CN113892962A - Automatic rack inclination angle compensation system and method for vehicle-mounted CT (computed tomography) machine and vehicle-mounted CT machine - Google Patents
Automatic rack inclination angle compensation system and method for vehicle-mounted CT (computed tomography) machine and vehicle-mounted CT machine Download PDFInfo
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- CN113892962A CN113892962A CN202010572941.8A CN202010572941A CN113892962A CN 113892962 A CN113892962 A CN 113892962A CN 202010572941 A CN202010572941 A CN 202010572941A CN 113892962 A CN113892962 A CN 113892962A
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- 238000002591 computed tomography Methods 0.000 title abstract description 65
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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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]
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Abstract
The embodiment of the invention discloses a system and a method for automatically compensating a rack inclination angle of a vehicle-mounted CT (computed tomography) machine and the vehicle-mounted CT machine. Wherein, the system includes: the first tilt angle sensor is arranged on a tiltable part of a CT machine frame and used for measuring the current tilt angle of the tiltable part and outputting a first angle value; the second inclination angle sensor is arranged on a static part of the CT machine frame and used for measuring the current inclination angle of a frame mounting plane represented by the static part and outputting a second angle value; and a main processing device for receiving the first angle value and the second angle value; subtracting the second angle value and the fixed offset of the first tilt sensor and the second tilt sensor from the first angle value to obtain a tilt of the tiltable portion of the frame relative to the frame mounting plane. The technical scheme in the embodiment of the invention can obtain the real rack inclination angle of the vehicle-mounted CT machine.
Description
Technical Field
The invention relates to the technical field of X-ray imaging, in particular to a system and a method for automatically compensating a rack inclination angle of a vehicle-mounted Computed Tomography (CT) machine and the vehicle-mounted CT machine.
Background
In general, a CT system including a CT machine and a diagnostic couch is installed in a fixed place such as a hospital and used. When the CT machine is installed on site, a site engineer needs to perform one-time horizontal calibration on the CT machine after the installation of the frame due to factors such as uneven installation ground, mechanical errors of the frame of the CT machine and the like, test the horizontal angle of the frame through a level meter, and write the current horizontal angle into a table preset by a system so as to compensate horizontal deviation caused by the installation of the frame.
However, in some special cases, such as public health emergencies, in order to be able to examine a patient in a temporary area or at the first time, on-board CT has become a demand. But when being applied to on-vehicle CT to the CT machine of belt frame slope function, can because the characteristics that on-vehicle CT removed, the position that on-vehicle CT parked at every turn can't accomplish unanimously and keep the level, therefore the value of disposable level calibration can't be suitable for, consequently need before on-vehicle CT uses at every turn, manually adjust, the operation is wasted time and energy, and mechanical adjustment level device design is complicated and the price is expensive. In addition, when the CT system detects that the horizontal deviation exceeds the threshold value, the system can report errors, and the vehicle-mounted CT cannot be used.
Disclosure of Invention
In view of this, the embodiment of the present invention provides an automatic rack tilt compensation system for a vehicle-mounted CT machine, and provides an automatic rack tilt compensation method for a vehicle-mounted CT machine and a vehicle-mounted CT machine, so as to obtain a true rack tilt of the vehicle-mounted CT machine, thereby ensuring imaging quality of the vehicle-mounted CT machine.
The invention provides a rack inclination angle automatic compensation system for a vehicle-mounted CT machine, which comprises: the first tilt angle sensor is arranged on a tiltable part of a CT machine frame and used for measuring the current tilt angle of the tiltable part and outputting a first angle value; the second inclination angle sensor is arranged on a static part of the CT machine frame and used for measuring the current inclination angle of a frame mounting plane represented by the static part and outputting a second angle value; and a main processing device for receiving the first angle value and the second angle value; subtracting the second angle value and the fixed offset of the first tilt sensor and the second tilt sensor from the first angle value to obtain a tilt of the tiltable portion of the frame relative to the frame mounting plane.
In one embodiment, the second tilt sensor further detects a motion state of a vehicle body carrying the CT machine through a built-in gyroscope and outputs the motion state; the motion state is a moving state or a static state; the main processing device is further configured to receive the motion state and, when the motion state is a stationary state, perform the operation of obtaining the tilt angle of the tiltable portion of the gantry relative to the gantry mounting plane by subtracting the second angle value from the first angle value and the fixed offset of the first tilt sensor and the second tilt sensor.
