Slide rail CT interference inspection method, device, slide rail CT equipment and storage medium

Abstract

The present application relates to a method, device, slide rail CT interference inspection method, slide rail CT equipment, storage medium and computer program product. The method includes: determining a free zone corresponding to a first area, a free zone corresponding to a second area, and a transfer zone between the first area and the second area on the slide rail according to a plurality of position sensors; controlling the CT gantry to move on the slide rail, and when the CT gantry reaches the free zone corresponding to the first area, according to the interference table corresponding to the first area, controlling the CT gantry to move in the free zone corresponding to the first area; when the CT gantry reaches the transfer area, according to the position of the transfer area, controlling the CT gantry to move in the transfer area; when the CT gantry reaches the free zone corresponding to the second area, according to the interference table corresponding to the second area, controlling the CT gantry to move in the free zone corresponding to the second area. The use of this method can improve the accuracy of the interference inspection results, making the motion control of the CT gantry more precise.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a slide rail CT interference inspection method, device, slide rail CT equipment and storage medium. Background Art

[0002] Due to the presence of the scanning bed and the shielding door, there is a risk of collision during the movement of the CT gantry of the slide CT, so a precise interference inspection method is required to control the movement range of the CT gantry.

[0003] In ordinary CT systems, the relative positions of the gantry and the bed are relatively fixed, and the movable range of the bed is determined when the system is designed. The general method to solve the collision between the gantry and the bed is for the engineer to calculate the interference table in advance and store it in the software system. During the operation of the CT system, the interference table rules are strictly followed, and the target position is determined based on the interference table. If it is reachable, the bed will be controlled to move, thereby avoiding the collision between the CT gantry and the bed. However, for the sliding rail CT, controlling the movement of the bed becomes controlling the movement of the CT gantry, and the moving space changes from a single room to multiple rooms. That is, affected by the installation environment, the movable range of the CT gantry is uncertain. The traditional method of using a fixed interference table for interference inspection is no longer applicable to the sliding rail CT. There are problems such as inaccurate interference inspection results between the bed and the CT gantry, and the inability to accurately control the movement of the CT gantry. Summary of the invention

[0004] Based on this, it is necessary to provide a slide rail CT interference inspection method, device, slide rail CT equipment and storage medium to address the problems that the traditional method of using a fixed interference table for interference inspection has inaccurate interference inspection results between the patient bed and the CT (Computer Tomography) frame, and cannot accurately control the movement of the CT frame. The methods can improve the accuracy of the interference inspection results between the patient bed and the CT frame, and make the CT frame motion control more accurate.

[0005] In a first aspect, the present application provides a slide rail CT interference inspection method. The slide rail CT device comprises: a CT frame and a slide rail, the slide rail crosses a first area and a second area, the CT frame can move on the slide rail, and a plurality of position sensors are arranged on the slide rail. The method comprises:

[0006] Determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0007] Controlling the CT gantry to move on the slide rail, when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0008] When the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area;

[0009] When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move within the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0010] In one embodiment, the plurality of position sensors include a position sensor corresponding to a first area and a position sensor corresponding to a second area; the interference table corresponding to the first area and the interference table corresponding to the second area are obtained by the following steps:

[0011] Control the CT gantry to move to a position where a first position sensor among the multiple position sensors is located, and then move from the position where the first position sensor is located to a position where a last position sensor among the multiple position sensors is located, to obtain position coordinates of the position sensor corresponding to the first area and position coordinates of the position sensor corresponding to the second area;

[0012] Based on the position coordinates of the position sensor corresponding to the first area, an interference table corresponding to the first area is obtained by using an interference table calculation formula;

[0013] Based on the position coordinates of the position sensor corresponding to the second area, an interference table corresponding to the second area is obtained through an interference table calculation formula.

[0014] In one embodiment, determining a free zone corresponding to a first area, a free zone corresponding to a second area, and a transfer zone between the first area and the second area on a slide rail according to a plurality of position sensors comprises:

[0015] Determine a free area corresponding to the first area on the slide rail according to a first position sensor among the plurality of position sensors and a first position sensor adjacent to the first position sensor;

[0016] Determine a free area corresponding to the second area on the slide rail according to a last position sensor among the plurality of position sensors and a first position sensor adjacent to the last position sensor;

[0017] A transfer area between the first area and the second area is determined on the rail based on a first position sensor adjacent to the first position sensor and a first position sensor adjacent to the last position sensor.

[0018] In one embodiment, according to the interference table corresponding to the first area, controlling the CT gantry to move in the free zone corresponding to the first area includes:

[0019] Acquire CT gantry information in the free zone corresponding to the first area, the CT gantry information including: CT gantry position, CT gantry inclination angle, and bed height;

[0020] Reading interference data from the interference table corresponding to the first area according to the inclination angle of the CT gantry and the height of the patient bed;

[0021] Determine, based on the interference data, a movable range of the CT gantry within a free zone corresponding to the first region;

[0022] According to the position and movable range of the CT gantry, the CT gantry is controlled to move within a free zone corresponding to the first area.

