CN113759990B - Control method of mammary machine and mammary machine - Google Patents
Control method of mammary machine and mammary machine Download PDFInfo
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- 230000006978 adaptation Effects 0.000 claims abstract description 48
- 210000005075 mammary gland Anatomy 0.000 claims abstract description 10
- 210000000481 breast Anatomy 0.000 claims description 52
- 238000006243 chemical reaction Methods 0.000 claims description 28
- 238000004891 communication Methods 0.000 claims description 7
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- A—HUMAN NECESSITIES
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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
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/502—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of breast, i.e. mammography
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Abstract
The application discloses a control method of a mammary machine and the mammary machine, and the method comprises the following steps: first, target operation information acquired for an operation member is acquired. And then, parameter adaptation is carried out on the target operation information by combining adaptation information between the operation information and the control parameters to obtain the mobile control parameters. And finally, controlling the compression plate to move according to the movement control parameters. It can be seen that, this application need not to adopt complicated mechanical transmission structure so that operating element drives whole oppression board, and operating element's structural design is lighter on the mammary gland machine, so actual manual operation can be more nimble and laborsaving, can also realize automatic correction and the dynamic adjustment to manual operation through the parameter adaptation for the removal state of oppression board is also no longer fixed and single, thereby has improved flexibility and the convenience that control oppression board removed.
Description
Technical Field
The application relates to the technical field of medical treatment, in particular to a control method of a mammary machine and the mammary machine.
Background
In mammography, breast molybdenum target X-ray examination is the accepted preferred method. In the breast molybdenum target X-ray examination, a pressing plate of a breast machine is usually used to press the breast to become thin, and then the breast examination image is taken, so as to observe the internal structure of the breast through the breast examination image. At present, the compression plate is mainly driven to move by adopting a compression hand wheel driving mode, namely, an operator rotates a rotary hand wheel of the mammary machine, and the rotary hand wheel drives the compression plate to ascend or descend under the transmission action of a chain. However, this method requires a great physical effort for the operator, and is inconvenient to operate.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a control method of a mammary machine and the mammary machine, which can improve the convenience of controlling the movement of the compression plate.
According to a control method of a mammary machine provided with a compression plate for compressing a mammary gland, the control method comprises the following steps:
acquiring target operation information acquired by an operation component; performing parameter adaptation on the target operation information by combining adaptation information between the operation information and the control parameters to obtain mobile control parameters; and controlling the compression plate to move according to the movement control parameters.
The control method of the mammary machine according to the embodiment of the application has at least the following beneficial effects:
in the embodiment of the application, when the operation part is manually operated, the mammary machine can obtain the target operation information collected by the operation part. Based on the movement control parameters, the mammary machine can adaptively convert the target operation information into the movement control parameters and automatically control the compression plate to move according to the movement control parameters. It is thus clear that need not to adopt complicated mechanical transmission structure so that operating element drives whole oppression board, the structural design of operating element is lighter on the mammary gland machine, so actual manual operation can be more nimble and laborsaving, can also realize automatic correction and the dynamic adjustment to manual operation through the parameter adaptation for the removal state of oppression board is no longer fixed and single, thereby has improved flexibility and the convenience of control oppression board removal.
According to some embodiments of the present application, an encoder is provided on the operating member; the acquiring of the target operation information acquired for the operation component includes:
acquiring first coded data currently returned by the encoder and second coded data last returned by the encoder; obtaining an encoded data variable according to the first encoded data and the second encoded data; and determining target operation information for the operation part according to the encoding data variable.
According to some embodiments of the application, the adaptation information comprises a first conversion parameter, the movement control parameter comprises a movement trip parameter; the performing parameter adaptation on the target operation information by combining adaptation information between the operation information and the control parameter to obtain a mobile control parameter includes: and performing conversion calculation on the square value of the encoding data variable by using the first conversion parameter to obtain a moving stroke parameter, wherein the moving stroke parameter and the square value of the encoding data variable are in a direct proportion relation.