In one embodiment, the fixturing deviation of the first tilt sensor and the second tilt sensor includes: the inclination angle sensor comprises reading deviation of the first inclination angle sensor and the second inclination angle sensor at 0 degrees, and installation deviation of installation surfaces of the first inclination angle sensor and the second inclination angle sensor.
The automatic compensation method for the inclination angle of the rack of the vehicle-mounted CT machine, provided by the embodiment of the invention, comprises the following steps: measuring a current inclination angle of a tiltable part of a CT machine frame by using a first inclination angle sensor arranged on the tiltable part to obtain a first angle value; measuring the current inclination angle of a rack mounting plane represented by a static part by using a second inclination angle sensor mounted on the static part of the CT machine rack to obtain a second angle value; subtracting the second angle value and the fixed offset of the first tilt sensor and the second tilt sensor from the first angle value to obtain a tilt of the tiltable portion of the frame relative to the frame mounting plane.
In one embodiment, further comprising: detecting the motion state of a vehicle body bearing the CT machine by utilizing a built-in gyroscope of the second tilt angle sensor; the motion state is a moving state or a static state; when the moving state is a stationary state, the operation of obtaining the inclination angle of the tiltable portion of the gantry relative to the gantry mounting plane by subtracting the second angle value from the first angle value and the fixed offset of the first inclination sensor and the second inclination sensor is performed.
In one embodiment, the fixturing deviation of the first tilt sensor and the second tilt sensor includes: the inclination angle sensor comprises reading deviation of the first inclination angle sensor and the second inclination angle sensor at 0 degrees, and installation deviation of installation surfaces of the first inclination angle sensor and the second inclination angle sensor.
The vehicle-mounted CT machine provided by the embodiment of the invention comprises the automatic rack inclination angle compensation system for the vehicle-mounted CT machine in any one of the above embodiments.
It can be seen from the above solution that, in the embodiment of the present invention, an additional tilt sensor is additionally installed on the stationary portion of the gantry to measure the tilt angle of the mounting plane of the gantry, and then the actual tilt angle of the tiltable portion of the gantry, i.e. the tilt angle of the tiltable portion of the gantry relative to the mounting plane, is calculated according to the tilt angle of the tilt sensor installed on the tiltable portion of the gantry and the tilt angle of the mounting plane of the gantry, so as to obtain the true tilt angle of the gantry of the on-board CT machine, thereby ensuring the imaging quality of the on-board CT.
In addition, by further measuring the motion state of the vehicle body carrying the CT machine and calculating the inclination angle of the tiltable part of the rack relative to the mounting plane when the motion state is a static state, the useless calculation when the vehicle body is in a moving state can be avoided, the calculation amount of a system is reduced, and the system resources are saved.
Drawings
The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:
fig. 1 is a diagram illustrating an exemplary configuration of an automatic compensating system for a tilt angle of a gantry of an on-board CT apparatus according to an embodiment of the present invention.
Fig. 2 is an exemplary flowchart of a method for automatically compensating a tilt angle of a gantry of an on-board CT machine according to an embodiment of the present invention.
Wherein the reference numbers are as follows:
| reference numerals | Means of |
| 101 | First |
| 102 | Second |
| 103 | |
| 201～203 | Step (ii) of |
Detailed Description
In a CT machine, in order to obtain the tilt angle of the tiltable part of the gantry, a tilt sensor is usually mounted on the tiltable part of the gantry to measure the tilt angle of the gantry itself. However, the horizontal error of the installation plane of the rack caused by the uneven ground on the on-board CT machine causes that the inclination angle measured by the inclination angle sensor can not correctly express the actual inclination angle of the tiltable part of the rack. For this purpose, the embodiment of the present invention considers that an additional tilt sensor is mounted on the stationary portion of the frame to measure the tilt angle of the mounting plane of the frame, and then the actual tilt angle of the tiltable portion of the frame, i.e. the tilt angle of the tiltable portion of the frame relative to the mounting plane, is calculated based on the tilt angles measured by the two tilt sensors.
