling circuit and motor-drive circuit, for the power supply VCC of working power being provided to described servomotor, encoder, position detecting circuit, motor driving controling circuit and motor-drive circuit.
2. the accurate control structure of a kind of automatic multi-diaphragm collimator blade according to claim 1, is characterized in that described position detecting circuit comprises:
For detection of Fibre Optical Sensor, resistance R 4, resistance R 5, voltage-stabiliser tube D3, voltage-stabiliser tube D4, six phase inverter U4A and the six phase inverter U4B of blade initial position; Described Fibre Optical Sensor output connects the input of described six phase inverter U4A by resistance R 5; Described Fibre Optical Sensor output connects 12V power supply by resistance R 4; Described voltage stabilizing didoe D3 and be connected in power supply VCC and the input of described six phase inverter U4A between; Described voltage stabilizing didoe D4 is also connected between the input and ground of described six phase inverter U4B; The output of described six phase inverter U4A connects the input of described six phase inverter U4B; The output of described six phase inverter U4B is as the output of described position detecting circuit.
3. the accurate control structure of a kind of automatic multi-diaphragm collimator blade according to claim 1, is characterized in that described motor driving controling circuit comprises motor special motion controller chip U1; Pin D0～D7 of described motor special motion controller chip U1 is used for receiving blade movement setting data; The pin of described motor special motion controller chip U1
be connected with described position detecting circuit output; The pin A of described motor special motion controller chip U1 is connected the output of described encoder with pin B; The pin PWMS of described motor special motion controller chip U1 and pin PWMM are as the output of described motor driving controling circuit.
4. the accurate control structure of a kind of automatic multi-diaphragm collimator blade according to claim 3, characterized by further comprising:
The buffer U3B that input is connected with the pin PWMS of described motor special motion controller chip U1;
The buffer U3A that input is connected with the pin PWMM of described motor special motion controller chip U1;
Described motor-drive circuit comprises motor driver chip U2, resistance R 2, resistance R 30, capacitor C 24, capacitor C 17 and capacitor C 28; The pin CP of described motor driver chip U2 connects 12V power supply by capacitor C 17; Described capacitor C 24 is connected between the pin CP2 and pin CP1 of described motor driver chip U2; The pin PHASE of described motor driver chip U2 connects the output of described buffer U3B; The pin Rosc of described motor driver chip U2 is by resistance R 2 ground connection; The pin ENABLE of described motor driver chip U2 is connected with the output of described buffer U3A; The pin OUTA of described motor driver chip U2 connects the positive pole of described servomotor; The pin OUTB of described motor driver chip U2 connects the negative pole of described servomotor; The pin SENSE of described motor driver chip U2 is by resistance R parallel with one another 30 and capacitor C 28 ground connection.
5. the accurate control structure of a kind of automatic multi-diaphragm collimator blade according to claim 3, is characterized in that described motor special motion controller U1 adopts LM629.
6. the accurate control structure of a kind of automatic multi-diaphragm collimator blade according to claim 4, is characterized in that described motor driver chip U2 adopts A3959.
