WO2018133002A1 - C型臂***旋转角度校准装置和c型臂***校准方法 - Google Patents

C型臂***旋转角度校准装置和c型臂***校准方法 Download PDF

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WO2018133002A1
WO2018133002A1 PCT/CN2017/071693 CN2017071693W WO2018133002A1 WO 2018133002 A1 WO2018133002 A1 WO 2018133002A1 CN 2017071693 W CN2017071693 W CN 2017071693W WO 2018133002 A1 WO2018133002 A1 WO 2018133002A1
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arm
angle value
rotation angle
calibration
value
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PCT/CN2017/071693
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English (en)
French (fr)
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陈垦
王澄
秦文健
熊璟
谢耀钦
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深圳先进技术研究院
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Priority to PCT/CN2017/071693 priority Critical patent/WO2018133002A1/zh
Publication of WO2018133002A1 publication Critical patent/WO2018133002A1/zh

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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

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  • the present disclosure relates to the field of CT system parameter calibration techniques, for example, to a C-arm system rotation angle calibration device and a calibration method for a C-arm system.
  • the medical diagnostic equipment based on X-ray radiation is called C-arm.
  • the C-arm equipment is more and more widely used in the medical field.
  • the C-arm can move around the guide to the part to be inspected or to be treated. For the purpose of comprehensive inspection of patients who are inconvenient to move or move.
  • An X-ray device composed of an X-ray source at one end of a C-arm, an X-ray detector at the other end of the C-arm, or an image intensifier is used more and more widely as a diagnostic instrument.
  • the vibration of the mechanical structure during the operation of the C-arm system may cause the projection angle of the X-ray source to be different from the preset angle, which may cause artifacts in the reconstructed image and affect the image reconstruction quality.
  • the lack of observation of the vibration of the mechanical structure makes it difficult to calibrate and correct the jitter of the mechanical structure.
  • the method of calibrating the structural parameters of the CT system is usually to calibrate the difference between the system parameters and the design target in the static state, and cannot calibrate and correct the errors generated during the movement of the system.
  • Calibration methods in the technology also require X-ray imaging, which creates additional radiation risks to the human body.
  • the present disclosure provides a C-arm system rotation angle calibration device and a method for calibrating a C-arm system using the C-arm system rotation angle calibration device, which can solve the rotation angle of the C-arm system that cannot be used in motion.
  • the problem of calibration is a C-arm system rotation angle calibration device and a method for calibrating a C-arm system using the C-arm system rotation angle calibration device, which can solve the rotation angle of the C-arm system that cannot be used in motion.
  • a C-arm system rotation angle calibration device includes a motion conversion component, a displacement sensor, a data transmitter, and a processor.
  • the motion conversion assembly is configured to be coupled to the C-arm to convert rotational motion of the C-arm to linear motion.
  • the displacement sensor is coupled to the motion conversion assembly and configured to acquire a displacement signal of the motion conversion assembly and transmit the displacement signal to the data transmitter coupled to the displacement sensor.
  • the processor is coupled to the data transmitter and configured to receive and analyze a displacement signal transmitted by the data transmitter.
  • a method for calibrating a C-arm system by using the above-mentioned C-arm system rotation angle calibration device comprising: the processor controls the displacement sensor to be set to zero, and the displacement sensor collects and collects during a one-degree rotation of the C-arm calibration Transmitting a displacement signal of the linear motion of the motion conversion component to the data transmitter; and according to the received displacement signal sent by the data transmitter, the processor calculates a rotation angle value corresponding to the C-arm at each moment Calibrating the value, and combining the rotation angle value of each moment with the corresponding calibration value to form a standard value pair; when the C-arm is freely rotating, when the controller controls the target angle value of the C-arm and all standard values When the values of the rotation angles of the pair do not match, the target angle value is interpolated and corrected by the standard value pair.
  • the motion conversion assembly comprises: a base, a cam, a longitudinal rack, a transmission gear set and a transverse rack, the cam being fixed to the base by a fixed shaft, the fixed shaft being located at the geometry of the cam Centered on and perpendicular to the base, the geometric center of the cam is disposed in line with the center of rotation of the C-arm, one end of the longitudinal rack is in contact with the contour of the cam, and the other end is connected with an elastic member.
  • the elastic member is disposed in vertical contact with the detector at one end of the C-arm; the lateral rack is drivingly connected to the longitudinal rack through the transmission gear set, and the displacement sensor is connected to one end of the lateral rack;
  • the processor controls the displacement sensor to be set to zero.
  • the displacement sensor collects and transmits a displacement signal of the linear motion of the motion conversion component to the data transmitter, including: the processor controls the displacement The sensor is set to zero and keeps the cam fixed; during the rotation of the C-arm at a constant angular velocity ⁇ , the displacement sensor collects and outputs the linear motion of the transverse rack Shift signal to the data transmission device, record displacement signal f (t) data collected by the transmitter, wherein t is time.
