CN109157237A - A kind of C-arm control system and control method - Google Patents
A kind of C-arm control system and control method Download PDFInfo
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- CN109157237A CN109157237A CN201811207655.0A CN201811207655A CN109157237A CN 109157237 A CN109157237 A CN 109157237A CN 201811207655 A CN201811207655 A CN 201811207655A CN 109157237 A CN109157237 A CN 109157237A
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- 230000005611 electricity Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims 1
- 239000011800 void material Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 18
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
- A61B6/035—Mechanical aspects of CT
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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- Radiology & Medical Imaging (AREA)
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Abstract
The present invention discloses a kind of C-arm control system and control method.Control system includes: controller and electric machine assembly, and electric machine assembly includes first motor, the second motor, third motor and the first driver, the second driver and third driver；Controller obtains the position sequence of C-arm according to the planned trajectory of C-arm, the position sequence of C-arm is decomposed into control signal, control signal includes first motor control signal, the second motor control signal and third motor control signal；First driver controls signal driving first motor work according to first motor, and the second driver drives the second motor to work according to the second motor control signal, and third driver drives third motor to work according to third motor control signal.C-arm control system of the invention and control method, by it is multi-shaft interlocked, it can be achieved that C-arm at the uniform velocity, high-precision movement, guarantee acquisition image validity.
Description
Technical field
The invention belongs to field of medical device more particularly to a kind of C-arm control systems and control method.
Background technique
When carrying out clinical intervention operation, sufferer area need to be detected by x-ray imaging equipment, common X-ray
Contrast apparatus includes C-arm and catheter bed.When being detected to patient, the relative motion of C-arm and catheter bed, so that C-shaped
Arm detects patient to tailstock is mobile by the head of a bed of catheter bed.C-arm is exposed and Image Acquisition in moving process, mobile
After by all image mosaics, form the bidimensional image of a systemic.
Present C-arm cannot achieve the three-dimensional image modeling to patient, main reason is that:
(1) the linear movement low precision of C-arm, two dimensional image are the bases of 3-D image, in the mistake of two dimensional image acquisition
Cheng Zhong, it is desirable that C arm can be moved strictly along the center line of catheter bed, and position deviation is deposited between will lead to adjacent two images
In image offset, difficulty is brought to image mosaic, even results in splicing failure.
(2) relative motion of C-arm and catheter bed is difficult to realize uniform motion.
(3) multiple two dimensional images modeling could form stereoscopic three-dimensional image, if the errors of centration of every two dimensional image
It is excessive, modeling failure can be directly resulted in when three-dimensional modeling.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes a kind of novel C-arm control system and control method, passes through multiaxis
Linkage, realize C-arm high-precision motion in three dimensions, guarantee the validity of exposure, acquisition image, image is facilitated to spell
It connects.
An object of the present invention is to provide a kind of C-arm control system, comprising: controller and electric machine assembly,
The electric machine assembly includes first motor, the second motor, third motor and the first driver, the second driver and
Three drivers；
The controller obtains the position sequence of the C-arm according to the planned trajectory of the C-arm, by the C-arm
Position sequence be decomposed into control signal, the control signal include first motor control signal, the second motor control signal and
Third motor control signal；
First motor control signal driving first electricity that first driver is sent according to the controller
Machine work, the first motor drive the first support of the C-arm to rotate；
Second driver is according to second motor control signal driving, second electricity that the controller is sent
Machine work, second motor drive the second support of the C-arm to rotate；
The third driver drives the third electricity according to the third motor control signal that the controller is sent
Machine work, the third motor drive the C arm of the C-arm to slide along apparatus for suspension.
As the optional scheme of the present invention, the electric machine assembly further includes the 4th motor and fourth drive；The control
Signal further includes the 4th motor control signal, the 4th motor control that the fourth drive is sent according to the controller
Signal drives the 4th motor work, and the 4th motor drives the apparatus for suspension rotation.
As the optional scheme of the present invention, the electric machine assembly further include the 5th motor, the 6th motor and the 5th driver,
6th driver；The control signal further includes the 5th motor control signal and the 6th motor control signal；5th driving
Device drives the 5th motor to work according to the 5th motor control signal that the controller is sent, the 5th motor band
Move the flat panel detector rotation of the C-arm；The 6th motor control that 6th driver is sent according to the controller
Signal processed drives the 6th motor work, and the 6th motor drives the X-ray emitter of the C-arm to rotate.
As the optional scheme of the present invention, the controller includes virtual motor, and the virtual motor is by the C-arm
Position sequence is decomposed into control signal.