According to some embodiments of the application, the method further comprises: detecting a pressure value to which the compression plate is subjected in a process of controlling the compression plate to move according to the movement control parameter; if the pressure value is not zero, the moving stroke parameter is adjusted by using the pressure value to obtain an adjusted moving stroke parameter, and then the compression plate is controlled to move according to the adjusted moving stroke parameter; wherein, the adjusted moving stroke parameter and the pressure value are in an inverse proportion relation.
According to some embodiments of the present application, the target operation information includes operation direction and speed information, the adaptation information includes a second conversion parameter, and the movement control parameter includes a movement direction parameter and a movement speed parameter; the determining target operation information for the operation component according to the encoded data variable comprises:
determining the operation direction of the operation component according to the value type corresponding to the encoded data variable; and according to the time interval between the first coded data and the second coded data respectively returned by the encoder, combining the coded data variable to obtain speed information;
the performing parameter adaptation on the target operation information by combining adaptation information between the operation information and the control parameter to obtain a mobile control parameter includes:
determining a moving direction parameter matched with the operation direction according to the operation direction; and carrying out conversion calculation on the speed information by using the second conversion parameter to obtain a moving speed parameter.
According to some embodiments of the application, after the obtaining of the encoded data variable from the first encoded data and the second encoded data, the method further comprises:
Judging whether the coded data variable exceeds a preset first data variable or not; if the coded data variable does not exceed the first data variable, accumulating the coded data variable to an accumulated variable to obtain an updated accumulated variable; if the updated accumulated variable does not exceed a preset second data variable, continuing to execute the step of acquiring the first coded data currently returned by the encoder and the second coded data last returned by the encoder;
the determining target operation information for the operation component according to the encoded data variable comprises:
if the coded data variable exceeds the first data variable, determining target operation information of the operation component according to the coded data variable; or if the updated accumulated variable exceeds the second data variable, determining target operation information for the operation component according to the updated accumulated variable.
According to some embodiments of the present application, before performing parameter adaptation on the target operation information in combination with adaptation information between the operation information and the control parameter to obtain the mobile control parameter, the method further includes: acquiring operation habit data configured by an operator from terminal equipment; and determining adaptation information between the operation information and the control parameters based on the operation habit data.
According to some embodiments of the present application, an encoder is provided on the operating component, and the acquiring target operation information acquired by the operating component includes:
if the trigger condition is met, acquiring target operation information acquired by an operation component, wherein the trigger condition comprises: receiving a control instruction sent by terminal equipment; alternatively, a control operation indicating movement of the compression paddle is detected; or detecting that the encoded data returned by the encoder timing changes.
According to a second aspect of the present application, a breast machine provided with a compression plate for compressing a breast includes:
the acquisition module is used for acquiring target operation information acquired by the operation component;
the adaptation module is used for performing parameter adaptation on the target operation information by combining adaptation information between the operation information and the control parameters to obtain mobile control parameters;
and the control module is used for controlling the compression plate to move according to the movement control parameters.
A breast machine according to an embodiment of the third aspect of the application, the breast machine comprising a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for enabling connection communication between the processor and the memory, the program, when executed by the processor, implementing the steps of the aforementioned method.
A storage medium according to an embodiment of a fourth aspect of the present application for computer readable storage stores one or more programs executable by one or more processors to perform the steps of the aforementioned method.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a breast machine applied in an embodiment of the present application;
FIG. 2 is a block diagram of a breast machine according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a control method of a breast machine disclosed in an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating another control method for a breast machine according to an embodiment of the present disclosure;
fig. 5 is a block diagram of another breast machine according to the embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no peculiar meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly.