  • the processor calculates a calibration value corresponding to the rotation angle value of the C-arm at each moment, and combines the rotation angle value of each moment with the corresponding calibration value to form a standard value pair, including:
  • the processor calculates a calibration value corresponding to the rotation angle value at each moment.
  • the rotation angle value ⁇ at each time and the corresponding calibration value ⁇ are combined into a standard value pair ( ⁇ , ⁇ ).
  • the controller controls the C-arm target angle value to not match the rotation angle value of all the standard value pairs, the standard value pair is used.
  • Interpolation corrections for the target angle values including:
  • the controller of the C-arm determines that the target angle value does not match the rotation angle value of all the standard value pairs, the two closest to the target angle value are selected among the standard value pairs.
  • the rotation angle values ⁇ 1 and ⁇ 2 respectively correspond to the calibration values ⁇ 1 and ⁇ 2, and the target angle values are interpolated and corrected by using the two selected calibration values ⁇ 1 and ⁇ 2 to obtain a difference result, and the difference result is the target angle value. Corresponding corrected angle.
  • the interpolation method is a linear interpolation method.
  • a C-arm system includes a C-arm, a light source, a detector, and a controller, wherein the light source is disposed at one end of the C-arm and the detector is disposed at the other end of the C-arm.
  • the C-arm is configured to drive the light source and the detector to rotate according to a control signal sent by the controller.
  • the light source is configured to emit a scan signal to the object to be detected during free rotation of the C-arm.
  • the detector is configured to collect projection data of the scan signal on the object to be detected.
  • the controller is configured to be in communication with a processor of the C-arm system rotation angle calibration device and in communication with the detector.
  • the controller is configured to receive and store a plurality of standard value pairs transmitted by a processor of the C-arm system rotation angle calibration device.
  • the controller may be configured to compare the target angle value of the C-arm with all standard value pairs during the free rotation of the C-arm, and determine the target angle value of the C-arm and all standards. When the values of the rotation angles of the pair of values do not match, the target angle value is interpolated and corrected by the plurality of standard value pairs.
  • the controller may be further configured to: when determining that the target angle value of the C-arm does not match the rotation angle value of all the standard value pairs, select the closest target angle value among the standard value pairs.
  • the two rotation angle value angles ⁇ 1 and ⁇ 2 respectively correspond to the calibration values ⁇ 1 and ⁇ 2, and the target angle values are interpolated and corrected by using the two selected calibration values ⁇ 1 and ⁇ 2 to obtain a difference result, and the difference result is the The corrected angle corresponding to the target angle value.
  • the present disclosure provides a C-arm system rotation angle calibration device and a method for calibrating a C-arm system using the C-arm system rotation angle calibration device, the calibration device including a motion conversion component, a displacement sensor, and a data transmitter, motion
  • the conversion assembly is configured to be coupled to the C-arm to convert the rotational motion of the C-arm into a linear motion.
  • the displacement sensor is coupled to the motion conversion component and configured to acquire a displacement signal of the motion conversion component and transmit the displacement signal to the data transmitter connected to the displacement sensor.
  • the device is simple in operation, stable and reliable in operation, and does not need to expose X-rays during use, which can reduce the radiation risk.
  • FIG. 1 is a schematic structural view of a C-arm system rotation angle calibration device and a C-arm system according to the embodiment.
  • the embodiment provides a C-arm system rotation angle calibration device, including a motion conversion component, a displacement sensor 8 and a data transmitter 9, and a processor 10.
  • the motion conversion assembly includes a base 1, a cam 2, a longitudinal rack 4, a spring 5, a transmission gear set 6, and a lateral rack 7.
  • the cam 2 is fixed to the base 1 by a fixed shaft 3 which is located at the geometric center of the cam 2 and which is perpendicular to the base 1. The position of the cam 2 on the base 1 can be adjusted as needed.
  • One end of the longitudinal rack 4 is in contact with the contour of the cam 2, which end is movable along the contour of the cam 2, and the other end of the longitudinal rack 4 is connected with a spring 5.
  • the transverse rack 7 is drivingly connected to the longitudinal rack 4 via a transmission gear set 6.
  • the displacement sensor 8 is connected to one end of the lateral rack 7 away from the longitudinal rack 4, and the data transmitter 9 is connected to the displacement sensor 8 and arranged to collect the reading of the displacement sensor 8.
  • the processor 10 is arranged to be coupled to the data transmitter 9 to receive and analyze the data transmitted by the data transmitter 9.
  • the transmission gear set 6 may comprise two gears, the two gears being coaxially arranged, one of which meshes with the longitudinal rack 4 and the other of which meshes with the transverse rack 7 with the longitudinal rack 4
  • the diameter of the meshing gear is smaller than the diameter of the gear that meshes with the lateral rack 7.
