CN108785877A

CN108785877A - A kind of motion control method and equipment

Info

Publication number: CN108785877A
Application number: CN201810603243.2A
Authority: CN
Inventors: 徐兴虎; 柴猛; 许世鹏; 王铁铮; 郑旭; 鄢博
Original assignee: Neusoft Medical Systems Co Ltd
Current assignee: Neusoft Medical Systems Co Ltd
Priority date: 2018-06-12
Filing date: 2018-06-12
Publication date: 2018-11-13
Also published as: CN109966663B; CN109966663A

Abstract

A kind of motion control method and equipment are applied to kinetic control system, for controlling at least two kinematic systems at the same time, respectively move to corresponding desired locations, including：Obtain the desired locations in each Ziye of each kinematic system in a launched field；Controlling cycle, movement velocity of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye are set；In the start time point of controlling cycle, the current actual motion position of each kinematic system is obtained；According to the difference of the desired locations in the current actual motion position of each kinematic system and Ziye or the position difference of the currently practical movement position of each kinematic system and the target location of a upper controlling cycle, each kinematic system is adjusted in the movement velocity of current control period to compensate the movement warp of each kinematic system；In current control period, each kinematic system is controlled according to the movement velocity after adjustment and is moved.Dynamic realtime planning and adjusting may be implemented in the application, improves control accuracy.

Description

A kind of motion control method and equipment

Technical field

The invention relates to technical field of medical equipment, and in particular to a kind of motion control method and equipment.

Background technology

Radiotherapy is one of the conventional means for treating tumour, and the purpose of core of work is exactly to be sent out using accelerator The kill tumor tissues of ray high degree simultaneously protect its normal surrounding tissue as possible, and this requires high-energy ray line directives to suffer from When person, it is necessary to be limited to its range of exposures.Since patient demand, lesions position and its 3D shape are not quite similar, So the considerations of for accurate treatment, raising therapeutic efficiency etc., need to realize essence to the kinematic system that radiotherapy is related to Really control.Wherein, the main movement system that radiotherapy is related to is respectively：Rack Rotable Control System, dosage control system and Multi-diaphragm collimator (MLC).As shown in Figure 1,11 be multi-diaphragm collimator, 12 be rack, and 13 be beam of radiation, and 14 be therapeutic bed, 15 For treatment head.Rack is to support the agent structure of entire linear accelerator, can be perpendicular to ground and perpendicular to therapeutic bed Plane internal rotation, can be according to actual requirement acceleration or deceleration.Beam of radiation is high-energy ray line, and emission rate is can With adjusting, due to physical characteristic, the exposure that lesion is received is monotonic increase, which is referred to as to accumulate agent Amount.

The tumour relevant information that radiotherapy is obtained according to image documentation equipment first, then comprehensive patient's demand and tumor type Many factors are waited to determine therapeutic scheme, the plan of further obtaining medical treatment (treatment planning system, TPS), Each treatment plan is referred to as launched field, including such as patient information, therapeutic scheme information, facility information, allowable error etc., In also include several sub- launched fields, the specified position of each control system is included in every sub- launched field, all control systems are all The TPS information for strictly observing corresponding therapeutic scheme is needed to be moved.Currently, the main therapeutic scheme of radiotherapy includes conformal Pattern (Aperture), static intensity modulating (Step&shoot), arc therapy (ARC), dynamic intensity modulated therapy (Dynamic Intensity-Modulated Radiation Therapy, DIMRT), the strong arc radiotherapy (Volumetric of adjustment with volume Modulated Arc Therapy, VMAT) etc..Wherein, VMAT is a hot spot of current radiotherapy research field.It is controlled this In treatment scheme, while radioactive source goes out beam, blade and rack are also in the coordinated movement of various economic factors, according to the requirement for the treatment of plan, three controls System processed needs while reaching each designated position point, and has the characteristics that while starting to be simultaneously stopped.This treatment means are filled Divide the three-dimensional structure in view of tumour, with speed is fast, precision is high, volume requirements are low, tumour adaptability higher, damage is small and controls The good advantage of therapeutic effect.However, since several systems need the coordinated movement of various economic factors, higher complexity is proposed on motion planning Property.In addition, the challenge to can all bring bigger in the response speed and control accuracy of each system.

As shown in Fig. 2, a kind of VMAT control methods exist in the prior art, the mode of rule base may be used to each system It is planned.This method completes each system coordination campaign according to rule, and MLC systems are arranged as critical system. If critical system is in place, other systems are not in place and error continues to move in permissible range.If critical system is not in place, In place, then other systems break-off 1 second, critical system continue to move for his system；If after 1 second, critical system not yet in place, then Stop treatment, checks system drive ability.In this control method, other systems in place and MLC systems feelings not in place Under condition, it may require that other systems are stopped.But due to the presence of inertia, this generally requires certain time, so as to generate Overshoot, it is also necessary to readjust correction, also starting stage speed can be caused relatively low due to the presence of inertia in the case of restarting. In addition, corrected using rule, take measures often a certain system in place when carry out, i.e., motion process does not have between control point There is corresponding strategy, accuracy can be caused relatively low, it is difficult to ensure that accurately reaching the position required in treatment plan, is likely to when serious The position at each control point can have certain deviation, be likely to influence therapeutic effect as a whole.

Invention content

The embodiment of the present application provides a kind of dynamic radiotherapy control method and equipment, it is intended to solve prior art presence Radiotherapy control method precision is low, the technical issues of cannot adjusting in real time.

For this purpose, the embodiment of the present application provides the following technical solutions：

The embodiment of the present application in a first aspect, disclose a kind of motion control method, the method is applied to motion control System, the kinetic control system respectively move to the corresponding phase for controlling at least two kinematic systems at the same time Hope position, the method includes：Obtain the desired locations in each Ziye of each kinematic system in a launched field；Setting control week Phase, movement velocity of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye are controlling The start time point in period obtains the current actual motion position of each kinematic system；According to the current reality of each kinematic system The difference of border movement position and desired locations in Ziye, adjust each kinematic system current control period movement velocity with Compensate the movement warp of each kinematic system；In current control period, according to the movement velocity after adjustment control each kinematic system into Row movement.

The second aspect of the embodiment of the present application, discloses a kind of motion control method, and the method is applied to motion control System, the kinetic control system respectively move to the corresponding phase for controlling at least two kinematic systems at the same time Hope position, the method includes：Obtain the desired locations in each Ziye of each kinematic system in a launched field；Setting control week Phase, movement velocity of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye；By each Desired locations and the controlling cycle of the kinematic system in each Ziye, obtain each kinematic system in the target position of each controlling cycle It sets；In the start time point of controlling cycle, the current actual motion position of each kinematic system is obtained；According to each kinematic system Current actual motion position, in the position difference of the target location of a upper controlling cycle, adjusts each movement with the kinematic system System compensates the movement warp of each kinematic system in the movement velocity of current control period；In current control period, according to tune Movement velocity after whole controls each kinematic system and is moved.