The application provides a control method of a mammary machine, which can be applied to the mammary machine. Referring to fig. 1, fig. 1 is a schematic structural diagram of a breast machine applied in the embodiment of the present application. As shown in fig. 1, the breast machine includes a frame 100, a connecting arm 110 and an operating unit 120, the frame 100 is provided with an imaging table 101 and a compression plate 102, the compression plate 102 is located above the imaging table 101 and can move up and down, and a compression area is formed between the compression plate 102 and the imaging table 101. Specifically, the compression paddle 102 may be a plug-in compression paddle 102. The connecting arm 110 is disposed on the gantry 100, and the connecting arm 110 is provided with an X-ray emitter 111, and the X-ray emitter 111 faces the imaging platform 101.
The number of the operation components 120 may be one or more than one, and each operation component 120 may be disposed at any position on the breast machine, and the type, number and disposition position of the operation components 120 are not particularly limited. Illustratively, one operation member 120 may be provided on each of the left and right sides of any one of the movable portion connecting the compression paddle 102 and the frame 100, and the connecting arm 110.
In addition, the breast machine can also be provided with a motion detection device, a motor and a motor driver. The motion detection device may be disposed on the operation component 120, and the motion detection device may specifically adopt one or more of an encoder (such as a communication type multi-turn encoder), a displacement sensor, an inertial sensor, a rotation speed sensor, an angle sensor, and an acceleration sensor, which is not limited thereto. The motor driver is used for driving the motor to move, and the motor can be a stepping motor. When the motor works, the movable portion (such as an electric push rod, a cylinder or a hydraulic telescopic member) on the frame 100 can be driven to move up and down along the frame 100, and the movable portion is connected with the compression plate 102, so that the movable portion can also drive the compression plate 102 to move up and down.
When the mammary gland examination operation is performed, the examinee firstly places the breast 130 in the compression area, and by operating the operation part 120, the processor of the mammary gland machine can generate a control instruction for the motor driver according to the acquisition information of the motion detection device, and sends the control instruction to the motor driver, the motor driver responds to the control instruction to drive the motor to work so as to drive the compression plate 102 to move downwards, so that the breast 130 of the examinee is clamped and fixed in the compression area, and the chest wall side 140 of the examinee is respectively abutted against the side wall of the compression plate 102 and the side wall of the imaging table 101, so that the breast 130 is extended into the compression area as much as possible, and the imaging quality is improved. Finally, when the X-ray emitter 111 is turned on and the breast 130 is irradiated with the X-rays emitted from the X-ray emitter 111, the X-rays penetrating the breast tissue are received by the imaging platform 101 when the X-rays absorbed by the tissue portions of the breast 130 are different, so that an image of the breast tissue is formed on the film.
In some embodiments, a pressure detection device may be further disposed on the breast machine, the pressure detection device may specifically employ a pressure sensor, and the pressure detection device may be at least one pressure detection device, and is distributed on different positions on the pressure receiving surface (e.g., a surface facing the imaging receiving table 101) of the compression plate 102, and is capable of detecting a pressure value received by the compression plate 102.
Referring to fig. 2, fig. 2 is a block diagram of a breast machine according to an embodiment of the present disclosure. As shown in fig. 2, the breast machine may include: memory 21, processor 22, network interface 23, and data bus 24.
The memory 21 includes at least one type of readable storage medium, which may be a non-volatile storage medium such as a flash memory, a hard disk, a multimedia card, a card-type memory, and the like. In some embodiments, the readable storage medium may be an internal storage unit of a breast machine, such as a hard disk of the breast machine. In other embodiments, the readable storage medium may also be an external memory of the mammary machine, such as a plug-in hard disk provided on the mammary machine, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. The readable storage medium of the memory 21 is generally used for storing a control program of a breast machine installed in the breast machine 20 and the like. The memory 21 may also be used to temporarily store data that has been output or is to be output.
The processor 22 may be a Central Processing Unit (CPU), microprocessor or other data Processing chip in some embodiments, and is used for executing program codes stored in the memory 21 or Processing data, such as executing a control program of a mammary machine.