  • the number of gears of the transmission gear set 6 may also be more than two, and the plurality of gears may be coaxially arranged and different in diameter, one of the gears meshes with the longitudinal rack 4, and any one of the remaining gears and the lateral rack 7 In engagement, the diameter of the gear meshing with the longitudinal rack 4 is smaller than the diameter of the gear meshing with the transverse rack 7.
  • This embodiment also provides a method of calibrating a C-arm system using a C-arm system rotation angle calibration device.
  • the center of the light source 12 is center-aligned with the detector 13 at the other end of the C-arm 11.
  • the fixed shaft 3 is passed through the geometric center of the cam 2 and fixed to the base 1, and the starting point of the contour of the cam 2 is aligned with the center of the detector 13, wherein the geometric center of the cam 2 is shared with the center of rotation of the C-arm 11 line.
  • One end of the longitudinal rack 4 is brought into contact with the starting point of the contour of the cam 2, and the spring 5 connected at the other end is in contact with the detector 12.
  • the transverse rack 7 is drivingly coupled to the longitudinal rack 4 via the transmission gear set 6 such that the displacement sensor 8 is coupled to one end of the lateral rack 7.
  • the steps may include:
  • the processor 10 controls the displacement sensor 8 to be set to zero, the controller of the C-arm controls the rotation C-arm 11 to rotate in the counterclockwise direction, and the displacement sensor 8 collects and transmits the displacement signal of the linear motion of the motion conversion component to the data transmitter 9
  • the data transmitter 9 transmits the acquired displacement signal to the processor 10.
  • the holding cam 2 is fixed, and the controller 14 of the C-arm system controls the C-arm 11 to rotate counterclockwise at a constant angular velocity ⁇ , and the rotational motion of the C-arm 11
  • the displacement sensor 8 collects and outputs a displacement signal of the linear motion of the lateral rack 7 to the data transmitter 9, and the data transmitter 9 sends the obtained displacement signal to the processor.
  • the processor 10 records the displacement signal acquired by the data transmitter 9 as f(t), where t is time.
  • the processor 10 calculates a calibration value corresponding to the rotation angle value of the C-arm 11 at each moment, and combines the rotation angle value of each moment with the corresponding calibration value. Standard value pair.
  • the magnification of the transmission gear set 6 is set to ⁇ ; the processor 10 calculates a calibration value corresponding to the rotation angle of each moment.
  • the rotation angle value ⁇ at each time and the corresponding calibration value ⁇ are combined into a standard value pair ( ⁇ , ⁇ ).
  • the two rotation angle values ⁇ 1 closest to the target angle value are selected among the standard value pairs.
  • the calibration values ⁇ 1 and ⁇ 2 corresponding to ⁇ 2 respectively are interpolated and corrected by using the selected two calibration values ⁇ 1 and ⁇ 2 to obtain the difference result, and the difference result is used as the correction corresponding to the target angle value. After the angle.
  • the C-arm system is calibrated using the C-arm system rotation angle calibration device.
  • the light source 12 of the C-arm system is turned off, thereby reducing the risk of radiation.
  • the processor 10 of the apparatus can calculate a calibration value corresponding to the rotation angle value of each time of the C-arm 11 and combine the rotation angle value of each moment with the corresponding calibration value to form a standard value pair.
  • the controller 14 of the C-arm system corrects the target angle value of the C-arm 11 during the free rotation by using the rotation angle value ⁇ and the calibration value ⁇ of the standard value pair. .
  • the controller 14 of the C-arm system is communicatively coupled to the processor 10 of the C-arm system rotational angle calibration device, which transmits a plurality of standard value pairs to the controller 14.
  • the controller 14 controls the target angle value of the C-arm rotation to not match the rotation angle value of all the standard value pairs, the rotation angle value and the calibration value pair in the standard value pair are utilized.
  • the target angle value of the C-arm is interpolated.
  • the interpolation method may be a linear interpolation method. In other embodiments, other suitable interpolation methods can also be employed.
  • the method is simple in operation, stable and reliable in operation, and does not need to expose X-rays during use, and can reduce the radiation risk.
  • the C-arm system may include a C-arm 11, a light source 12, a detector 13 and a controller 14, wherein the light source 12 is disposed at C.
  • One end of the arm 11 and a detector 13 are disposed at the other end of the C-arm 11.
  • the C-arm 11 is arranged to drive the light source 12 and the detector 13 to rotate according to a control signal sent by the controller 14.
  • the light source 12 is arranged to emit a scan signal to the object being detected during free rotation of the C-arm.
  • the detector 13 is arranged to acquire projection data of the scanning signal on the object to be detected.
  • the controller 14 is arranged in communication with the processor 10 of the C-arm system rotation angle calibration device and is communicatively coupled to the detector 13.
  • the controller 14 may be arranged to receive and store a plurality of standard value pairs transmitted by the processor 10 of the C-arm system rotation angle calibration device.