The third aspect of the embodiment of the present application discloses a kind of dynamic radiotherapy control method, is applied to dynamic and radiates Control system is treated, the system comprises upper computer module, processing module, control system module and feedback module, the controls System module includes rack Rotable Control System, dosage control system, multi-diaphragm collimator MLC, and the control system module is used for It controls controlled device at the same time, respectively moves to corresponding desired locations, the controlled device includes rack, accelerating tube Grid rifle, MLC, the method includes：The upper computer module obtains launched field information and Ziye information, is sent out to the processing module Send the launched field information and Ziye information of acquisition；The launched field information includes the desired locations of each controlled device, the Ziye information Include desired locations of the controlled device in each Ziye；The processing module obtains the launched field information and son that upper computer module is sent Wild information, and in the start time point of current control period, the current reality of each controlled device that acquisition feedback module is sent Movement position；The processing module controlling cycle start time point, according to the current actual motion position of the controlled device Set the target of the actual motion position current with the difference of the desired locations in Ziye or controlled device and a upper controlling cycle The position difference of position adjusts the controlled device in the movement velocity of current control period to compensate the fortune of the controlled device Dynamic deviation；The movement velocity that the control system module is used to be calculated according to the processing module controls each controlled device and is transported It is dynamic.

The fourth aspect of the embodiment of the present application discloses a kind of motion control apparatus, and the motion control apparatus is for controlling It makes at least two kinematic systems at the same time, respectively moves to corresponding desired locations, including：First obtains unit is used Desired locations in each Ziye of each kinematic system of acquisition in a launched field；Setting unit, it is described for controlling cycle to be arranged Movement velocity of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye；Second obtaining unit, For the start time point in controlling cycle, the current actual motion position of each kinematic system is obtained；Adjustment unit is used for root According to the difference of the desired locations in the current actual motion position of each kinematic system and Ziye, each kinematic system is adjusted current The movement velocity of controlling cycle is to compensate the movement warp of each kinematic system；Control unit, in current control period, according to Movement velocity after adjustment controls each kinematic system and is moved.

5th aspect of the embodiment of the present application, discloses a kind of equipment for motion control, includes memory, and One either more than one program one of them or more than one program be stored in memory, and be configured to by one A or more than one processor executes motion control method as described in relation to the first aspect.

6th aspect of the embodiment of the present application, discloses a kind of machine readable media, is stored thereon with instruction, when by one Or multiple processors are when executing so that equipment executes motion control method as described in relation to the first aspect.

7th aspect of the embodiment of the present application, discloses a kind of equipment for motion control, includes memory, and One either more than one program one of them or more than one program be stored in memory, and be configured to by one A or more than one processor executes the motion control method as described in second aspect.

The eighth aspect of the embodiment of the present application discloses a kind of machine readable media, is stored thereon with instruction, when by one Or multiple processors are when executing so that equipment executes the motion control method as described in second aspect.

Motion control method provided by the embodiments of the present application and equipment can be applied to kinetic control system, the movement Control system respectively moves to corresponding desired locations for controlling at least two kinematic systems at the same time.Specifically, The embodiment of the present application can obtain the desired locations in each Ziye of each kinematic system in a launched field, setting controlling cycle so as to The movement velocity of each kinematic system of Discrete control in the forming process of each Ziye.In the start time point of controlling cycle, obtain The actual motion position that each kinematic system is current is taken, according to the current actual motion position of each kinematic system and in Ziye Desired locations difference, adjust each kinematic system in the movement velocity of current control period to compensate the movement of each kinematic system Deviation；In current control period, each kinematic system is controlled according to the movement velocity after adjustment and is moved.Due to can be according to each The actual motion situation of kinematic system adjusts the movement velocity of current control period kinematic system, with compensation campaign system upper The movement difference of one controlling cycle, realizes and controls precisely in real time, and can realize the coordination fortune of more than two kinematic systems It is dynamic.Therefore, dynamic realtime planning and adjusting may be implemented in the embodiment of the present application, effectively improves the control accuracy of system entirety, favorably In smoothly completing for radiotherapy, mitigate the pressure of medical staff and patient

Description of the drawings

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments described in application, for those of ordinary skill in the art, without creative efforts, Other drawings may also be obtained based on these drawings.

Fig. 1 is linear accelerator radiotherapy irradiation signal schematic diagram；

Fig. 2 is the VMAT control method schematic diagrames that the prior art provides；

Fig. 3 provides application scenarios schematic diagram for one embodiment of the application；

Fig. 4 is the motion control method flow chart that one embodiment of the application provides；

Fig. 5 is the motion control method flow chart that another embodiment of the application provides；

Fig. 6 is the motion control method flow chart that another embodiment of the application provides；

Fig. 7 is the motion control method flow chart that the application another embodiment provides；

Fig. 8 is the motion control method flow chart that the another embodiment of the application provides；

Fig. 9 is dynamic radiotherapy control system schematic diagram provided by the embodiments of the present application；

Figure 10 is the motion control apparatus schematic diagram that one embodiment of the application provides；

Figure 11 is a kind of block diagram for motion control apparatus shown according to an exemplary embodiment；

Figure 12 is the motion control method flow chart that the another embodiment of the application provides.

Specific implementation mode

The embodiment of the present application provides a kind of motion control method and equipment, and dynamic realtime planning and adjusting may be implemented, have The control accuracy for imitating raising system entirety is conducive to smoothly completing for radiotherapy, mitigates the pressure of medical staff and patient.

It should be noted that method provided by the embodiments of the present application can be applied in kinetic control system, the movement Control system is for controlling at least two kinematic system coordinated movements of various economic factors.Certainly, the kinetic control system can be used for controlling Three or three or more the kinematic system coordinated movements of various economic factors.In the embodiment of the present application, it is applied to dynamic radiation in this way to control It is illustrated for treatment control system.Certainly, the embodiment of the present application is also applied in other application scene, such as is applied to The application scenarios of more than two kinematic system coordinated movements of various economic factors.

First, the thought of the application is illustrated.It should be noted that the realization of VMAT is according to treatment plan, It can all be divided into several Ziyes per portion treatment plan, correspond to multiple controlling cycles, shelf position, accumulation are provided in each Ziye The target location of each blade in dose value and multi-diaphragm collimator.It should be noted that one during forming a Ziye As multiple controlling cycles can be set, the controlling cycle is used for each kinematic system of Discrete control in the forming process of each Ziye Movement velocity.May include one or more controlling cycles, with gradually in motion process of the kinematic system in a Ziye Move to the desired locations in Ziye.It is achieved that the target of VMAT be three systems simultaneously since first Ziye position, Position as defined in each Ziye is reached by the sequence for the treatment of plan simultaneously, is to the last simultaneously stopped when a Ziye, wherein Each Ziye can be referred to as a control point.Its schematic diagram is as shown in Figure 3.Wherein, i is current control point serial number, Φ_iFor Defined shelf position, D_iFor defined intergal dose value, P_iFor defined leaf position value, it should be noted that P_iFor array, including The positional value of multiple blades.

, can be between current control point and next control point under the premise of if any change does not occur for kinematic system According to requiring to travel at the uniform speed.However in actual motion process, exterior can have various disturbances, internal system also due to Friction, the reasons such as inertia and accuracy generate error, to influence the accuracy of kinematic system.