As the optional scheme of the present invention, the controller includes display unit and input unit；The display unit is used
In the parameter of display input dialogue frame and the electric machine assembly；The input unit is used to input the planned trajectory of the C-arm.
It is a further object of the present invention to provide a kind of control method of C-arm, the C-arm includes: controller and motor
Component, the electric machine assembly include first motor, the second motor, third motor and the first driver, the second driver and third
Driver；
The control method comprising steps of
The controller obtains the position sequence of the C-arm according to the planned trajectory of the C-arm, by the C-arm
Position sequence be decomposed into control signal, the control signal include first motor control signal, the second motor control signal and
Third motor control signal；
First motor control signal driving first electricity that first driver is sent according to the controller
Machine work, the first motor drive the first support of the C-arm to rotate；
Second driver is according to second motor control signal driving, second electricity that the controller is sent
Machine work, second motor drive the second support of the C-arm to rotate；
The third driver drives the third electricity according to the third motor control signal that the controller is sent
Machine work, the third motor drive the C arm of the C-arm to slide along apparatus for suspension.
As the optional scheme of the present invention, the electric machine assembly further includes the 4th motor and fourth drive, the control
Signal further includes the 4th motor control signal；The control method includes: that the fourth drive is sent according to the controller
The 4th motor control signal drive the 4th motor work, the 4th motor drives the apparatus for suspension rotation.
As the optional scheme of the present invention, the electric machine assembly further include the 5th motor, the 6th motor and the 5th driver,
6th driver, the control signal further includes the 5th motor control signal and the 6th motor control signal；The control method
It include: the 5th motor control signal driving the 5th motor work that the 5th driver is sent according to the controller
Make, the 5th motor drives the flat panel detector of the C-arm to rotate；6th driver is sent according to the controller
The 6th motor control signal drive the 6th motor work, the 6th motor drives the X-ray of the C-arm to send out
Emitter rotation.
As the optional scheme of the present invention, the controller is decomposed the position sequence of the C-arm by virtual motor
To control signal.
As the optional scheme of the present invention, the control method further include: obtain the rule of the C-arm by input unit
Draw track.
The planned trajectory of C-arm is decomposed into the connection of multiple components by C-arm control system of the invention and control method
Dynamic, the movement of all parts cooperates, and the motion profile of C-arm is the synthesis of multiple components movement；It, can by multi-shaft interlocked
Realize C-arm stable uniform motion in three dimensions, kinematic accuracy is high, and the image definition of acquisition facilitates image mosaic shape
At 3-D image.
Detailed description of the invention
Fig. 1 is the structure chart of C-arm of the embodiment of the present invention.
Fig. 2 is the simplification figure of C-arm of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the control system of C-arm of the embodiment of the present invention.
Specific embodiment
Below in conjunction with drawings and examples, a specific embodiment of the invention is described in more details, so as to energy
The advantages of enough more fully understanding the solution of the present invention and its various aspects.However, specific embodiments described below and implementation
Example is for illustrative purposes only, rather than limiting the invention.
Heretofore described " connection " unless otherwise specific regulation or is limited, should be broadly understood, can be directly
It is connected, is also possible to be connected by intermediary.In the description of the present invention, it is to be understood that, "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", " top ", " bottom end " is orientation based on the figure or position
Relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As depicted in figs. 1 and 2, the C-arm of the present embodiment includes pedestal 11, first support 12, second support 13, apparatus for suspension
14, C arm 15, flat panel detector 16, X-ray emitter 17.Pedestal 11 fixes on the ground, and first support 12 passes through first rotating shaft
21 are rotatably mounted on pedestal 11.Second support 13 is rotatably mounted in first support 12 by the second shaft 22.C
Arm 15 is mounted in second support 13 by apparatus for suspension 14, and C arm 15 is slidably mounted on apparatus for suspension 14 by guide rail 23.It is flat
Partitioned detector 16 and X-ray emitter 17 are separately mounted to the both ends of C arm 15.
X-ray emitter 17 can launch X-ray, and flat panel detector 16 can receive the X that X-ray emitter 17 is launched and penetrate
Line.Line between flat panel detector 16 and X-ray emitter 17 is the search coverage of X-ray.
The embodiment of the present invention provides a kind of control system of above-mentioned C-arm comprising: controller 3 and electric machine assembly 400.
Controller 3 exports control signal with to electric machine assembly 400, and electric machine assembly 400 drives the movement of C-arm.