7. the accurate control structure of a kind of automatic multi-diaphragm collimator blade according to claim 1, is characterized in that described encoder adopts incremental optical-electricity encoder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420317209.6U CN203896236U (en) | 2014-06-13 | 2014-06-13 | Precise blade control structure of automatic multi-blade collimator |
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| CN201420317209.6U CN203896236U (en) | 2014-06-13 | 2014-06-13 | Precise blade control structure of automatic multi-blade collimator |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104518716A (en) * | 2014-12-29 | 2015-04-15 | 黑龙江大学 | Closed loop control system for miniature direct current motor and control method for system |
| CN105022413A (en) * | 2015-08-20 | 2015-11-04 | 成都伊贝基科技有限公司 | Electric multi-leaf grating encoder closed-loop control system |
| CN106017331A (en) * | 2016-06-27 | 2016-10-12 | 深圳市奥沃医学新技术发展有限公司 | Fiber detection head mounting structure, fiber detection equipment and multi-leaf collimator system |
| CN106512221A (en) * | 2015-09-14 | 2017-03-22 | 上海联影医疗科技有限公司 | Multi-leaf collimator, driving system of blades of multi-leaf collimator and driving method |
| CN110548230A (en) * | 2019-09-11 | 2019-12-10 | 上海联影医疗科技有限公司 | multi-leaf collimator control method, radiotherapy system and storage medium |
| US10510456B2 (en) | 2015-09-10 | 2019-12-17 | Shanghai United Imaging Healthcare Co., Ltd. | Multi-leaf collimator and driving system |
| CN112399872A (en) * | 2020-03-12 | 2021-02-23 | 上海联影医疗科技股份有限公司 | Multi-leaf collimator leaf drive system and method |
| CN114424947A (en) * | 2022-04-06 | 2022-05-03 | 深圳市创谷科技发展有限公司 | Beam limiter operation control method and device, beam limiter and X-ray machine |
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2014
- 2014-06-13 CN CN201420317209.6U patent/CN203896236U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104518716A (en) * | 2014-12-29 | 2015-04-15 | 黑龙江大学 | Closed loop control system for miniature direct current motor and control method for system |
| CN105022413A (en) * | 2015-08-20 | 2015-11-04 | 成都伊贝基科技有限公司 | Electric multi-leaf grating encoder closed-loop control system |
| CN105022413B (en) * | 2015-08-20 | 2018-04-10 | 成都伊贝基科技有限公司 | Electric multiblade optical grating encoder closed-loop control system |
| US11342093B2 (en) | 2015-09-10 | 2022-05-24 | Shanghai United Imaging Healthacre Co., Ltd. | Multi-leaf collimator and driving system |
| US10510456B2 (en) | 2015-09-10 | 2019-12-17 | Shanghai United Imaging Healthcare Co., Ltd. | Multi-leaf collimator and driving system |
| CN106512221B (en) * | 2015-09-14 | 2019-06-28 | 上海联影医疗科技有限公司 | Multi-diaphragm collimator, the drive system of multi-diaphragm collimator blade and driving method |
| CN106512221A (en) * | 2015-09-14 | 2017-03-22 | 上海联影医疗科技有限公司 | Multi-leaf collimator, driving system of blades of multi-leaf collimator and driving method |
| CN106017331B (en) * | 2016-06-27 | 2019-04-19 | 深圳市奥沃医学新技术发展有限公司 | Fiber laser arrays head mounting structure, optical fiber measurement equipments and multi-diaphragm collimator system |
| CN106017331A (en) * | 2016-06-27 | 2016-10-12 | 深圳市奥沃医学新技术发展有限公司 | Fiber detection head mounting structure, fiber detection equipment and multi-leaf collimator system |
| CN110548230A (en) * | 2019-09-11 | 2019-12-10 | 上海联影医疗科技有限公司 | multi-leaf collimator control method, radiotherapy system and storage medium |
| CN110548230B (en) * | 2019-09-11 | 2021-05-18 | 上海联影医疗科技股份有限公司 | Multi-leaf collimator control method, radiotherapy system and storage medium |
| CN112399872A (en) * | 2020-03-12 | 2021-02-23 | 上海联影医疗科技股份有限公司 | Multi-leaf collimator leaf drive system and method |
| US11491347B2 (en) | 2020-03-12 | 2022-11-08 | Shanghai United Imaging Healthcare Co., Ltd. | Systems and methods for driving leaves of a multi-leaf collimator |
| CN112399872B (en) * | 2020-03-12 | 2022-11-22 | 上海联影医疗科技股份有限公司 | Multi-leaf collimator leaf drive system and method |
| CN114424947A (en) * | 2022-04-06 | 2022-05-03 | 深圳市创谷科技发展有限公司 | Beam limiter operation control method and device, beam limiter and X-ray machine |
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