Control method and system for C-shaped arm of digital substraction angiography (DSA) machine

Abstract

The invention discloses a control method and system for a C-shaped arm of a digital substraction angiography (DSA) machine. The method comprises: A, receiving a user controlled DSA machine motion instruction, and acquiring a C-shaped arm rotation angle value, a C-shaped arm regulation angle value and a base rotation angle value of the current DSA machine; B, respectively obtaining a left / right forward slanting locus equation and a head / foot locus equation according to the conversion between predefined coordinate systems, and solving locus data by utilizing the acquired current angle values; and C, controlling a C-shaped arm rotation shaft and a C-shaped arm angle regulation shaft to move sequentially and synchronously according to the obtained locus data. By adopting the system, the position angle motion loci of the DSA machine when an ISO center is not on a Pivot shaft can be accurately calculated, so that the motion control system of the DSA machine can accurately control the C-shaped arm to move according to the loci defined by left / right forward slanting and head / foot position angles, to facilitate image acquisition and physician's operation.

Description

technical field [0001] The invention relates to the field of X-ray angiography, in particular to a precise control method and system for a C-arm of a vascular machine according to body position angle trajectory. Background technique [0002] Such as figure 1 The one shown is a DSA vascular machine, and the two ends of the C-arm 100 are respectively equipped with a detector 200 and a bulb 300. In order to realize multi-directional irradiation on the focus irradiation center (ISO center), the movement of the C-arm 100 is often multiple The compound motion of the motion axis, for example, the C-arm as a whole can rotate horizontally around the rotation axis (Pivot axis) of the machine base, and the head position / foot angle can be adjusted through the C-arm rotation axis (Rotation axis), and can be adjusted through the C-type The arm adjustment axis (Angulation axis) realizes the angle adjustment of left front tilt / right front tilt. In practical applications such as interventi...

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Problems solved by technology

[0006] In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a control method and system for a C-arm of a vascular machine, aiming at solving the problem of inaccurate motion trajectory of the body position angle of a DSA vascular machine whose ISO center is not on the Pivot axis

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