The electric machine assembly 400 of the present embodiment includes first motor 41, the second motor 42, third motor 43 and the first driver
51, the second driver 52 and third driver 53.Controller 3 is separately connected the first driver 51, the second driver 52 and third
Driver 53.First driver 51 connects first motor 41, and first motor 41 can drive first support 12 to rotate.Second driver
52 the second motors 42 of connection, the second motor 42 can drive the second support 13 of C-arm to rotate.Third driver 53 connects third electricity
Machine 43, third motor 43 can drive the C arm 15 of C-arm to slide along apparatus for suspension 14.
When work, the 3-D scanning movement of C-arm is realized based on 3 d space coordinate.Firstly, being with pedestal 11
Origin calculates all parts in three dimensions according to the rotation angle of each motor and the mechanical dimension of different component
Coordinate.
The position sequence of C-arm is calculated according to the planned trajectory of the C-arm of input for controller 3.Controller 3 is by C-shaped
The position sequence of arm is decomposed into control signal, and control signal includes first motor control signal, the second motor control signal and the
Three motor control signals.First motor control signal contains the position sequence that the rotary shaft of first motor should rotate, and second
Motor control signal contains the position sequence that the rotary shaft of the second motor should rotate, and third motor control signal contains
The position sequence that the rotary shaft of three motors should rotate.
The first motor control signal driving first motor 41 that first driver 51 is sent according to controller 3 works.First
Motor 41 drives the first support 12 of C-arm to rotate.The second motor control signal that second driver 52 is sent according to controller 3
The second motor 42 is driven to work.Second motor 42 drives the second support 13 of C-arm to rotate.Third driver 53 is according to controller
The 3 third motor control signal driving third motors 43 sent work.Third motor 43 drives the C arm 15 of C-arm along apparatus for suspension
14 slidings.
The C-arm of the present embodiment drives different components to link by multiple motors, realizes the three-dimensional motion of C-arm.Such as C
When the center of circle of arm 15 need to move along a straight line, the center of circle of C arm 15 can be moved linearly and be decomposed into first support 12 and second support 13
Rotation, by first motor 41 drive first support 12 rotate, while the second motor 42 drive second support 13 rotate.If needing to adjust
The irradiating angle of whole X-ray can be such that C arm 15 slides along apparatus for suspension 14.If not needing C arm 15 to slide along apparatus for suspension 14, third electricity
Machine control signal can be zero.
Optionally, as illustrated in fig. 1 and 2, apparatus for suspension 14 is rotatably mounted in second support 13 by third shaft 24.
As shown in figure 3, electric machine assembly 400 further includes the 4th motor 44 and fourth drive 54, controller 3 connects fourth drive 54,
Fourth drive 54 connects the 4th motor 44.The control signal that controller 3 decomposes the position sequence of C-arm includes the 4th motor
Signal is controlled, the 4th motor control signal includes the position sequence that the rotary shaft of the 4th motor 44 should rotate.Fourth drive
54 drive the work of the 4th motor 44 according to the 4th motor control signal that controller 3 is sent, and the 4th motor 44 drives apparatus for suspension 14
Rotation.The rotation that apparatus for suspension 14 rotates can further adjust the irradiating angle of X-ray.
Optionally, flat panel detector 16 is rotatably mounted to the upper end of C arm 15, X-ray emission by the 4th shaft 25
Device 17 is rotatably mounted to the lower end of C arm 15 by the 5th shaft 26.Electric machine assembly 400 further includes the 5th motor the 45, the 6th
Motor 46 and the 5th driver 55, the 6th driver 56.Controller 3 is separately connected the 5th driver 55 and the 6th driver 56,
5th driver 55 connects the 5th motor 45, and the 6th driver 56 connects the 6th motor 46.
The control signal that the position sequence of C-arm decomposes is further included the 5th motor control signal and the 6th electricity by controller 3
Machine control signal.5th motor control signal includes the position sequence that the rotary shaft of the 5th motor 45 should rotate, the 6th motor
Control signal includes the position sequence that the rotary shaft of the 6th motor 46 should rotate.
5th driver 55 drives the 5th motor 45 to work according to the 5th motor control signal that controller 3 is sent, and the 5th
Motor 45 drives the flat panel detector 16 of C-arm to rotate.6th driver 56 is believed according to the 6th motor control that controller 3 is sent
Number driving the 6th motor 46 work, the 6th motor 46 drive C-arm X-ray emitter 17 rotate.In general, flat panel detector 16
In the same direction with X-ray emitter 17, it rotates simultaneously, the line between flat panel detector 16 and X-ray emitter 17 will not
Change.
When the center of circle of C arm 15 moves along a straight line, due to the rotation of second support 13, the irradiation area of X-ray can be followed
Rotation may influence the effect of acquisition image.In order to guarantee that the irradiation area of X-ray does not rotate, by flat panel detector 16
It is set as rotatable with X-ray emitter 17.When first support 12, second support 13 rotate, flat panel detector 16 and X is penetrated
Line transmitter 17 rotates simultaneously, guarantees that the irradiation area of X-ray only moves along a straight line, without rotating.