The network interface 23 may optionally include standard wired and wireless interfaces commonly used to establish communication links between the breast machine 20 and other terminal devices.
The data bus 24 is used to implement the connection communication between these components and the respective devices and modules shown in fig. 1.
Fig. 2 shows only a breast machine having the components 21-24, but it is to be understood that not all of the shown components are required and that more or fewer components may alternatively be implemented.
Optionally, the breast machine may further comprise an operation panel. In some embodiments, the operation panel may be an LED display, a liquid crystal display, an Organic Light-Emitting Diode (OLED) display, and the like. The operating panel is used to display information processed in the breast machine and to display a visual user interface. Optionally, the operation panel may be stacked with the touch sensor to form a touch display screen, so that the breast machine may detect a touch operation triggered by a user based on the touch display screen.
The following describes a control method of a breast machine disclosed in an embodiment of the present application. As shown in fig. 3, fig. 3 is a schematic flow chart of a control method of a breast machine disclosed in the embodiment of the present application, which specifically includes the following steps:
300. and acquiring target operation information acquired by the operation component.
In this embodiment of the application, the motion detection device may be specifically configured to acquire target operation information acquired by the operation component, where the target operation information may include at least one of an operation direction, an operation speed, an operation displacement, and a rotation angle, and this is not specifically limited.
In some optional embodiments, after the mammary machine is powered on, an initialization procedure is performed, including but not limited to: system initialization, motion detection device initialization (such as encoder initialization), and motor driver initialization. After the initialization process is completed, step 300 is performed.
Further, in some optional embodiments, after the initialization process is completed, the breast machine may start the state machine, enter an idle mode of the state machine, and detect whether the breast machine meets the trigger condition in the idle mode. Optionally, step 300 may specifically be: and when the trigger condition is met, acquiring target operation information acquired by the operation part. Wherein the trigger condition may include but is not limited to:
Receiving a control instruction sent by a terminal device, wherein the control instruction can be used for instructing a mammary machine to adjust a compression plate to move up or down, and the terminal device can be a server, a smart phone, a tablet computer, a portable computer, a desktop computer and other terminal devices with an operation function, and is not limited;
or, the control operation for instructing the compression plate to move is detected, and the control operation may be a pressing operation on a lifting button arranged on the breast machine, or may be input or selection of control information through the operation panel (for example, clicking the lifting button in a control interface output by the operation panel), which is not limited;
alternatively, when the motion detection device employs an encoder, it is detected that the encoded data returned at the timing of the encoder changes.
Therefore, the target operation information is acquired under the condition that the specified trigger condition is met, the influence caused by misoperation can be reduced, and more diversified use scenes can be met by adopting various trigger conditions such as remote terminal control, operation component control and mammary machine control, so that the operation is convenient.
310. And performing parameter adaptation on the target operation information by combining adaptation information between the operation information and the control parameters to obtain the mobile control parameters.
In this embodiment, before step 310, the mammary machine may obtain the adaptation information between the operation information and the control parameter in advance, and store the adaptation information in a preset data format, so that the stored adaptation information may be directly called in step 310. The predetermined data format may include, but is not limited to, a list, an array, or a key value peer.
Optionally, the adaptation information between the operation information and the control parameter obtained by the breast machine in advance may be: and acquiring operation habit data configured by an operator from the terminal equipment, and determining adaptation information between the operation information and the control parameters based on the operation habit data. The operation habit data may be adaptation information manually configured by an operator on the terminal device for the operation information and the control parameter, for example, the operator creates an adaptation list on the terminal device, and fills a plurality of operation information and the control parameter corresponding to each operation information in the adaptation list; or, the operation habit data may also be a specific conversion value or a conversion formula, and when the operation information is calculated by using the conversion value or the conversion formula, the corresponding control parameter may be obtained. Therefore, the adaptation information which is remotely configured or dynamically adjusted by the operator is obtained through the terminal device, so that the adaptation information is flexibly attached to personal operation habits of different operators, and the method has better universality.