In order to ensure that blade can accurately reach designated position when each intergal dose reaches, every certain Time needs to be detected the location of each system, and is corrected according to the needs of detection data and treatment plan, And then it needs to introduce motion planning and control system.Applicant has found during realizing the application, due to external environment Influence is different with internal each characteristic of system, and how the several control systems of the coordinated movement of various economic factors are to realize a pass of VMAT treatment modes Key point.Based on this, present applicant proposes a kind of control methods, can not be by external disturbance and the shadow of control system internal error It rings, according to the requirement that the actual feedback signal of control system and TPS plan, can plan a control under each control system in real time The target velocity in period and/or target location can complete to treat, and ensure higher positional precision with prestissimo, as possible It reduces some system and stops waiting for even deviation larger the case where causing fault cues, ensure that entire treatment is steady, it is quickly complete At.

The technology of the present invention implementation overall architecture is as shown in figure 9, the method is applied to dynamic radiotherapy control system System, the system comprises upper computer module, processing module, control system module and feedback module, the control system module packet Including rack Rotable Control System, dosage control system, multi-diaphragm collimator MLC control systems.The rack Rotable Control System packet Including rack controller, actuating motor, rack；The dosage control system includes Dose Controller, modulator, accelerates tube grid Rifle；The MLC control systems include MLC controllers, actuating motor, MLC.Wherein, the control system module is for controlling quilt It controls object at the same time, respectively moves to corresponding desired locations, the controlled device includes rack, accelerates tube grid Rifle, MLC, the controlled device can become moving component or kinematic system again.It should be noted that multiple controls can be arranged Period processed, movement velocity of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye.Son Wild information contains the expectation position of each rack Rotable Control System, dosage control system, multi-diaphragm collimator MLC in each Ziye It sets.As shown in Figure 9, wherein [Φ_i,D_i,P_i] be treatment plan in i-th of controlling cycle frame angle, intergal dose value and The target location of each blade in MLC.[Φ_r,D_r,P_r] it is the adjustment position of next controlling cycle that processor is planned, [Φ_e,D_e,P_e] in order to control in system controller input value (alternate position spike), [Φ_u,D_u,P_u] device output in order to control, [φ_M,D_M, P_M] be respectively each system actuators driving torque and trigger pulse, [Φ_c,D_c,P_c] it is actual position value.The host computer mould Block 901 sends the launched field information obtained and Ziye information to the processing module for obtaining launched field information and Ziye information.Tool Body, upper computer module 901 is responsible for treatment plan by dedicated analysis software, by the data of launched field information and Ziye information It exports and is sent in processing module 902 and be stored for processing module calling according to protocol format.The launched field information includes each The desired locations of controlled device, such as may include the blade quantity of MLC, Ziye quantity, rack direction of rotation etc..The Ziye Information includes desired locations of the controlled device in each Ziye, such as can include shelf position, each in intergal dose value and MLC A leaf position etc..

Processing module (MCU) 902 (such as microcontroller, FPGA, PC machine etc.) obtains the launched field letter that upper computer module is sent Breath and Ziye information, and in the start time point of current control period, each controlled device that acquisition feedback module is sent is current Actual motion position, and in current control period, according in the current actual motion position of the controlled device and Ziye The alternate position spike of the current actual motion position and the target location of a upper controlling cycle of difference or controlled device of desired locations Value, adjusts the controlled device in the movement velocity of current control period to compensate the movement warp of the controlled device.Specifically The adjustment movement velocity in current control period can be calculated in ground, processing module, be calculated according to the adjustment movement velocity Target location after each controlled device adjustment of current control period.The adjustment target location is sent to each control system module In.

Each control system includes controller, actuating motor and corresponding controlled device three in control system module 903 Component part, controlled device in the target location of current control period and is controlled after the controller acquisition adjustment of each control system The position difference of actual motion position of the object before current control period starts, controlled ginseng is adjusted according to the position difference Number (electric current or voltage value) is moved to the target location after adjustment by corresponding driving device driving controlled device.It needs Bright is the controlling cycle that the practical controlling cycle inside control system is generally set no longer than processing module, and is more short-acting Fruit is more excellent.Then, then it is by feedback module 904 that actual location information (or velocity information) is anti-by the node of each system Processing module of feeding 902 and control system module 903, according to controlling cycle, it is next that processing module 902 acquires corresponding data progress Secondary planning, to form planning closed loop and control the structure of closed loop.

When a certain control system physical location be more than next control point setting position, then by next control point it The data importing at control point afterwards is planned as new target location, until processor detection sends out stopping life afterwards in place It enables.If the positional value of wherein a certain control system appears in the deviation in permissible range, planning module can be adjusted according to circumstances Other two aims of systems position is to realize the multisystem coordinated movement of various economic factors；But it is similar with scheme is introduced before, if a certain system Deviation is excessive, then the planning module can send out error code and require to stop treating.

It is introduced below in conjunction with the motion control method shown in attached drawing 4 to 8 the application exemplary embodiment of attached drawing.

Referring to Fig. 4, the motion control method flow chart provided for one embodiment of the application.The method is applied to movement and controls System processed, the kinetic control system respectively move to corresponding for controlling at least two kinematic systems at the same time Desired locations.As shown in figure 4, may include：

S401 obtains the desired locations in each Ziye of each kinematic system in a launched field.

It is previously noted that each kinematic system includes multiple Ziyes in a launched field, each Ziye contains each kinematic system and exists Desired locations in Ziye.For example, the Ziye information can include each rack Rotable Control System, it is dosage control system, more Desired locations of the leaf collimator MLC in each Ziye.

S402, is arranged controlling cycle, and the controlling cycle is used for the Discrete control in the forming process of each Ziye and respectively transports The movement velocity of dynamic system.

When specific implementation, in order to make at least two kinematic systems at the same time, corresponding expectation position is respectively moved to It sets, multiple controlling cycles can be set.In each Ziye forming process, one or more controlling cycles can be set, be used for The movement velocity of each kinematic system of Discrete control in the forming process of each Ziye.It should be noted that each Ziye corresponds to The quantity of controlling cycle can be different.The length of controlling cycle can be identical.It illustrates, it is assumed that at first In the forming process of Ziye, 5 controlling cycles are provided with, each controlling cycle is respectively 0-2 seconds, 3-4 seconds, 5-6 seconds, 7-8 seconds, 9- 10 seconds.For another example, in the forming process of second Ziye, 3 controlling cycles, such as 11-12S, 13-14S, 15- can be set 16S.Certainly, it these are only exemplary illustration, be not intended as the limitation to the application.

S403 obtains the current actual motion position of each kinematic system in the start time point of controlling cycle.

S404 is adjusted according to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye Whole each kinematic system compensates the movement warp of each kinematic system in the movement velocity of current control period.

S405 controls each kinematic system according to the movement velocity after adjustment and is moved in current control period.

It is different according to the realization of S404 when the application implements, there is different realization methods.Specifically, at this In one embodiment, be according to kinematic system the corresponding Ziye of current control period desired locations and the kinematic system upper one The position difference of controlling cycle actual motion position adjusts kinematic system and carrys out compensation campaign in the movement velocity of current control period Deviation.It is different according to the mode for how adjusting movement velocity, but there are two different realization methods.