  • the controller 14 may be further configured to compare the target angle value of the C-arm with the plurality of standard value pairs during the C-arm free rotation, when determining the C-arm 11 When the target angle value does not match the rotation angle value in the plurality of standard value pairs, the standard value pair is used for the target The angle value is corrected by interpolation.
  • the controller 14 may be further configured to: when determining that the target angle value of the C-arm does not match the rotation angle value of all the standard value pairs, select the closest target angle value among the standard value pairs.
  • the two rotation angle value angles ⁇ 1 and ⁇ 2 respectively correspond to the calibration values ⁇ 1 and ⁇ 2, and the selected two calibration values ⁇ 1 and ⁇ 2 are used to interpolate the target angle value to obtain a difference result, and the difference result is The corrected angle corresponding to the target angle value.
  • the light source 12 can be an X-ray source.
  • the motion conversion assembly can also be other mechanical structures that can convert the rotary motion into a linear motion, such as a crank slider mechanism. Or crank linkages, etc.
  • the present disclosure provides a C-arm system rotation angle calibration device and a method for calibrating a C-arm system using the C-arm system rotation angle calibration device.
  • the device is simple in operation, stable and reliable in operation, and does not need to expose X-rays during use, which can reduce the radiation risk.

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Abstract

一种C型臂***旋转角度校准装置及利用C型臂***旋转角度校准装置对C型臂***进行校准的方法，该装置包括运动转换组件、位移传感器（8）、数据传输器（9）和处理器（10），运动转换组件设置为与C型臂（11）相连，将C型臂（11）的旋转运动转换为直线运动；位移传感器（8）与运动转换组件相连，设置为采集运动转换组件的位移信号，并将位移信号传输给与位移传感器（8）相连的数据传输器（9）；该处理器（10）与该数据传输器（9）相连，设置为接收并分析该数据传输器（9）发送的位移信号。

Description

C型臂***旋转角度校准装置和C型臂***校准方法 技术领域
本公开涉及CT***参数校准技术领域，例如涉及一种C型臂***旋转角度校准装置及C型臂***的校准方法。
背景技术
基于X光辐射的医疗诊断设备被称为C型臂，C型臂设备越来越广泛地被应用于医学领域中，C型臂可以沿导轨绕病人待检查或者待治疗的部位运动，可以实现对不便移动或挪动的病人进行全方位检查的目的。由C型臂一端的X射线光源、C型臂相对设置的另一端的X射线探测器或者图像增强器等机械结构构成的X射线装置越来越广泛地被作为诊断器械使用。