Optionally, the mammary gland machine may obtain, from the operation habit data, user information (such as a user name, an ID number, or other identity codes) logged on the terminal device, so as to bind and store the above adaptation information and the user information. Correspondingly, in step 310, the mammary machine may also call the adaptation information bound and stored with the current user information according to the current user information logged on the mammary machine (or the terminal device currently connected with the mammary machine).
320. And controlling the compression plate to move according to the movement control parameters.
In the embodiment of the present application, the movement control parameter may include at least one of a moving direction, a moving speed, a moving acceleration and a moving displacement of the compression plate, and is not particularly limited. Illustratively, when the operating member is a rotating hand wheel, when the operator rotates the rotating hand wheel clockwise, the moving direction in the movement control parameters is determined to be upward movement, and the breast pump controls the compression plate to be upward lifted, and when the operator rotates the rotating hand wheel counterclockwise, the moving direction in the movement control parameters is determined to be downward movement, and the breast pump controls the compression plate to be downward pressed.
Therefore, by implementing the method embodiment, a complex mechanical transmission structure is not needed to be adopted to enable the operation part to drive the whole compression plate, the structural design of the operation part on the mammary gland machine is lighter, so that the actual manual operation can be more flexible and labor-saving, automatic correction and dynamic adjustment of the manual operation can be realized through parameter adaptation, the moving state of the compression plate is not fixed and single, and the flexibility and the convenience for controlling the compression plate to move are improved.
As shown in fig. 4, fig. 4 is a schematic flow chart of another control method of a breast machine disclosed in the embodiment of the present application. In the embodiment of the application, the operating component is provided with the encoder, for example, when the operating component is a rotary hand wheel, an input shaft of the encoder is coaxially connected with the rotary hand wheel. The encoder, as the operating member moves, can convert the motion stroke into an electrical signal to time the return of encoded data. The control method specifically comprises the following steps:
400. and acquiring first coded data currently returned by the encoder and second coded data last returned by the encoder.
410. An encoded data variable is obtained from the first encoded data and the second encoded data.
Specifically, the encoded data variable Δ d ═ e 2 -e 1 )，e 2 For second coded data, e 1 Is the first encoded data. Therefore, the small motion change when the operation member is operated can be quantified by the encoder, and the sensitivity of operation detection is improved.
420. Judging whether the coded data variable exceeds a preset first data variable or not; if yes, go to step 430, otherwise go to steps 440-450.
430. Based on the encoded data variables, target operational information for the operational component is determined and step 470 is performed.
440. And accumulating the encoded data variables to the accumulated variables to obtain updated accumulated variables.
In the embodiment of the present application, the accumulated variable represents the sum of all historical data variables continuously obtained before the encoded data variable is obtained at this time, and none of the historical data variables exceeds the first data variable.
450. Judging whether the updated accumulated variable exceeds a preset second data variable or not; if not, go to step 400, and if yes, go to step 460.
460. Target operation information for the operation part is determined according to the updated accumulated variables, and step 470 is performed.
Optionally, after steps 430 and 460, the accumulated variables may be re-zeroed, so that the accumulated variables have a certain timeliness, and more accurately reflect the movement change of the operation component in the latest time period, without being influenced by the historical movement data after parameter adaptation is completed.
For example, if the first data variable is a being 5 and the second data variable b being 5, starting from the zero-accumulation variable, two consecutive historical data variables are assumed before the encoded data variable is found this time, that is: first determination of the historical data variable Δ d 1 1 due to Δ d 1 A, so will be Δ d 1 And accumulating to an accumulated variable, and updating the accumulated variable to m-1. Obtaining the historical data variable Delta d for the second time 2 ＝2，Δd 2 If < a, continue to use Δ d 2 And accumulating the variables to the accumulated variables, and updating the accumulated variables to m-1 + 2-3.