Specifically, in some embodiments, the actual motion position current according to each kinematic system in Ziye In desired locations difference, adjust each kinematic system in the movement velocity of current control period to compensate the fortune of each kinematic system Dynamic deviation includes：It is current to obtain desired locations and each kinematic system of each kinematic system in the corresponding Ziye of current control period The position difference of actual motion position determines each movement according to the maximum movement speed of the position difference and each kinematic system System reaches the most short execution time needed for the desired locations in the Ziye；It determines each most short maximum value for executing the time, makees For each kinematic system current control period the execution time；Determine that the kinematic system is controlled currently according to the execution time The desired motion speed in period processed.In this implementation, be by determination most it is short execute the time maximum value to determine The movement velocity of kinematic system is stated, to realize the coordinated movement of various economic factors of a kinematic system.Specific implementation is referred to Fig. 6 The description of illustrated embodiment.

In some embodiments, the actual motion position current according to each kinematic system and the expectation position in Ziye The difference set adjusts each kinematic system in the movement velocity of current control period to compensate the movement warp packet of each kinematic system It includes：According to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye, the fortune is calculated Executive capability utilization value of the dynamic system in current control period；It obtains the kinematic system and executes effect in a upper controlling cycle Rate value；Using the maximum value in the ratio of the kinematic system executive capability utilization value and execution efficiency value as adjustment factor； According to the adjustment factor determine the kinematic system current control period movement velocity.In this implementation, it is The factor for considering system execution efficiency realizes the condition to the system motion speed, to realize by adjustment factor The coordinated movement of various economic factors of a kinematic system.Specific implementation is referred to the description of embodiment illustrated in fig. 7.

Illustrate motion control method provided by the present application for applied to dynamic radiotherapy control system below.It needs Illustrate, how according to the actual motion position of at least two kinematic systems and the difference of target location, adjusts each kinetic system The movement velocity in current control period of uniting is referred to Fig. 5 extremely to compensate the specific implementation of the movement warp of the kinematic system Fig. 8 embodiments and carry out.

Referring to Fig. 5, the motion control method flow chart provided for one embodiment of the application.Applied to dynamic radiotherapy control System processed, the system comprises upper computer module, processing module, control system module and feedback module, the control system mould Block includes rack Rotable Control System, dosage control system, multi-diaphragm collimator MLC control systems, and the control system module is used At the same time in control controlled device, corresponding desired locations are respectively moved to, the controlled device includes rack, accelerates Tube grid rifle, MLC, as shown in figure 5, may include：

S501, upper computer module obtain launched field information and Ziye information, and the launched field letter obtained is sent to the processing module Breath and Ziye information.

Wherein, the launched field information for example may include the blade quantity of MLC, Ziye quantity, rack direction of rotation and The desired locations etc. of each controlled device.Wherein, the quantity for the controlling cycle that Ziye quantity is used to show to be arranged within the expected time, Such as Ziye quantity is 5, then shows to be provided with 5 controlling cycles.The Ziye information includes each controlled device in each control week The target location of phase.Such as each leaf position in shelf position, intergal dose value and MLC etc. can be included.Wherein, each controlled Object is properly termed as kinematic system again.

S502, processing module obtain the launched field information and Ziye information that upper computer module is sent, and in current control week When phase starts, the current actual motion position of each controlled device that acquisition feedback module is sent.

S503, processing module is in current control period, according to the current actual motion position of the controlled device and Ziye In desired locations difference or the current actual motion position of controlled device and the target location of a upper controlling cycle position Difference is set, adjusts the controlled device in the movement velocity of current control period to compensate the movement warp of the controlled device.

S504, the control system module are used to control each controlled device according to the movement velocity that the processing module calculates It is moved.

When specific implementation, the mode that movement velocity how is adjusted according to processing module is different, and the embodiment of the present application has not Same realization method.

It is more clearly understood that presently filed embodiment for the ease of those skilled in the art, below with three specific examples The application is implemented how to adjust the movement velocity of each kinematic system to realize that the specific implementation of movement warp compensation carries out It introduces.It should be noted that the specific example is only so that those skilled in the art more clearly understand the application, but the application Embodiment be not limited to the specific example.

Referring to Fig. 6, the motion control method flow chart provided for the application another embodiment.As shown in fig. 6, can wrap It includes：

S601 obtains desired locations of each kinematic system in the corresponding Ziye of current control period and works as with each kinematic system The position difference of preceding actual motion position.

When specific implementation, desired locations of each kinematic system in the corresponding Ziye of current control period can be obtained [Φ_i,D_i,P_i].Wherein, [Φ_i,D_i,P_i] it is the frame angle of i-th of control point (i-th of Ziye) in treatment plan, accumulation agent The position of each blade in magnitude and MLC, that is, desired locations of each kinematic system in i-th of Ziye.

S602 determines that each kinematic system reaches the son according to the maximum movement speed of the difference and each kinematic system The most short execution time needed for the desired locations of Yezhong.

When specific implementation, reaching needed for next control point for each system can be determined according to alternate position spike and maximum speed The most short execution time.

Wherein, t_1min,t_2min,t_3minThe respectively most short execution time of machine frame system, sosimetric system and MLC systems；The respectively current shelf position value of feedback module feedback, intergal dose value and leaf position value；ω_max,μ_max, ν_maxRespectively maximum rack rotating speed, maximum dose rate and the maximum blade movement speed of current device.Wherein, [Φ_i,D_i,P_i] For the position of each blade in the frame angle at i-th of control point, intergal dose value and MLC in treatment plan, that is, each movement Desired locations of the system in Ziye.

Since blade quantity is more, but as due to the shape of blade, material with driving motor being, therefore actuator is held Row ability is identical, therefore only it needs to be determined that the farthest blade in distance objective position is calculated.

S603 determines each most short maximum value for executing the time, as each kinematic system in the execution of current control period Between.

When specific implementation, the three most short maximum value executed in the time can be obtained, i.e., with the longest system of required time As standard, other two system then reduces speed, to ensure not exceed the speed limit of each system, and can play The ability of most slow system relatively, to which whole system can reach target location as early as possible.In addition, due to needing according to control week Phase is planned, therefore herein to maximum duration controlling cycle rounding, expression formula is as follows：

T=ceil (max (t_1min,t_2min,t_3min)/T)*T

Ceil function representations round up, and T is the controlling cycle of setting, and t is the execution time of current control period.

S604, according to it is described execution the time determine each kinematic system current control period desired motion speed.

Specifically, according to the execution time obtained in the previous step, speed when reaching control point is planned again：

Expectation rack rotating speed after respectively planning again, desired amount rate and desired blade movement speed.

S605, according to desired motion speed determine each kinematic system current control period target location value.

For the target location of the rack of j+1 controlling cycle；For the sosimetric system of jth+1 controlling cycle It is expected that intergal dose value；For+1 period blade target location value of jth.T periods in order to control.

S606 judges whether to go to next control point；If so, executing S601.