In addition, in order to avoid unnecessary calculation of the on-board CT machine in a moving state, the embodiment of the invention further detects the moving state of the vehicle body, such as moving or stationary, by the built-in gyroscope of the additional tilt sensor, and then calculates the true tilt angle of the gantry according to the tilt angles measured by the two tilt sensors when the moving state of the vehicle body is stationary.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by referring to the following examples.
Fig. 1 is a diagram illustrating an exemplary configuration of an automatic compensating system for a tilt angle of a gantry of an on-board CT apparatus according to an embodiment of the present invention. As shown in fig. 1, the system may include: a first tilt sensor 101, a second tilt sensor 102 and a main processing device 103.
Wherein the first Tilt sensor 101 is mounted on a tiltable portion of a CT machine frame for measuring a current Tilt angle of the tiltable portion and outputting a first angle value TLv1(Tilt _ value _1) in real time.
The second Tilt sensor 102 is mounted on a stationary portion of the CT machine frame, and is configured to measure a current Tilt angle of a frame mounting plane represented by the stationary portion, and output a second angle value TLv2(Tilt _ value _2) in real time.
The main processing means 103 are adapted to receive said first angle value TLv1 and said second angle value TLv 2; subtracting the second angle value TLv2 and the fixed offset TLb (Tilt _ bias) of the first Tilt sensor 101 and the second Tilt sensor 102 from the first angle value TLv1, the Tilt TLa (Tilt _ angle) of the tiltable part of the gantry relative to the gantry mounting plane is obtained, i.e.: TLv1-TLv 2-TLb.
Wherein the fixed deviation TLb of the first tilt sensor 101 and the second tilt sensor 102 comprises: the deviation of readings at 0 degrees of the first and second tilt sensors 101 and 102, and the deviation of the installation surfaces of the first and second tilt sensors 101 and 102.
In order to avoid unnecessary calculation of the on-board CT machine in the moving state, in another embodiment, the second tilt sensor 102 may further detect the motion state of the vehicle body carrying the CT machine through a built-in gyroscope and output the motion state. Wherein the motion state is a moving state or a static state.
Accordingly, the main processing device 103 is further configured to receive the motion state TLs output by the second tilt sensor 102, and when the motion state TLs is a static state, perform the operation of subtracting the second angle value and the fixed offset of the first tilt sensor and the second tilt sensor from the first angle value to obtain the tilt angle of the tiltable portion of the frame relative to the frame mounting plane.
In this embodiment, the main processing device 103 may be various main control boards or computers including a main processing chip or a main processing module, or may be any device including a memory and a processor storing a main control program.
The vehicle-mounted CT machine in the embodiment of the invention comprises the automatic rack inclination angle compensation system for the vehicle-mounted CT machine in any one of the above embodiments.
The apparatus embodiments of the present invention are described in detail above, and the method embodiments of the present invention are described in detail below. The device embodiment of the present invention may be implemented as the device embodiment of the present invention, and for details that are not disclosed in the method embodiment of the present invention, reference may be made to corresponding descriptions in the device embodiment of the present invention, which are not described herein again.
Fig. 2 is an exemplary flowchart of a method for automatically compensating a tilt angle of a gantry of a vehicle-mounted CT machine according to an embodiment of the present invention. As shown in fig. 2, the method may include the steps of:
Corresponding to the apparatus embodiment, the method embodiment of the present invention may further comprise: detecting the motion state of a vehicle body bearing the CT machine by utilizing a built-in gyroscope of the second tilt angle sensor; the motion state is a moving state or a static state. Accordingly, the operation of obtaining the tilt angle of the tiltable portion of the gantry relative to the gantry mounting plane by subtracting the second angle value and the fixed offset of the first tilt sensor and the second tilt sensor from the first angle value is performed when the moving state is a stationary state in step 203.
It can be seen from the above solution that, in the embodiment of the present invention, an additional tilt sensor is additionally installed on the stationary portion of the gantry to measure the tilt angle of the mounting plane of the gantry, and then the actual tilt angle of the tiltable portion of the gantry, i.e. the tilt angle of the tiltable portion of the gantry relative to the mounting plane, is calculated according to the tilt angle of the tilt sensor installed on the tiltable portion of the gantry and the tilt angle of the mounting plane of the gantry, so as to obtain the true tilt angle of the gantry of the on-board CT machine, thereby ensuring the imaging quality of the on-board CT.