[0023] In one of the embodiments, the CT gantry position includes a target gantry position or a current gantry position;

[0024] According to the position and movable range of the CT gantry, the CT gantry is controlled to move in a free zone corresponding to the first area, including:

[0025] Determine the location type of the CT gantry position;

[0026] If the position type of the CT gantry position is a target gantry position, it is determined whether the target gantry position is within a movable range; if the target gantry position is within the movable range, the CT gantry is controlled to move to the target gantry position in the free zone corresponding to the first area; if the target gantry position is not within the movable range, the CT gantry is controlled not to move in the free zone corresponding to the first area;

[0027] If the position type of the CT gantry position is the current gantry position, it is determined whether the current gantry position is within the movable range; if the current gantry position is within the movable range, the moving direction is obtained, and the CT gantry is controlled to move to the boundary position of the movable range corresponding to the moving direction; if the current gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area.

[0028] In one embodiment, according to the position of the transfer area, controlling the CT gantry to move in the transfer area includes:

[0029] Get the current position of the CT gantry;

[0030] If the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area.

[0031] In the second aspect, the present application also provides a slide rail CT interference inspection device. The device is deployed on a slide rail CT device, and the slide rail CT device includes: a CT frame and a slide rail, the slide rail crosses the first area and the second area, the CT frame can move on the slide rail, and a plurality of position sensors are arranged on the slide rail. The device includes:

[0032] A determination module, for determining, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0033] A first control module is used to control the CT gantry to move on the slide rail, and when the CT gantry reaches the free zone corresponding to the first area, the CT gantry is controlled to move in the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0034] The second control module is used to control the CT gantry to move in the transfer area according to the position of the transfer area when the CT gantry arrives at the transfer area;

[0035] The third control module is used to control the CT gantry to move in the free zone corresponding to the second area according to the interference table corresponding to the second area when the CT gantry reaches the free zone corresponding to the second area.

[0036] In a third aspect, the present application also provides a slide rail CT device. The slide rail CT device includes a CT frame, a slide rail, and a processor. The CT frame can move on the slide rail. A plurality of position sensors are arranged on the slide rail. The processor stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0037] Determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0038] Controlling the CT gantry to move on the slide rail, when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0039] When the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area;

[0040] When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move within the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0041] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0042] Determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0043] Controlling the CT gantry to move on the slide rail, when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0044] When the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area;

[0045] When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move within the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0046] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0047] Determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0048] Controlling the CT gantry to move on the slide rail, when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0049] When the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area;

[0050] When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move within the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0051] The above-mentioned slide rail CT interference inspection method, device, slide rail CT equipment, storage medium and computer program product, the slide rail CT equipment includes: a CT frame and a slide rail, the slide rail crosses the first area and the second area, the CT frame can move on the slide rail, and a plurality of position sensors are arranged on the slide rail. Through the plurality of position sensors, a method for determining the free area corresponding to the first area, the free area corresponding to the second area, and the transfer area between the first area and the second area on the slide rail can accurately obtain the positions of the free area and the transfer area, which is conducive to obtaining accurate interference inspection results and precise control of the CT frame; different control methods are used for the CT frame to move in different areas of the slide rail. When the CT frame reaches the transfer area, the CT frame does not need to be tilted because the transfer area does not require the CT frame to be tilted. Movement only requires controlling the movement of the CT gantry in the transfer area according to the position of the transfer area, which can improve the accuracy of the interference check results and the precision of the CT gantry motion control; when the CT gantry reaches the free zones corresponding to different areas, the CT gantry is controlled to move in the free zones corresponding to different areas according to the interference tables corresponding to different areas. Since the sizes of the free zones corresponding to different areas may be different and the positions may also be different, different interference tables are used in the free zones corresponding to different areas for interference check, which can improve the accuracy of the interference check results between the patient bed and the CT gantry, make the motion control of the CT gantry in different free zones more precise, and effectively avoid the interference collision caused by using fixed interference tables to control the gantry movement in different areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A diagram showing an application environment of a slide rail CT interference inspection method in an embodiment;

[0053] Figure 2 A schematic diagram of a flow chart of a method for CT interference inspection of a slide rail in an embodiment;

[0054] Figure 3 It is a flow chart of a method for CT interference inspection of a slide rail in another embodiment;

[0055] Figure 4 is a schematic diagram of a sub-process of S200 in one embodiment;

[0056] Figure 5 A schematic diagram of the distribution of multiple sensors on a slide rail in one embodiment;