When specific implementation, next control point is then jumped to when the position of a certain system reaches even more than target location.

Specifically, when jumping to next control point, if there is not reaching target and deviation is less than threshold value, then continue It is planned according to next control point.If it exceeds given threshold, then concurrently malfunction wrong report for processing module record current location It accuses, directly stops the various pieces that treatment checks the control system, after system recovery, by clinical staff, maintenance personnel and trouble Person assesses continual cure or stopped treatment.

In the application this embodiment, sets longest system of current desired time and run with maximum speed, in addition two The mode of the corresponding reduction of speed of a system, gives full play to the locomitivity of three systems, and it is most short to may be implemented treatment time, and can avoid There is the phenomenon that system does not catch up with always other systems.The embodiment of the present application can give full play to the locomitivity of three systems, if Longest system takes the mode that maximum speed is run the time required to before settled, for different integral doses treatment plan it is suitable Response is more preferable.Further, since by the way of planning online, intergal dose smoothness is more preferable, and precision real-time, tunable, reliably Property higher.

Referring to Fig. 7, the motion control method flow chart provided for the another embodiment of the application.It is different from scheme shown in Fig. 6 , the coordinated movement of various economic factors is realized by the way of difference compensation.That is, upper controlling cycle movement warp is in movement below It recovers in the process, but since each control system has the movement velocity upper limit, direct compensation may be more than the system Maximum speed range, therefore also need to carry out weight-normality draw.As shown in fig. 7, shown method may include：

It is current in the desired locations of the corresponding Ziye of current control period and each kinematic system to obtain each kinematic system by S701 The difference of actual motion position.

S702, obtain each kinematic system a upper controlling cycle execution efficiency value.

Specifically, each kinematic system reality current in the target location of a upper controlling cycle, each kinematic system can be obtained Execution of each kinematic system in a upper controlling cycle is calculated in border movement position and the locomotion speed value of the kinematic system Efficiency value.

For example, can be according to the positional value of feedback and the target location value of a upper controlling cycle and desired velocity amplitude meter Calculation obtains the execution efficiency value of each system.

Wherein,The execution efficiency value of respectively machine frame system, sosimetric system and MLC systems, MLC systems are still The farthest blade of chosen distance desired value.For the target location of the rack of -1 controlling cycle of jth；For -1 control of jth The target accumulated dose value of cycle dose system processed；For -1 controlling cycle blade desired position value of jth.It is controlled for j-th The target location of the rack in period processed；For the target accumulated dose value of j-th of controlling cycle sosimetric system；It is controlled for j-th Period blade target location value processed.T periods in order to control.The expectation rack of respectively j-th controlling cycle turns Speed, desired amount rate and expectation blade movement speed.

S703 is calculated according to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye Obtain the kinematic system current control period executive capability utilization value.

When specific implementation, S703 may include again：

S703A determines each kinetic system according to the maximum movement speed of the S701 differences obtained and each kinematic system System reaches the most short execution time needed for the desired locations in the Ziye.

S703B determines the maximum value of the most short execution time, as each kinematic system current control period execution Time.

S703C, according to it is described execution the time determine each kinematic system current control period desired motion speed.

S703D controls the ratio of the desired motion speed and maximum movement speed as each kinematic system currently The executive capability utilization value in period.

Wherein, the realization of S703A to S703C is referred to S601 to S604 and carries out, and details are not described herein.

Specifically, the positional value of the current location and next control point that can be obtained according to feedback, can it is expected Executive capability utilization rate, that is, the ratio of the desired speed and maximum speed planned.

η_Φ,η_R,η_PThe respectively executive capability utilization rate of machine frame system, sosimetric system and MLC systems.Respectively For after planning again expectation rack rotating speed, desired amount rate and it is expected blade movement speed.ω_max,μ_max,ν_maxRespectively work as Maximum rack rotating speed, maximum dose rate and the maximum blade movement speed of preceding equipment.T is the current control period that S703 is determined Execute the time.

S704 uses each kinematic system executive capability rate the maximum value in the ratio of rate value and execution efficiency value as adjusting Coefficient.

Specifically, the executive capability utilization rate that can take each kinematic system and the maximum value of execution efficiency ratio are used as and adjust Coefficient.

Wherein, t ' is adjustment factor.

S705, according to the adjustment factor determine each kinematic system current control period movement velocity.

Specifically, the desired motion speed of current control period can be determined according to following formula.

Wherein,Expectation rack rotating speed, desired amount rate and expectation blade after respectively adjusting move Dynamic speed.

S706, the movement velocity according to each kinematic system in current control period calculate target movement position.

In the embodiment shown in fig. 7, it is contemplated that there are the influences of droop for the executive capability of control system actuator, and Provide corresponding antidote.Specifically the deviation of each system is corrected by way of calculating adjustment factor, to real Existing each system coordination campaign.Further, since introducing the concept of execution efficiency, the larger movement of execution efficiency deviation can be corrected System, and each kinematic system is planned again, it is more than system thresholds to prevent desired speed, improves the in-placing precision of system.

In other embodiments, it can realize at least two kinematic systems of control when identical by other means Between, respectively move to corresponding desired locations.As shown in figure 12：

S1201 obtains the desired locations in each Ziye of each kinematic system in a launched field.

S1202, is arranged controlling cycle, and the controlling cycle is used for the Discrete control in the forming process of each Ziye and respectively transports The movement velocity of dynamic system.

S1203 obtains each kinematic system by desired locations of each kinematic system in each Ziye and the controlling cycle In the target location of each controlling cycle.

When specific implementation, calculating of the kinematic system in the target location of i-th of controlling cycle is referred to S601 extremely S605 is carried out.

S1204 obtains the current actual motion position of each kinematic system in the start time point of controlling cycle.

S1205, according to the current actual motion position of each kinematic system and the kinematic system in a upper controlling cycle Target location position difference, adjust each kinematic system in the movement velocity of current control period to compensate each kinematic system Movement warp.

S1206 controls each kinematic system according to the movement velocity after adjustment and is moved in current control period.

In this embodiment, the mode for using real-time compensation, by calculating kinematic system in a upper controlling cycle Target location and actual motion position alternate position spike mode, the movement velocity of the kinematic system is adjusted, to realize Movement warp compensates.Specifically, in some embodiments, described to be worked as according to the position difference adjustment kinematic system The movement velocity of preceding controlling cycle includes with the movement warp for compensating the kinematic system：If the position difference is more than zero and works as Preceding movement velocity be less than the first given threshold when, improve the kinematic system current control period movement velocity；If described Difference be less than zero and current kinetic speed be more than zero when, reduce the kinematic system current control period movement velocity.Under Face is set forth in this realization method in conjunction with Fig. 8.

Referring to Fig. 8, the motion control method flow chart provided for the another embodiment of the application.In this embodiment, it carries The adjustment mode different from Fig. 6, Fig. 7 is supplied.In this embodiment, each kinematic system can be obtained in a upper controlling cycle Position difference of the target location with each kinematic system in upper controlling cycle actual motion position, adjusts according to the position difference Each kinematic system compensates the movement warp of the kinematic system in the movement velocity of current control period.Specifically, if it is described Position difference is more than zero and the kinematic system is when the movement velocity of current control period is less than the first given threshold, improves institute State kinematic system current control period movement velocity；If the position difference is less than zero and the kinematic system is controlled currently The movement velocity in period processed be more than zero when, reduce the kinematic system current control period movement velocity.Below with one Specific example illustrates.