In addition, by further measuring the motion state of the vehicle body carrying the CT machine and calculating the inclination angle of the tiltable part of the rack relative to the mounting plane when the motion state is a static state, the useless calculation when the vehicle body is in a moving state can be avoided, the calculation amount of a system is reduced, and the system resources are saved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A frame inclination automatic compensation system for on-vehicle CT machine, its characterized in that includes:
a first tilt sensor (101) mounted on a tiltable portion of a gantry of a CT machine for measuring a current tilt angle of the tiltable portion and outputting a first angle value;
the second inclination angle sensor (102) is arranged at the static part of the CT machine frame and used for measuring the current inclination angle of the frame mounting plane represented by the static part and outputting a second angle value; and
-main processing means (103) for receiving said first angle value and said second angle value; -subtracting the second angle value and the fixed offset of the first tilt sensor (101) and the second tilt sensor (102) from the first angle value to obtain the tilt of the tiltable portion of the gantry relative to the gantry mounting plane.
2. The automatic rack tilt angle compensation system for on-board CT machine according to claim 1, wherein the second tilt angle sensor (102) further detects the motion state of the vehicle body carrying the CT machine through a built-in gyroscope and outputs the motion state; the motion state is a moving state or a static state;
the main processing means (103) is further adapted to receive the motion state and to perform the operation of deriving the tilt angle of the tiltable portion of the gantry relative to the gantry mounting plane by subtracting the second angle value and the fixed offset of the first tilt sensor (101) and the second tilt sensor (102) from the first angle value when the motion state is a stationary state.
3. The automatic gantry tilt compensation system for on-board CT machines according to claim 1 or 2, characterized in that the fixed offset of the first tilt sensor (101) and the second tilt sensor (102) comprises: the deviation of the readings of the first inclination sensor (101) and the second inclination sensor (102) at 0 degrees, and the deviation of the installation surfaces of the first inclination sensor (101) and the second inclination sensor (102).
4. The automatic compensation method for the inclination angle of the frame of the vehicle-mounted CT machine is characterized by comprising the following steps of:
measuring a current tilt angle of a tiltable portion of a CT machine gantry using a first tilt sensor mounted to the tiltable portion to obtain a first angle value (201);
measuring the current inclination angle of a rack mounting plane represented by a static part by using a second inclination angle sensor mounted on the static part of the CT machine rack to obtain a second angle value (202);
-subtracting the second angle value and the fixed offset of the first and second tilt sensors from the first angle value to obtain a tilt of the tiltable portion of the gantry relative to the gantry mounting plane (203).
5. The method of claim 4, further comprising:
detecting the motion state of a vehicle body bearing the CT machine by utilizing a built-in gyroscope of the second tilt angle sensor; the motion state is a moving state or a static state;
-performing said operation (203) of deriving the inclination of the tiltable portion of the gantry relative to the gantry mounting plane using said first angle value minus said second angle value and the fixed offset of said first and second inclination sensors when said state of motion is stationary.
6. The automatic rack tilt compensation method for on-board CT machine according to claim 4 or 5, wherein the fixed offset of the first tilt sensor and the second tilt sensor comprises: the inclination angle sensor comprises reading deviation of the first inclination angle sensor and the second inclination angle sensor at 0 degrees, and installation deviation of installation surfaces of the first inclination angle sensor and the second inclination angle sensor.
7. The on-board CT machine, characterized by comprising the automatic rack inclination angle compensation system for the on-board CT machine according to any one of claims 1 to 3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010572941.8A CN113892962A (en) | 2020-06-22 | 2020-06-22 | Automatic rack inclination angle compensation system and method for vehicle-mounted CT (computed tomography) machine and vehicle-mounted CT machine |
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|---|---|---|---|
| CN202010572941.8A CN113892962A (en) | 2020-06-22 | 2020-06-22 | Automatic rack inclination angle compensation system and method for vehicle-mounted CT (computed tomography) machine and vehicle-mounted CT machine |
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| CN113892962A true CN113892962A (en) | 2022-01-07 |
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