Optionally, the controller 3 of the present embodiment includes virtual motor 31, the moving rail of 31 analog C-arm of virtual motor
Mark.The position sequence of C-arm is transmitted to virtual motor 31, the position sequence of C-arm is decomposed into control letter by virtual motor 31
Number, controller sends control signals to corresponding driver later.By controlling the movement of virtual motor 31, it can be achieved that C
The control of shape arm movement.By the linkage of multiaxis, it is fitted the motion track of C-arm.
Controller further includes display unit 32 and input unit 33.Display unit 32 is for showing input dialogue frame and motor
The parameter of component, input unit 33 are used to input the planned trajectory of C-arm.
The embodiment of the present invention also provides a kind of control method of C-arm, and C-arm includes: controller and electric machine assembly, motor
Component includes first motor, the second motor, third motor and the first driver, the second driver and third driver；
Control method comprising steps of
Controller obtains the position sequence of C-arm according to the planned trajectory of C-arm, and the position sequence of C-arm is decomposed into
Signal is controlled, control signal includes first motor control signal, the second motor control signal and third motor control signal；
The first motor control signal driving first motor work that first driver is sent according to controller, first motor band
The first support rotation of dynamic C-arm；
Second driver drives the work of the second motor, the second motor band according to the second motor control signal that controller is sent
The second support rotation of dynamic C-arm；
The third motor control signal driving third motor work that third driver is sent according to controller, third motor band
The C arm of dynamic C-arm is slided along apparatus for suspension.
Optionally, electric machine assembly further includes the 4th motor and fourth drive, and control signal further includes the 4th motor control
Signal；Control method includes: the 4th motor control signal driving the 4th motor work that fourth drive is sent according to controller,
4th motor drives apparatus for suspension rotation.
Optionally, electric machine assembly further includes the 5th motor, the 6th motor and the 5th driver, the 6th driver, control letter
It number further include the 5th motor control signal and the 6th motor control signal；Control method includes: the 5th driver according to controller
The 5th motor control signal sent drives the work of the 5th motor, and the 5th motor drives the flat panel detector rotation of C-arm；6th
Driver drives the work of the 6th motor according to the 6th motor control signal that controller is sent, and the 6th motor drives the X of C-arm to penetrate
The rotation of line transmitter.
Optionally, the position sequence of C-arm is decomposed into control signal by virtual motor by controller.
Control method further include: the planned trajectory of C-arm is obtained by input unit.When start-up operation, with the bottom of C-arm
Seat is origin, according to the rotation angle of each motor and the mechanical dimension of different components, calculates all parts in three-dimensional space
In coordinate.Later, the position sequence of C-arm is obtained according to the planned trajectory of C-arm.
The movement of C-arm, is decomposed into the linkage of multiaxis by the control system and control method of the C-arm of the present embodiment, can
Realize C-arm at the uniform velocity, high accuracy three-dimensional movement, guarantee exposure, acquisition image effect, facilitate image mosaic.
It should be noted that each embodiment above by reference to described in attached drawing is only to illustrate the present invention rather than limits this
The range of invention, those skilled in the art should understand that, it is right under the premise without departing from the spirit and scope of the present invention
The modification or equivalent replacement that the present invention carries out, should all cover within the scope of the present invention.In addition, signified unless the context
Outside, the word occurred in the singular includes plural form, and vice versa.In addition, unless stated otherwise, then any embodiment
All or part of in combination with any other embodiment all or part of come using.
Claims (10)
1. a kind of C-arm control system characterized by comprising controller and electric machine assembly,
The electric machine assembly includes that first motor, the second motor, third motor and the first driver, the second driver and third are driven
Dynamic device；
The controller obtains the position sequence of the C-arm according to the planned trajectory of the C-arm, by the position of the C-arm
It sets sequence and is decomposed into control signal, the control signal includes first motor control signal, the second motor control signal and third
Motor control signal；
The first motor control signal that first driver is sent according to the controller drives the first motor work
Make, the first motor drives the first support of the C-arm to rotate；
Second driver drives the second motor work according to second motor control signal that the controller is sent
Make, second motor drives the second support of the C-arm to rotate；
The third driver drives the third motor work according to the third motor control signal that the controller is sent
Make, the third motor drives the C arm of the C-arm to slide along apparatus for suspension.