S801 determines programming movement speed.

In this embodiment, the speed limit of each kinematic system is set to two grades.By taking machine frame system as an example, if It is respectively ω to set two velocity amplitudes₁,ω₂, wherein ω₁> ω₂.Wherein ω₁For real system maximum speed value, ω₂For relatively partially A small conservative maximum speed value.Likewise, setting dosage system speed setting value is μ₁,μ₂, MLC system motion speed sets Definite value is ν₁,ν₂。

When specific implementation, after treatment plan is passed to processing module by host computer, processing module can be according to each adjacent control Make the alternate position spike of point and according to relatively low speed limit (ω₂,μ₂,ν₂) planned.It can specifically refer in embodiment illustrated in fig. 6 S601 to S604 and realize.Then the velocity amplitude that will be planned between each control pointIt stores, waits reaching It is called at corresponding control point.

S802 obtains each kinematic system in the target location of a upper controlling cycle and the current actual motion of each kinematic system The difference of position.

S803, if the position difference is more than zero and the kinematic system is less than the in the movement velocity of current control period When one given threshold, improve the kinematic system current control period movement velocity.

Illustrate by taking mill stand control system as an example, when specific implementation, can according in a upper controlling cycle desired locations with The difference of actual motion position at the end of a upper controlling cycle is compared, and is compensated according to deviation delta.If for example, Δ > 0, and speed is planned againThenFor the desired speed of next controlling cycle,The programming movement speed obtained in S801 for each kinematic system.IfAnd partially Difference is without departing from threshold value, then ω₁Continue to move for the desired speed of next controlling cycle, if it exceeds threshold value then stops treatment inspection Look into all parts of the system.

S804, if the position difference is less than zero and the kinematic system is more than zero in the movement velocity of current control period When, reduce the kinematic system current control period movement velocity.

If for example, Δ < 0, and planning speed againThenFor next control The desired speed in period,The programming movement speed obtained in S801 for each kinematic system.IfThen with prestissimo deceleration stop motion, if deviation is without departing from threshold value, speed to be planned For just or when Δ > 0 continues to move, if it exceeds threshold value then stops all parts that treatment checks the system.

S805 continues to move if the difference is equal to zero according to the desired motion speed of planning.

For example, if Δ=0, continue the desired speed according to planningContinue to move.

In this example, two-stage speed limit value is set, is completed offline by relatively low speed limit value in the preparation stage Plan that the mode for then carrying out position (or/and speed) compensation according to testing result realizes VMAT therapeutic schemes, improves in position Control accuracy.

It should be noted that the introduction for passing through above example, it can be seen that motion control side provided by the embodiments of the present application Method accurately can carry out coordination adjustment in real time according to the physical location of each system.Due to can be in each controlling cycle to each Control point is adjusted so that the in-placing precision higher of each system, and then ensure that the therapeutic effect of accelerator, reducing patient just Killing of the damage and reinforcement often organized to tumour cell.In addition, method of real-time adjustment provided by the embodiments of the present application, reduction stop The possibility of beam ensure that treatment precision to reduce the generation of overshoot.In addition, the embodiment of the present application is for external disturbance And the adaptability to changes enhancing of the variation generated inside each control system, each control system can be carried out according to feedback information timely Adjustment.

Method provided by the embodiments of the present application is introduced in detail above, below to provided by the embodiments of the present application The corresponding equipment of method is introduced.

Referring to Figure 10, the motion control apparatus schematic diagram provided for one embodiment of the application.

A kind of motion control apparatus 1000, the motion control apparatus is for controlling at least two kinematic systems identical Time, corresponding desired locations are respectively moved to, the equipment includes：

First obtains unit 1001, for obtaining the desired locations in each Ziye of each kinematic system in a launched field.

Setting unit 1002, for controlling cycle to be arranged, the controlling cycle is used in the forming process of each Ziye The movement velocity of each kinematic system of Discrete control；

Second obtaining unit 1003 obtains the current reality of each kinematic system for the start time point in controlling cycle Border movement position；

Adjustment unit 1004, for according to the current actual motion position of each kinematic system and the expectation position in Ziye The difference set adjusts each kinematic system in the movement velocity of current control period to compensate the movement warp of each kinematic system.

Control unit 1005, in current control period, according to the movement velocity after adjustment control each kinematic system into Row movement.

In some embodiments, the adjustment unit includes：

Most short execution time calculating unit, for obtaining phase of each kinematic system in the corresponding Ziye of current control period The position difference for hoping position and the current actual motion position of each kinematic system, according to the position difference and each kinematic system Maximum movement speed determine that each kinematic system reaches the most short execution time needed for the desired locations in the Ziye；

Time determination unit is executed, for determining each most short maximum value for executing the time, as each kinematic system current The execution time of controlling cycle；

First movement velocity computing unit, for determining each kinematic system in current control period according to the execution time Desired motion speed.

In some embodiments, the adjustment unit includes：

Efficiency value computing unit, for obtain each kinematic system a upper controlling cycle execution efficiency value；

Utilization value computing unit, for according to the current actual motion position of each kinematic system and the expectation in Ziye The difference of position, be calculated the kinematic system current control period executive capability utilization value；

Adjustment factor computing unit, for will be in the ratio of each kinematic system executive capability utilization value and execution efficiency value Maximum value as adjustment factor；

Second movement velocity computing unit, for determining each kinematic system in current control period according to the adjustment factor Movement velocity.

In some embodiments, the efficiency value computing unit is specifically used for：Each kinematic system is obtained in a upper control The locomotion speed value of the target location in period, the currently practical movement position of each kinematic system and the kinematic system is calculated Execution efficiency value of each kinematic system in a upper controlling cycle.

In some embodiments, the utilization value computing unit includes：

Most short execution time calculating unit, for obtaining expectation of each kinematic system in the corresponding Ziye of current control period The position difference of position and the currently practical movement position of each kinematic system, most according to the position difference and each kinematic system Big movement velocity determines that each kinematic system reaches the most short execution time needed for the desired locations in the Ziye；

Time determination unit is executed, for the most short maximum value for executing the time described in determination, is being worked as each kinematic system The execution time of preceding controlling cycle；

Desired motion speed computing unit, for determining each kinematic system in current control period according to the execution time Desired motion speed；

Adjustment factor computing unit, for using the ratio of the desired motion speed and maximum movement speed as each movement Executive capability utilization value of the system in current control period.