在X光三维图像重建中，C型臂的X射线光源和探测器的运行轨迹是否符合预设轨迹将影响到重建图像的质量。C型臂***运行过程中机械结构的抖动会造成X光源的投影采集角度与预设角度不同的情况，可能导致重建图像中出现伪影，影响图像重建质量。而机械结构的抖动缺乏观测手段，使得对机械结构的抖动的校准和修正较为困难。
相关技术中，对CT***结构参数进行校准的方法通常是对静态状态下***参数与设计目标之间的差异进行校准的，并不能对***运动过程中产生的误差进行校准和修正，此外，相关技术中的校准方法还需要X光成像，会对人体产生额外的辐射风险。
发明内容
本公开提供了一种C型臂***旋转角度校准装置和利用该C型臂***旋转角度校准装置对C型臂***进行校准的方法，可以解决不能对运动状态下的C型臂***的旋转角度进行校准的问题。
一种C型臂***旋转角度校准装置，包括运动转换组件、位移传感器、数据传输器和处理器。所述运动转换组件设置为与C型臂相连，将C型臂的旋转运动转换为直线运动。所述位移传感器与所述运动转换组件相连，设置为采集所述运动转换组件的位移信号，并将所述位移信号传输给与所述位移传感器相连的所述数据传输器。所述处理器与所述数据传输器相连，设置为接收并分析 所述数据传输器发送的位移信号。
一种利用上述C型臂***旋转角度校准装置对C型臂***进行校准的方法，包括：所述处理器控制位移传感器置零，在C型臂校准旋转一周过程中，所述位移传感器采集并传输所述运动转换组件直线运动的位移信号至数据传输器；根据接收到的所述数据传输器发送的位移信号，所述处理器计算得到与C型臂在每个时刻的旋转角度值对应的校准值，并将所述每个时刻的旋转角度值与对应的校准值组成标准值对；在C型臂自由旋转过程中，当所述控制器控制C型臂的目标角度值与所有标准值对中的旋转角度值均不匹配时，利用所述标准值对对所述目标角度值进行插值法修正。
可选地，所述运动转换组件包括：底座、凸轮、纵向齿条、传动齿轮组和横向齿条，所述凸轮通过固定轴固定于所述底座上，所述固定轴位于所述凸轮的几何中心上，并垂直于所述底座，所述凸轮的几何中心设置为与C型臂的旋转中心共线，所述纵向齿条一端与所述凸轮的轮廓线接触，另一端连接有弹性件，所述弹性件设置为与C型臂一端的探测器垂直接触；所述横向齿条通过所述传动齿轮组与所述纵向齿条传动连接，所述横向齿条一端连接有所述位移传感器；所述处理器控制位移传感器置零，在C型臂校准旋转一周过程中，所述位移传感器采集并传输所述运动转换组件直线运动的位移信号至数据传输器，包括：所述处理器控制位移传感器置零，并保持凸轮固定不动；在C型臂以恒定的角速度ω旋转一周过程中，位移传感器采集并输出横向齿条直线运动的位移信号至数据传输器，记录数据传输器采集的位移信号f(t)，其中t为时间。
可选地，所述处理器计算得到与C型臂在每个时刻的的旋转角度值对应的校准值，并将每个时刻的旋转角度值与对应的校准值组成标准值对，包括：
当凸轮的轮廓线满足：r＝r(θ)，其中r为极径，θ为C型臂在校准旋转过程中的旋转角度值，θ＝ωt，θ∈[0，360]，传动齿轮组的放大倍数为α时；处理器计算得到与每个时刻的旋转角度值对应的校准值
Figure PCTCN2017071693-appb-000001
将每个时刻的旋转角度值θ与对应的校准值Θ组成标准值对(Θ，θ)。
可选地，所述在C型臂自由旋转过程中，当所述控制器控制C型臂目标角度值与所有标准值对中的旋转角度值均不匹配时，利用所述标准值对对所述目标角度值进行插值法修正，包括：
在C型臂自由旋转过程中，当C型臂的控制器判定目标角度值与所有标准值对中的旋转角度值均不匹配时，在标准值对中选取最接近目标角度值的两个 旋转角度值θ1和θ2分别对应的校准值Θ1和Θ2，利用选取的两个校准值Θ1和Θ2对目标角度值进行插值法修正，得到差值结果，所述差值结果为所述目标角度值对应的修正后的角度。
可选地，所述插值法为线性插值法。
一种C型臂***，包括C型臂、光源、探测器和控制器，其中，所述光源设置在C型臂的一端，探测器设置在C型臂的另一端。所述C型臂，设置为根据所述控制器发送的控制信号，带动所述光源和探测器旋转。所述光源，设置为在C型臂自由旋转过程中，向被探测物发射扫描信号。所述探测器，设置为采集所述扫描信号在所述被探测物上的投影数据。所述控制器，设置为与C型臂旋***旋转角度校准装置的处理器通信连接，且与所述探测器通信连接。
可选地，所述控制器设置为接收并存储所述C型臂***旋转角度校准装置的处理器发送的多个标准值对。
可选地，所述控制器可以设置为在C型臂自由旋转过程中，将C型臂的目标角度值与所有标准值对进行比较，当判定所述C型臂的目标角度值与所有标准值对中的旋转角度值均不匹配时，利用所述多个标准值对对所述目标角度值进行插值法修正。