In one case, if the encoded data variable Δ d is obtained this time 3 ＝6，Δd 3 A, then directly according to the encoded data variable Δ d 3 Target operation information for the operation member is determined.
In another case, if the encoded data variable Δ d is obtained this time 3 ＝1，Δd 3 If < a, will be Δ d 3 The updated accumulated variable m is equal to 3+1 and 4, and the step 400 is continued since the updated accumulated variable m is still smaller than the second data variable b.
In another case, if the encoded data variable Δ d is obtained this time 3 ＝4，Δd 3 < a, then Δ d will remain 3 Adding up to the accumulated variable to obtain the updateThe updated accumulated variable m exceeds the second data variable b, and the target operation information for the operation member may be determined based on the updated accumulated variable m.
Therefore, by implementing the steps 420 to 460, the situation that the compression plate is automatically lifted and lowered due to the small change caused by the shaking or mistaken collision of the machine can be avoided, and the safety protection measures and the fault tolerance rate for controlling the compression plate are improved.
470. And performing parameter adaptation on the target operation information by combining adaptation information between the operation information and the control parameters to obtain the mobile control parameters.
In an optional implementation, the adaptation information includes a first conversion parameter, and the movement control parameter includes a movement travel parameter, then step 470 may specifically be:
and performing conversion calculation on the square value of the coded data variable by using the first conversion parameter to obtain a moving stroke parameter, wherein the moving stroke parameter and the square value of the coded data variable are in a direct proportion relation. Optionally, the conversion calculation formula may specifically be:
p＝k·(Δd) 2 where p is the movement stroke parameter, k is the first conversion parameter, and Δ d is the encoded data variable.
Combine prior art to see, the output pulse volume of encoder can be reflected to the coded data variable, the input pulse volume of control motor work can be reflected to the removal stroke parameter, because there is the data level difference in the output pulse volume of encoder and the required pulse volume of motor work, consequently no matter directly obtain the removal stroke parameter of undersize according to the coded data variable, and can't satisfy the pulse volume demand of motor work, or carry out frequency multiplication operation to the coded data variable, obtain too big removal stroke parameter in order to control motor work, or reduce the required pulse volume of motor work again, all reduced the control accuracy to the oppression board, be unfavorable for user experience. However, the application adopts the above conversion calculation formula, which can bring the following effects:
When the coded data variable is small (namely the movement speed of the operation part is low), the coded data variable is multiplied by the first conversion parameter, so that the coded data variable can be amplified to a certain extent, and meanwhile, the moving stroke parameter obtained by conversion still belongs to a small value range based on the characteristic of a binary curve function, so that the problem of large-amplitude jitter of the compression plate cannot occur. When the encoding data variable is increased (namely, the movement speed of the operation part is increased), the moving stroke parameter can also be increased by frequency multiplication, so that the lifting distance of the compression plate is effectively increased, the control efficiency and the control precision of the lifting distance of the compression plate are improved, and the lifting movement of the compression plate is smoother, safer and more reliable.
Optionally, if the value of the obtained moving stroke parameter exceeds the value of the preset first stroke parameter, the first stroke parameter is determined as the corrected moving stroke parameter, and the compression plate is controlled to move according to the corrected moving control parameter, so that the phenomenon that the lifting amplitude of the compression plate is too large due to misoperation is avoided.
In another alternative embodiment, the target operation information may include operation direction and speed information, the adaptation information includes a second conversion parameter, and the movement control parameter includes a movement direction parameter and a movement speed parameter, then step 430 may specifically be:
And determining the operation direction of the operation component according to the value type corresponding to the encoded data variable. Specifically, the value type may be a positive value or a negative value, and the corresponding relationship between the value type and the operation direction may be set manually, so as to conform to the operation habits of different operators. Illustratively, if the operating member is a rotating handwheel, the operating direction is determined to be clockwise when the value type of the encoded data variable is a positive value, and the operating direction is determined to be counterclockwise if the value type of the encoded data variable is a negative value.