The embodiment of the present application also provides a kind of motion control apparatus, the motion control apparatus is for controlling at least two Kinematic system at the same time, respectively moves to corresponding desired locations, and the equipment includes：

First obtains unit, for obtaining the desired locations in each Ziye of each kinematic system in a launched field；

Setting unit, for controlling cycle to be arranged, the controlling cycle in the forming process of each Ziye for being segmented Control the movement velocity of each kinematic system；

Target location obtaining unit, the desired locations being used for by each kinematic system in each Ziye and control week Phase obtains each kinematic system in the target location of each controlling cycle；

Second obtaining unit obtains the current practical fortune of each kinematic system for the start time point in controlling cycle Dynamic position；

Adjustment unit, for being controlled upper one according to the current actual motion position of each kinematic system and the kinematic system The position difference of the target location in period processed adjusts each kinematic system in the movement velocity of current control period to compensate each movement The movement warp of system；

Control unit, in current control period, controlling each kinematic system according to the movement velocity after adjustment and being transported It is dynamic.

In some embodiments, the adjustment unit includes：

Unit is improved, the position difference is more than zero and the kinematic system is fast in the movement of current control period if being used for Degree be less than the first given threshold when, improve the kinematic system current control period movement velocity；

Unit is reduced, the position difference is less than zero and the kinematic system is fast in the movement of current control period if being used for Degree be more than zero when, reduce the kinematic system current control period movement velocity.

In some embodiments, the equipment further includes：

Planning unit, if at least two kinematic system the actual motion position of a upper controlling cycle be more than work as When the setting position at preceding control point, the setting position for obtaining next control point carries out motion planning.

It is the block diagram of the equipment for the motion control that another embodiment of the application provides referring to Figure 11.Including：At least one place Device 1101 (such as CPU), memory 1102 and at least one communication bus 1103 are managed, for realizing the connection between these equipment Communication.Processor 1101 is for executing the executable module stored in memory 1102, such as computer program.Memory 1102 May include high-speed random access memory (RAM：Random Access Memory), it is also possible to further include non-labile deposit Reservoir (non-volatile memory), for example, at least a magnetic disk storage.One or more than one program are stored in In reservoir, and be configured to by one or more than one processor 1101 execute the one or more programs include Instruction for being operated below：Obtain the desired locations in each Ziye of each kinematic system in a launched field；Setting control Period, movement velocity of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye；It is controlling The start time point in period processed obtains the current actual motion position of each kinematic system；Current according to each kinematic system Actual motion position and the current actual motion position of the difference of the desired locations in Ziye or each kinematic system with it is upper It is each to compensate in the movement velocity of current control period to adjust each kinematic system for the position difference of the target location of one controlling cycle The movement warp of kinematic system；In current control period, each kinematic system is controlled according to the movement velocity after adjustment and is moved.

In some embodiments, processor 1101 is specifically used for executing the one or more programs including to use In the instruction for carrying out following operation：Obtain desired locations of each kinematic system in the corresponding Ziye of current control period and each fortune The position difference of the currently practical movement position of dynamic system, according to the maximum movement speed of the position difference and each kinematic system Determine that each kinematic system reaches the most short execution time needed for the desired locations in the Ziye；Determine each most short execution time Maximum value, as each kinematic system current control period the execution time；Each kinematic system is determined according to the execution time In the desired motion speed of current control period.

In some embodiments, processor 1101 is specifically used for executing the one or more programs including to use In the instruction for carrying out following operation：According to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye Value, be calculated the kinematic system current control period executive capability utilization value；Each kinematic system is obtained upper one The execution efficiency value of controlling cycle；By the maximum value in the ratio of each kinematic system executive capability utilization value and execution efficiency value As adjustment factor；According to the adjustment factor determine each kinematic system current control period movement velocity.

In some embodiments, processor 1101 is specifically used for executing the one or more programs including to use In the instruction for carrying out following operation：It is currently real in the target location of a upper controlling cycle, each kinematic system to obtain each kinematic system Execution of each kinematic system in a upper controlling cycle is calculated in border movement position and the locomotion speed value of the kinematic system Efficiency value.

In some embodiments, processor 1101 is specifically used for executing the one or more programs including to use In the instruction for carrying out following operation：Obtain desired locations and each movement of each kinematic system in the corresponding Ziye of current control period The position difference of the currently practical movement position of system, the maximum movement speed according to the position difference and each kinematic system are true Fixed each kinematic system reaches the most short execution time needed for the desired locations in the Ziye；The most short execution time described in determining Maximum value, as each kinematic system current control period the execution time；Each kinematic system is determined according to the execution time In the desired motion speed of current control period；Using the ratio of the desired motion speed and maximum movement speed as each movement Executive capability utilization value of the system in current control period.

In some embodiments, processor 1101 is specifically used for executing the one or more programs including to use In the instruction for carrying out following operation：It is currently real in the target location of a upper controlling cycle and each kinematic system to obtain each kinematic system The position difference of border movement position；If the position difference is more than zero and the kinematic system is fast in the movement of current control period Degree be less than the first given threshold when, improve the kinematic system current control period movement velocity；If the position difference Less than zero and the kinematic system is when the movement velocity of current control period is more than zero, reduces the kinematic system and is controlled currently The movement velocity in period processed.

In some embodiments, processor 1101 is specifically used for executing the one or more programs including to use In the instruction for carrying out following operation：If at least two kinematic system is more than to work as in the actual motion position of a upper controlling cycle When the setting position at preceding control point, the setting position for obtaining next control point carries out motion planning.

In the exemplary embodiment, it includes the non-transitorycomputer readable storage medium instructed, example to additionally provide a kind of Such as include the memory of instruction, above-metioned instruction can be executed by the processor of equipment to complete the above method.For example, described non-provisional Property computer readable storage medium can be that ROM, random access memory (RAM), CD-ROM, tape, floppy disk and light data are deposited Store up equipment etc..

A kind of machine readable media, such as the machine readable media can be non-transitorycomputer readable storage medium, When the instruction in the medium is executed by the processor of equipment (terminal or server) so that equipment is able to carry out a kind of fortune Flowing control method, the method includes：Obtain the desired locations in each Ziye of each kinematic system in a launched field；Setting control Period, movement velocity of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye；It is controlling The start time point in period processed obtains the current actual motion position of each kinematic system；Current according to each kinematic system The actual motion position actual motion position and upper one current with the difference of the desired locations in Ziye or each kinematic system The position difference of the target location of controlling cycle adjusts each kinematic system in the movement velocity of current control period to compensate each fortune The movement warp of dynamic system；In current control period, each kinematic system is controlled according to the movement velocity after adjustment and is moved.Its In, the setting of the application equipment each unit or module is referred to Fig. 4 and realizes that this will not be repeated here to method shown in Fig. 8.

Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or Person's adaptive change follows the general principle of the application and includes the undocumented common knowledge in the art of the disclosure Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following Claim is pointed out.

It should be understood that the application is not limited to the precision architecture for being described above and being shown in the accompanying drawings, and And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims

It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.The application can be by calculating Described in the general context for the computer executable instructions that machine executes, such as program module.Usually, program module includes holding The routine of row particular task or realization particular abstract data type, program, object, component, data structure etc..It can also divide The application is put into practice in cloth computing environment, in these distributed computing environments, by connected long-range by communication network Processing equipment executes task.In a distributed computing environment, program module can be located at the local including storage device In remote computer storage medium.