可选地，所述控制器还可以设置为当判定所述C型臂的目标角度值与所有标准值对中的旋转角度值均不匹配时，在标准值对中选取最接近目标角度值的两个旋转角度值角度θ1和θ2分别对应的校准值Θ1和Θ2，利用选取的两个校准值Θ1和Θ2对目标角度值进行插值法修正，得到差值结果，所述差值结果为所述目标角度值对应的修正后的角度。
本公开提供一种C型臂***旋转角度校准装置及利用该C型臂***旋转角度校准装置对C型臂***进行校准的方法，该校准装置包括运动转换组件、位移传感器和数据传输器，运动转换组件设置为与C型臂相连，将C型臂的旋转运动转换为直线运动。位移传感器与运动转换组件相连，设置为采集运动转换组件的位移信号，并将位移信号传输给与该位移传感器相连的数据传输器。该装置操作简单，工作稳定可靠，且在使用过程中，无需曝光X射线，可以降低辐射风险。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本实施例所述的C型臂***旋转角度校准装置和C型臂***的结构示意图。
1-底座；2-凸轮；3-固定轴；4-纵向齿条；5-弹簧；6-传动齿轮组；7-横向齿条；8-位移传感器；9-数据传输器；10-处理器；11-C型臂；12-光源；13-探测器；14-控制器。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，以下将参照本实施例中的附图，通过实施方式清楚、完整地描述本公开的技术方案。所描述的实施例是本公开一部分实施例，而不是全部的实施例。在不冲突的情况下，以下实施例和实施例中的特征可以相互组合。
实施例1
如图1所示，本实施例提供一种C型臂***旋转角度校准装置，包括、运动转换组件、位移传感器8和数据传输器9和处理器10。
运动转换组件包括底座1、凸轮2、纵向齿条4、弹簧5、传动齿轮组6以及横向齿条7。凸轮2通过固定轴3固定于底座1上，固定轴3位于凸轮2的几何中心上，并垂直于底座1，凸轮2在底座1上的位置可以根据需要进行调节。纵向齿条4一端与凸轮2的轮廓线接触，该端可沿凸轮2的轮廓线运动，纵向齿条4的另一端连接有弹簧5。横向齿条7通过传动齿轮组6与纵向齿条4传动连接。位移传感器8连接于横向齿条7远离纵向齿条4的一端，数据传输器9与所述位移传感器8相连接，设置为采集位移传感器8的读数。处理器10设置为与数据传输器9相连接，接收并分析数据传输器9发送的数据。
示例性地，传动齿轮组6可以包括两个齿轮，两个齿轮可同轴设置，其中一个齿轮与纵向齿条4相啮合，另一个齿轮与横向齿条7相啮合，与纵向齿条4相啮合的齿轮的直径小于与横向齿条7相啮合的齿轮的直径。传动齿轮组6的齿轮数也可以多于两个，多个齿轮可同轴设置，且直径互不相同，其中一个齿轮与纵向齿条4相啮合，其余齿轮中的任一个与横向齿条7相啮合，与纵向齿条4相啮合的齿轮的直径小于与横向齿条7相啮合的齿轮的直径。多个齿轮可满足对放大倍数的灵活调整。
本实施例还提供一种利用C型臂***旋转角度校准装置对C型臂***进行校准的方法。将运动转换组件与C型臂11连接，可选地，将C型臂11一端的 光源12中心与C型臂11另一端的探测器13中心对齐。使固定轴3穿过凸轮2的几何中心并固定在底座1上，并令凸轮2轮廓线的起始点与探测器13的中心对齐其中，凸轮2的几何中心与C型臂11的旋转中心共线。使纵向齿条4一端与凸轮2轮廓线的起始点接触，另一端连接的弹簧5与探测器12接触。将横向齿条7通过传动齿轮组6与纵向齿条4传动连接，令位移传感器8连接在横向齿条7的一端。
连接完成后对C型臂进行校准和修正，步骤可以包括：
1)处理器10控制位移传感器8置零，C型臂的控制器控制旋转C型臂11沿逆时针方向旋转一周，位移传感器8采集并传输运动转换组件直线运动的位移信号至数据传输器9，数据传输器9将采集到的位移信号发送至处理器10。
可选地，在C型臂11校准旋转过程中，保持凸轮2固定不动，C型臂***的控制器14控制C型臂11以恒定的角速度ω逆时针旋转，C型臂11的旋转运动通过纵向齿条4和横向齿条7转换为的直线运动，位移传感器8采集并输出横向齿条7直线运动的位移信号至数据传输器9，数据传输器9将得到的位移信号发送至处理器10，处理器10记录数据传输器9采集的位移信号为f(t)，其中t为时间。
2)根据数据传输器9发送的位移信号，处理器10计算得到与C型臂11在每个时刻的旋转角度值对应的校准值，并将每个时刻的旋转角度值与对应的校准值组成标准值对。
可选地，设定凸轮2的轮廓线满足：r＝r(θ)，其中r为极径，θ为极角，θ表示在C型臂校准旋转过程中的旋转角度值，θ＝ωt，θ∈[0，360]。设定传动齿轮组6的放大倍数为α；处理器10计算得到与每个时刻的旋转角度对应的校准值
Figure PCTCN2017071693-appb-000002
将每个时刻的旋转角度值θ与对应的校准值Θ组成标准值对(Θ，θ)。
3)在C型臂11的自由旋转过程中，当C型臂的控制器判定目标角度值与所有标准值对中的旋转角度值均不匹配时，利用该标准值对对该目标角度值进行插值法修正。