And according to the time interval between the first coded data and the second coded data respectively returned by the encoder, combining the coded data variable to obtain the speed information, namely:
speed information
T is a time interval.
Correspondingly, step 470 may specifically be to determine a moving direction parameter matching the operation direction according to the operation direction, and the corresponding relationship between the operation direction and the moving direction parameter may also be artificially set, for example, if the operation direction is a clockwise direction, the moving direction parameter is an upward movement, and if the operation direction is a counterclockwise direction, the moving direction parameter is a downward movement. In addition, the moving speed parameter can be obtained by performing conversion calculation on the speed information by using the second conversion parameter. The specific formula for calculating the moving speed parameter may refer to the description of calculating the moving stroke parameter, and is not described in detail.
Therefore, the direction adjustment and the speed change movement of the compression plate can be realized based on the manual operation of the operator on the operation part, the operation is flexible and controllable, and the operation difficulty is reduced.
In yet another alternative embodiment, the two embodiments may be combined to control the moving distance, speed and direction of the compression plate. Based on this, optionally, the breast machine may determine whether the motor is in the operating state, and if the motor is not in the operating state, step 480 is executed; if the motor is in the running state, the moving direction and speed of the compression plate are kept unchanged, and the compression plate is controlled to move to the corresponding target position according to the moving stroke parameters included in the moving control parameters.
It is understood that the above detailed description of step 430 also applies to step 460, and the specific implementation manner of step 470 in this embodiment may also refer to the description of step 310 in the above embodiment of the method shown in fig. 3, which is not repeated.
480. And controlling the compression plate to move according to the movement control parameters.
In some alternative embodiments, the pressure value to which the compression paddle is subjected during the control of the movement of the compression paddle according to the movement control parameter may also be detected. If the pressure value is not zero, the moving stroke parameter is adjusted by using the pressure value to obtain an adjusted moving stroke parameter, then the compression plate is controlled to move according to the adjusted moving stroke parameter, and the adjusted moving stroke parameter and the pressure value are in an inverse relation.
Wherein, the mammary gland machine can utilize the pressure detection device to detect the pressure value that the oppression board received specifically. Specifically, the formula for adjusting the moving stroke parameter may specifically be:
It can be seen that when the pressure value is not zero, it indicates that the compression plate contacts the body of the patient, and the larger the pressure value is, the smaller the adjusted moving stroke parameter is, so that the smaller the descending distance of the compression plate is, and the discomfort of the patient caused by the overlarge descending distance of the compression plate is avoided. Optionally, when the adjusted moving stroke parameter reaches a preset second stroke parameter, the compression plate is controlled to stop moving.
It can be understood that, in the above embodiments, the time interval of the encoder returning the encoded data, the first data variable, the second data variable, the first trip parameter, the second trip parameter, and other parameters that need to be set in advance may be adjusted according to the user's needs.
Therefore, by implementing the method embodiment, a complex mechanical transmission structure is not needed to be adopted to enable the operation part to drive the whole compression plate, the structural design of the operation part on the mammary gland machine is lighter, so that the actual manual operation can be more flexible and labor-saving, the automatic correction and dynamic adjustment of the manual operation can be realized through parameter adaptation, the moving state of the compression plate is not fixed and single, and the flexibility and the convenience for controlling the compression plate to move are improved. In addition, the encoder is used for quantifying the small action change when the operation part is operated, so that the sensitivity of operation detection is improved, and meanwhile, the situation that the pressing plate is driven to automatically lift by the small change caused by the shaking or mistaken collision of a machine can be avoided, and further, the safety protection measures and the fault-tolerant rate of the control of the pressing plate are improved.
The embodiment of the invention also provides a mammary machine. Referring to fig. 5, fig. 5 is a block diagram of another breast machine according to an embodiment of the present invention. As shown in fig. 5, the mammary machine comprises:
the obtaining module 510 is configured to obtain target operation information collected for the operation component.