2. C-arm control system according to claim 1, which is characterized in that the electric machine assembly further include the 4th motor and
Fourth drive；
The control signal further includes the 4th motor control signal, and the fourth drive is according to controller transmission
4th motor control signal drives the 4th motor work, and the 4th motor drives the apparatus for suspension rotation.
3. C-arm control system according to claim 1, which is characterized in that the electric machine assembly further includes the 5th motor,
Six motors and the 5th driver, the 6th driver；
The control signal further includes the 5th motor control signal and the 6th motor control signal；
5th driver drives the 5th motor work according to the 5th motor control signal that the controller is sent
Make, the 5th motor drives the flat panel detector of the C-arm to rotate；
6th driver drives the 6th motor work according to the 6th motor control signal that the controller is sent
Make, the 6th motor drives the X-ray emitter of the C-arm to rotate.
4. C-arm control system according to claim 1, which is characterized in that the controller includes virtual motor, the void
The position sequence of the C-arm is decomposed into control signal by quasi- motor.
5. C-arm control system according to claim 1, which is characterized in that the controller includes display unit and input
Unit；
The display unit is used to show the parameter of input dialogue frame and the electric machine assembly；
The input unit is used to input the planned trajectory of the C-arm.
6. a kind of control method of C-arm, which is characterized in that the C-arm includes: controller and electric machine assembly, the motor
Component includes first motor, the second motor, third motor and the first driver, the second driver and third driver；
The control method comprising steps of
The controller obtains the position sequence of the C-arm according to the planned trajectory of the C-arm, by the position of the C-arm
It sets sequence and is decomposed into control signal, the control signal includes first motor control signal, the second motor control signal and third
Motor control signal；
The first motor control signal that first driver is sent according to the controller drives the first motor work
Make, the first motor drives the first support of the C-arm to rotate；
Second driver drives the second motor work according to second motor control signal that the controller is sent
Make, second motor drives the second support of the C-arm to rotate；
The third driver drives the third motor work according to the third motor control signal that the controller is sent
Make, the third motor drives the C arm of the C-arm to slide along apparatus for suspension.
7. control method according to claim 6, which is characterized in that the electric machine assembly further includes the 4th motor and 4 wheel driven
Dynamic device, the control signal further includes the 4th motor control signal；
The control method includes: that the fourth drive is driven according to the 4th motor control signal that the controller is sent
The 4th motor work is moved, the 4th motor drives the apparatus for suspension rotation.
8. control method according to claim 6, which is characterized in that the electric machine assembly further includes the 5th motor, the 6th electricity
Machine and the 5th driver, the 6th driver, the control signal further include the 5th motor control signal and the 6th motor control letter
Number；
The control method includes: that the 5th driver drives according to the 5th motor control signal that the controller is sent
The 5th motor work is moved, the 5th motor drives the flat panel detector of the C-arm to rotate；
6th driver drives the 6th motor work according to the 6th motor control signal that the controller is sent
Make, the 6th motor drives the X-ray emitter of the C-arm to rotate.
9. control method according to claim 6, which is characterized in that the controller passes through virtual motor for the C-arm
Position sequence be decomposed into control signal.
10. control method according to claim 6, which is characterized in that further include:
The planned trajectory of the C-arm is obtained by input unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811207655.0A CN109157237A (en) | 2018-10-17 | 2018-10-17 | A kind of C-arm control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811207655.0A CN109157237A (en) | 2018-10-17 | 2018-10-17 | A kind of C-arm control system and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116649992A (en) * | 2022-02-25 | 2023-08-29 | 西门子医疗有限公司 | Trajectory planning for robotic systems for medical technology |
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| CN101212931A (en) * | 2006-07-24 | 2008-07-02 | 株式会社东芝 | Control method for X-ray diagnosis device |
| CN103908275A (en) * | 2014-04-22 | 2014-07-09 | 北京东方惠尔图像技术有限公司 | Dual-plane X-ray imaging device |
| CN107550508A (en) * | 2017-10-16 | 2018-01-09 | 上海联影医疗科技有限公司 | X-ray production apparatus |
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2018
- 2018-10-17 CN CN201811207655.0A patent/CN109157237A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101212931A (en) * | 2006-07-24 | 2008-07-02 | 株式会社东芝 | Control method for X-ray diagnosis device |
| CN103908275A (en) * | 2014-04-22 | 2014-07-09 | 北京东方惠尔图像技术有限公司 | Dual-plane X-ray imaging device |
| CN107550508A (en) * | 2017-10-16 | 2018-01-09 | 上海联影医疗科技有限公司 | X-ray production apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116649992A (en) * | 2022-02-25 | 2023-08-29 | 西门子医疗有限公司 | Trajectory planning for robotic systems for medical technology |
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Application publication date: 20190108 |
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