可选地，若C型臂***的控制器14判定目标角度值与所有标准值对中的旋转角度值均不匹配时，在标准值对中选取最接近目标角度值的两个旋转角度值θ1和θ2分别对应的校准值Θ1和Θ2，利用选取的两个校准值Θ1和Θ2对目标角度值进行插值法修正，得到差值结果，并将差值结果作为目标角度值对应的修正 后的角度。
上述操作中，在步骤1和步骤2中的操作中，利用C型臂***旋转角度校准装置对C型臂***进行校准。在对C型臂***进行校准过程中，C型臂***的光源12处于关闭状态，从而可以降低辐射风险。校准之后，该装置的处理器10可以计算得到与C型臂11每个时刻的旋转角度值对应的校准值，并将每个时刻的旋转角度值与对应的校准值组成标准值对。
上述操作中，在步骤3的操作中，C型臂***的控制器14利用上述标准值对中的旋转角度值θ和校准值Θ对C型臂11在自由旋转过程中的目标角度值进行修正。
可选地，C型臂***的控制器14与C型臂***旋转角度校准装置的处理器10通信连接，处理器10将多个标准值对发送至控制器14。在C型臂自由旋转过程中，当控制器14控制C型臂旋转的目标角度值与所有标准值对中的旋转角度值均不匹配时，利用标准值对中的旋转角度值和校准值对C型臂的目标角度值进行插值法修正。
在本实施例中，插值法可以为线性插值法。在其他实施例中，也可以采用其他合适的插值方法。
该方法操作简单，工作稳定可靠，且在使用过程中，无需曝光X射线，可以降低辐射风险。
本实施例还提供了一种C型臂***，如图1所示，C型臂***可以包括C型臂11、光源12、探测器13和控制器14，其中，所述光源12设置在C型臂11的一端，探测器13设置在C型臂11的另一端。所述C型臂11设置为根据所述控制器14发送的控制信号，带动所述光源12和探测器13旋转。所述光源12设置为在C型臂自由旋转过程中，向被探测物发射扫描信号。所述探测器13设置为采集所述扫描信号在所述被探测物上的投影数据。所述控制器14设置为与C型臂旋***旋转角度校准装置的处理器10通信连接，且与所述探测器13通信连接。
可选地，所述控制器14可以设置为接收并存储所述C型臂***旋转角度校准装置的处理器10发送的多个标准值对。
可选地，所述控制器14还可以设置为在C型臂自由旋转过程中，将C型臂的目标角度值与所述多个标准值对进行比较，当判定所述C型臂11的目标角度值与所述多个标准值对中的旋转角度值均不匹配时，利用该标准值对对该目标 角度值进行插值法修正。
可选地，所述控制器14还可以设置为当判定所述C型臂的目标角度值与所有标准值对中的旋转角度值均不匹配时，在标准值对中选取最接近目标角度值的两个旋转角度值角度θ1和θ2分别对应的校准值Θ1和Θ2，利用选取的两个校准值Θ1和Θ2对目标角度值进行插值法修正，得到差值结果，所述差值结果即为所述目标角度值对应的修正后的角度。
可选地，所述光源12可以为X光源。
实施例2
为简便起见，仅描述第二实施方式与第一实施方式的区别点，区别之处在于，所述运动转换组件也可以为其他可实现旋转运动转化为直线运动的机械结构，例如曲柄滑块机构或曲柄连杆机构等。
工业实用性
本公开提供了一种C型臂***旋转角度校准装置及利用该C型臂***旋转角度校准装置对C型臂***进行校准的方法。该装置操作简单，工作稳定可靠，且在使用过程中，无需曝光X射线，可以降低辐射风险。

Claims (16)

  1. 一种C型臂***旋转角度校准装置，包括运动转换组件、位移传感器、数据传输器和处理器；
    所述运动转换组件设置为与C型臂相连，将C型臂的旋转运动转换为直线运动；
    所述位移传感器与所述运动转换组件相连，设置为采集所述运动转换组件的位移信号，并将所述位移信号传输给与所述位移传感器相连的所述数据传输器；以及
    所述处理器与所述数据传输器相连，设置为接收并分析所述数据传输器发送的位移信号。
  2. 根据权利要求1所述的装置，其中，所述运动转换组件包括：底座、凸轮、纵向齿条、传动齿轮组和横向齿条；
    所述凸轮通过固定轴固定于所述底座上，所述固定轴位于所述凸轮的几何中心上，并垂直于所述底座，所述凸轮的几何中心设置为与C型臂的旋转中心共线；以及
    所述纵向齿条一端与所述凸轮的轮廓线接触，另一端连接有弹性件，所述弹性件设置为与C型臂一端的探测器垂直接触；所述横向齿条通过所述传动齿轮组与所述纵向齿条传动连接，所述横向齿条一端连接有所述位移传感器。
  3. 根据权利要求2所述的装置，其中，所述传动齿轮组包括两个齿轮，所述两个齿轮同轴设置，其中一个齿轮与所述纵向齿条相啮合，另一个齿轮与所述横向齿条相啮合。
  4. 根据权利要求3所述的装置，其中，与所述纵向齿条相啮合的齿轮的直径小于与所述横向齿条相啮合的齿轮的直径。
  5. 根据权利要求2所述的装置，其中，所述传动齿轮组的齿轮数多于两个，多个齿轮同轴设置，且直径互不相同，其中一个齿轮与所述纵向齿条相啮合，其余齿轮中的任一个与所述横向齿条相啮合。