Each embodiment in this specification is described in a progressive manner, identical similar portion between each embodiment Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for equipment reality For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method Part explanation.Apparatus embodiments described above are merely indicative, wherein described be used as separating component explanation Unit may or may not be physically separated, the component shown as unit may or may not be Physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to the actual needs Some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying In the case of creative work, you can to understand and implement.The above is only the specific implementation mode of the application, should be referred to Go out, for those skilled in the art, under the premise of not departing from the application principle, can also make several Improvements and modifications, these improvements and modifications also should be regarded as the protection domain of the application.

Claims

1. a kind of motion control method, which is characterized in that the method is applied to kinetic control system, the kinetic control system At the same time at least two kinematic systems of control, corresponding desired locations are respectively moved to, the method includes：

Obtain the desired locations in each Ziye of each kinematic system in a launched field；

Controlling cycle, fortune of the controlling cycle for each kinematic system of Discrete control in the forming process of each Ziye are set Dynamic speed；

In the start time point of controlling cycle, the current actual motion position of each kinematic system is obtained；

According to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye, each kinetic system is adjusted The movement velocity united in current control period is to compensate the movement warp of each kinematic system；

In current control period, each kinematic system is controlled according to the movement velocity after adjustment and is moved.

2. according to the method described in claim 1, it is characterized in that, the actual motion position current according to each kinematic system With the difference of the desired locations in Ziye, each kinematic system is adjusted in the movement velocity of current control period to compensate each movement The movement warp of system includes：

Obtain desired locations of each kinematic system in the corresponding Ziye of current control period and the currently practical fortune of each kinematic system The position difference of dynamic position, determines that each kinematic system arrives according to the maximum movement speed of the position difference and each kinematic system Up to the most short execution time needed for the desired locations in the Ziye；

Determine each most short maximum value for executing the time, as each kinematic system current control period the execution time；

According to it is described execution the time determine the kinematic system current control period desired motion speed.

3. according to the method described in claim 1, it is characterized in that, the actual motion position current according to each kinematic system With the difference of the desired locations in Ziye, each kinematic system is adjusted in the movement velocity of current control period to compensate each movement The movement warp of system includes：

According to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye, the fortune is calculated Executive capability utilization value of the dynamic system in current control period；

Obtain the kinematic system a upper controlling cycle execution efficiency value；

The kinematic system executive capability rate is used maximum value in the ratio of rate value and execution efficiency value as adjustment factor；

According to the adjustment factor determine the kinematic system current control period movement velocity.

4. according to the method described in claim 3, it is characterized in that, described obtain the kinematic system in a upper controlling cycle Execution efficiency value includes：

Obtain the kinematic system the target location of a upper controlling cycle, the currently practical movement position of the kinematic system and The locomotion speed value of the kinematic system be calculated the kinematic system a upper controlling cycle execution efficiency value.

5. according to the method described in claim 3, it is characterized in that, the actual motion position current according to each kinematic system With the difference of the desired locations in Ziye, be calculated the kinematic system current control period executive capability utilization rate Value includes：

It is currently practical in the desired locations of the corresponding Ziye of current control period and the kinematic system to obtain the kinematic system The position difference of movement position determines the movement according to the maximum movement speed of the position difference and the kinematic system System reaches the most short execution time needed for the desired locations in the Ziye；

The maximum value for determining the most short execution time, as the kinematic system current control period the execution time；

According to it is described execution the time determine the kinematic system current control period desired motion speed；

Using the ratio of the desired motion speed and maximum movement speed as the kinematic system holding in current control period Row capacity utilization ratio value.

6. a kind of motion control method, which is characterized in that the method is applied to kinetic control system, the kinetic control system At the same time at least two kinematic systems of control, corresponding desired locations are respectively moved to, the method includes：

By desired locations of each kinematic system in each Ziye and the controlling cycle, each kinematic system is obtained in each control week The target location of phase；

According to the current actual motion position of each kinematic system and the kinematic system in the target location of a upper controlling cycle Position difference, adjust each kinematic system in the movement velocity of current control period to compensate the movement warp of each kinematic system；

7. according to the method described in claim 6, it is characterized in that, the current actual motion position of each kinematic system of the basis The position difference in the target location of a upper controlling cycle with the kinematic system is set, adjusts each kinematic system in current control week The movement velocity of phase includes with the movement warp for compensating each kinematic system：

If the position difference is more than zero and the kinematic system is less than the first setting threshold in the movement velocity of current control period When value, improve the kinematic system current control period movement velocity；

If the position difference is less than zero and the kinematic system is when the movement velocity of current control period is more than zero, institute is reduced State kinematic system current control period movement velocity.

8. a kind of dynamic radiotherapy control method, which is characterized in that be applied to dynamic radiotherapy control system, the system Including upper computer module, processing module, control system module and feedback module, the control system module includes rack rotation control System processed, dosage control system, multi-diaphragm collimator MLC control systems, the control system module exist for controlling controlled device The identical time, corresponding desired locations are respectively moved to, the controlled device includes rack, accelerates tube grid rifle, MLC, institute The method of stating includes：

The upper computer module obtains launched field information and Ziye information, and the launched field information obtained and son are sent to the processing module Wild information；The launched field information includes the desired locations of each controlled device, and the Ziye information includes controlled device in each Ziye In desired locations；

The processing module obtains the launched field information and Ziye information that upper computer module is sent, and rising in current control period Begin time point, the current actual motion position of each controlled device that acquisition feedback module is sent；The processing module is controlled currently Period processed, according to the difference or controlled device of the desired locations in the current actual motion position of the controlled device and Ziye The position difference of current actual motion position and the target location of a upper controlling cycle, adjusts the controlled device and is controlled currently The movement velocity in period processed is to compensate the movement warp of the controlled device；

The movement velocity that the control system module is calculated according to the processing module controls each controlled device and is moved.

9. a kind of motion control apparatus, which is characterized in that the motion control apparatus exists for controlling at least two kinematic systems The identical time, corresponding desired locations are respectively moved to, the equipment includes：

Setting unit, for controlling cycle to be arranged, the controlling cycle is used for the Discrete control in the forming process of each Ziye The movement velocity of each kinematic system；

Second obtaining unit obtains the current actual motion position of each kinematic system for the start time point in controlling cycle It sets；

Adjustment unit, for the difference according to the current actual motion position of each kinematic system and the desired locations in Ziye Value, adjusts each kinematic system in the movement velocity of current control period to compensate the movement warp of each kinematic system；

Control unit, in current control period, controlling each kinematic system according to the movement velocity after adjustment and being moved.

10. a kind of motion control apparatus, which is characterized in that the motion control apparatus exists for controlling at least two kinematic systems The identical time, corresponding desired locations are respectively moved to, the equipment includes：

Target location obtaining unit is used for the desired locations in each Ziye and the controlling cycle by each kinematic system, obtains Each kinematic system is obtained in the target location of each controlling cycle；

Adjustment unit, for all in a upper control according to the current actual motion position of each kinematic system and the kinematic system The position difference of the target location of phase adjusts each kinematic system in the movement velocity of current control period to compensate each kinematic system Movement warp；Control unit, in current control period, controlling each kinematic system according to the movement velocity after adjustment and carrying out Movement.