The adaptation module 520 is configured to perform parameter adaptation on the target operation information in combination with adaptation information between the operation information and the control parameter, so as to obtain a mobile control parameter.
And a control module 530 for controlling the compression plate to move according to the movement control parameter.
It should be noted that, for the specific implementation process of this embodiment, reference may be made to the specific implementation process described in the foregoing method embodiment, and details are not described again.
One of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not to be construed as limiting the scope of the invention. Any modifications, equivalents and improvements which may occur to those skilled in the art without departing from the scope and spirit of the present invention are intended to be within the scope of the claims.
Claims (3)
1. A control method of a mammary machine is characterized in that a compression plate for compressing mammary glands is arranged on the mammary machine, and the method comprises the following steps:
if the triggering condition is met, acquiring first coded data currently returned by an encoder arranged on an operation component and second coded data last returned by the encoder, wherein the triggering condition comprises the following steps: receiving a control instruction sent by terminal equipment, or detecting a control operation for indicating the movement of the compression plate, or detecting that the coded data returned by the encoder at regular time changes;
obtaining an encoded data variable according to the first encoded data and the second encoded data;
judging whether the coded data variable exceeds a preset first data variable or not;
if the coded data variable does not exceed the first data variable, accumulating the coded data variable to an accumulated variable to obtain an updated accumulated variable; if the updated accumulated variable does not exceed a preset second data variable, continuing to execute the step of acquiring the first coded data currently returned by the encoder arranged on the operating component and the second coded data last returned by the encoder;
If the coded data variable exceeds the first data variable, determining target operation information of the operation component according to the coded data variable; or if the updated accumulated variable exceeds the second data variable, determining target operation information on the operation component according to the updated accumulated variable;
acquiring operation habit data configured by an operator from terminal equipment;
determining adaptation information between the operation information and the control parameters based on the operation habit data, wherein the adaptation information comprises a first conversion parameter and a second conversion parameter;
performing parameter adaptation on the target operation information by combining the adaptation information to obtain a movement control parameter, wherein the movement control parameter comprises a movement stroke parameter, a movement direction parameter and a movement speed parameter;
controlling the compression plate to move according to the movement control parameters;
detecting a pressure value to which the compression plate is subjected in a process of controlling the compression plate to move according to the movement control parameter; if the pressure value is not zero, the moving stroke parameter is adjusted by using the pressure value to obtain an adjusted moving stroke parameter, and then the compression plate is controlled to move according to the adjusted moving stroke parameter, wherein the adjusted moving stroke parameter and the pressure value are in an inverse relation;
The determining target operation information for the operation component according to the coded data variable comprises:
determining the operation direction of the operation component according to the value type corresponding to the encoding data variable; and according to the time interval between the first coded data and the second coded data respectively returned by the encoder, combining the coded data variable to obtain speed information;
the performing parameter adaptation on the target operation information in combination with the adaptation information to obtain a mobile control parameter includes:
converting and calculating the square value of the encoding data variable by using the first conversion parameter to obtain a moving stroke parameter, wherein the moving stroke parameter and the square value of the encoding data variable are in a direct proportion relationship, and the conversion calculation formula is as follows: p ═ k · (Δ d) 2 P is the moving stroke parameter, k is the first conversion parameter, and Δ d is the encoded data variable;
determining a moving direction parameter matched with the operation direction according to the operation direction; and carrying out conversion calculation on the speed information by using the second conversion parameter to obtain a moving speed parameter.
2. A breast machine comprising a memory, a processor, a program stored on said memory and executable on said processor, and a data bus for enabling a connection communication between said processor and said memory, said program, when executed by said processor, implementing the steps of the method of controlling a breast machine according to claim 1.
3. A storage medium for computer-readable storage, characterized in that the storage medium stores one or more programs, which are executable by one or more processors to implement the steps of the control method of a mammary machine of claim 1.
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