  6. 根据权利要求5所述的装置，其中，与所述纵向齿条相啮合的齿轮的直径小于与所述横向齿条相啮合的齿轮的直径。
  7. 根据权利要求2所述的装置，其中，所述弹性件为弹簧。
  8. 一种利用权利要求1所述的C型臂***旋转角度校准装置对C型臂***进行校准的方法，包括：
    所述处理器控制位移传感器置零；
    在C型臂校准旋转一周过程中，所述位移传感器采集并传输所述运动转换 组件直线运动的位移信号至数据传输器；
    根据接收到的所述数据传输器发送的位移信号，所述处理器计算得到与C型臂在每个时刻的旋转角度值对应的校准值，并将所述每个时刻的旋转角度值与对应的校准值组成标准值对；以及
    在C型臂自由旋转过程中，当控制器控制C型臂的目标角度值与所有标准值对中的旋转角度值均不匹配时，利用所述标准值对对所述目标角度值进行插值法修正。
  9. 根据权利要求8所述的方法，其中，所述运动转换组件包括：底座、凸轮、纵向齿条、传动齿轮组和横向齿条，所述凸轮通过固定轴固定于所述底座上，所述固定轴位于所述凸轮的几何中心上，并垂直于所述底座，所述凸轮的几何中心设置为与C型臂的旋转中心共线，所述纵向齿条一端与所述凸轮的轮廓线接触，另一端连接有弹性件，所述弹性件设置为与C型臂一端的探测器垂直接触；所述横向齿条通过所述传动齿轮组与所述纵向齿条传动连接，所述横向齿条一端连接有所述位移传感器；
    所述处理器控制位移传感器置零，在C型臂校准旋转一周过程中，所述位移传感器采集并传输所述运动转换组件直线运动的位移信号至数据传输器，包括：
    所述处理器控制位移传感器置零，并保持凸轮固定不动；以及
    在C型臂以恒定的角速度ω旋转一周过程中，位移传感器采集并输出横向齿条直线运动的位移信号至数据传输器，记录数据传输器采集的位移信号f(t)，其中t为时间。
  10. 根据权利要求9所述的方法，其中，所述处理器计算得到与C型臂在每个时刻的旋转角度值对应的校准值，并将每个时刻的旋转角度值与对应的校准值组成标准值对，包括：
    当凸轮的轮廓线满足：r＝r(θ)，其中r为极径，θ为C型臂在校准旋转过程中的旋转角度值，θ＝ωt，θ∈[0，360]，传动齿轮组的放大倍数为α时，处理器计算得到与每个时刻的旋转角度值对应的校准值
    Figure PCTCN2017071693-appb-100001
    将每个时刻的旋转角度值θ与对应的校准值Θ组成标准值对(Θ，θ)。
  11. 根据权利要求10所述的方法，其中，所述在C型臂自由旋转过程中，当所述控制器控制C型臂目标角度值与所有标准值对中的旋转角度值均不匹配时，利用所述标准值对对所述目标角度值行插值法修正，包括：
    在C型臂自由旋转过程中，当C型臂的控制器判定目标角度值与所有标准值对中的旋转角度值均不匹配时，在标准值对中选取最接近目标角度值的两个旋转角度值θ1和θ2分别对应的校准值Θ1和Θ2，利用该两个校准值Θ1和Θ2对目标角度值进行插值法修正，得到差值结果，所述差值结果为所述目标角度值对应的修正后的角度。
  12. 根据权利要求8-11所述的方法，其中，所述插值法为线性插值法。
  13. 一种C型臂***，包括C型臂、光源、探测器和控制器，其中，
    所述光源设置在C型臂的一端，探测器设置在C型臂的另一端；
    所述C型臂，设置为根据所述控制器发送的控制信号，带动所述光源和探测器旋转；
    所述光源，设置为在C型臂自由旋转过程中，向被探测物发射扫描信号；
    所述探测器，设置为采集所述扫描信号在所述被探测物上的投影数据；
    所述控制器，设置为与C型臂旋***旋转角度校准装置的处理器通信连接，且与所述探测器通信连接。
  14. 根据权利要求13所述的***，其中，所述控制器设置为：
    接收并存储所述C型臂***旋转角度校准装置的处理器发送的多个标准值对。
  15. 根据权利要求14所述的***，其中，所述控制器设置为：
    在C型臂自由旋转过程中，将C型臂的目标角度值与所述所有标准值对进行比较；以及
    当判定所述C型臂的目标角度值与所有标准值对中的旋转角度值均不匹配时，利用所述多个标准值对对所述目标角度值进行插值法修正。
  16. 根据权利要求15所述的***，其中，所述控制器设置为：
    当判定所述C型臂的目标角度值与所有标准值对中的旋转角度值均不匹配时，在标准值对中选取最接近目标角度值的两个旋转角度值角度θ1和θ2分别对应的校准值Θ1和Θ2，利用两个校准值Θ1和Θ2对目标角度值进行插值法修正，得到差值结果，所述差值结果为所述目标角度值对应的修正后的角度。
PCT/CN2017/071693 2017-01-19 2017-01-19 C型臂***旋转角度校准装置和c型臂***校准方法 WO2018133002A1 (zh)

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