[0057] Figure 6 is a schematic diagram of a sub-process of S400 in one embodiment;

[0058] Figure 7 is a schematic diagram of a sub-process of S480 in an embodiment;

[0059] Figure 8 is a schematic diagram of a sub-process of S600 in an embodiment;

[0060] Fig. 9 A schematic diagram of the slide rail distribution of a dual-chamber slide rail CT device in one embodiment;

[0061] Fig.10 A schematic diagram of a free zone and a transfer zone in one embodiment;

[0062] Fig.11 A schematic diagram of an overall method for automatically generating an interference table in one embodiment;

[0063] Fig.12 A schematic diagram of a specific method for automatically generating an interference table in an embodiment;

[0064] Fig.13 is a structural block diagram of a slide rail CT interference inspection device in one embodiment;

[0065] Fig.14 FIG. 4 is a diagram showing the internal structure of a slide rail CT device in one embodiment. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0067] The slide rail CT interference inspection method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the host computer 102 communicates with the slide rail CT device 104 through the network. The slide rail CT device 104 includes: a CT frame, a slide rail and a processor. Specifically, the host computer 102 communicates with the processor in the slide rail CT device 104 through the network. The data storage system can store data that the host computer 102 or the slide rail CT device 104 needs to process. The data storage system can be integrated on the host computer 102, or it can be placed on the cloud or other network servers. The slide rail crosses the first area and the second area, and the CT gantry can move on the slide rail. A plurality of position sensors are arranged on the slide rail. The host computer 102 determines the free area corresponding to the first area, the free area corresponding to the second area, and the transfer area between the first area and the second area on the slide rail according to the plurality of position sensors; controls the CT gantry to move on the slide rail, and when the CT gantry reaches the free area corresponding to the first area, according to the interference table corresponding to the first area, controls the CT gantry to move in the free area corresponding to the first area; when the CT gantry reaches the transfer area, according to the position of the transfer area, controls the CT gantry to move in the transfer area; when the CT gantry reaches the free area corresponding to the second area, according to the interference table corresponding to the second area, controls the CT gantry to move in the free area corresponding to the second area. Among them, the host computer 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc.

[0068] In one embodiment, Figure 2 As shown, a slide rail CT interference inspection method is provided, and the method is applied to Figure 1 Taking the host computer 102 in the example as an example, the following steps are included:

[0069] S200, determining, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors.

[0070] The slide rail in the slide rail CT device can cross multiple areas, each area includes at least one bed, any area can be a room, the first area and the second area can be any two areas in the multiple areas, therefore, the first area can be the first room, and the second area can be the second room. Since the slide rail crosses the first area and the second area, the beds in the first area and the beds in the second area are respectively arranged on the slide rail, and the CT gantry moves on the slide rail, that is, the CT gantry can move between the first area and the second area, and the beds in each area pass through the hole of the CT gantry. A plurality of position sensors are arranged on the slide rail, and the position sensor is a sensor that can convert the position information of the CT gantry into a usable output signal, and the output signal can be the position coordinate when the CT gantry moves to the plurality of position sensors. The plurality of sensors can divide the slide rail into at least one free area and at least one transfer area, wherein the free area includes the free area corresponding to the first area and the free area corresponding to the second area, at least one bed is arranged in the free area corresponding to the first area, and at least one bed is arranged in the free area corresponding to the second area, and the CT gantry can move horizontally or tilt in the free area, and in the transfer area between the first area and the second area, the CT gantry can move horizontally, and tilting movement is prohibited. A plurality of position sensors divide the slide rail into a scanning area, a scanning end area and a rack docking area, wherein the scanning area includes a scanning area corresponding to the first area and a scanning area corresponding to the second area, the scanning end area includes a scanning end area corresponding to the first area and a scanning end area corresponding to the second area, and the rack docking area includes a rack docking area corresponding to the first area and a rack docking area corresponding to the second area, and two position sensors are respectively deployed at the two end positions of each area, and the intersection of two adjacent areas uses the same position sensor. It should be noted that the slide rail CT interference inspection method of the present application is also applicable to the interference inspection of the slide rail CT of a single area.

[0071] S400, controlling the CT gantry to move on the slide rail, and when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area.

[0072] Among them, the host computer includes host computer software and gantry control software (Gantry SoftWare, GSW). The movement of the CT gantry on the slide rail is that the host computer software in the host computer sends a control protocol to the gantry control software, and then the gantry control software controls the movement of the CT gantry on the slide rail. The control protocol includes an interference table corresponding to the first area and an interference table corresponding to the second area. In the process of the CT gantry moving on the slide rail, when the distance between the CT gantry and the patient's bed is less than the moving distance set by the host computer software, an interference problem will occur, which will cause a collision between the CT gantry and the patient's bed. The interference table is a data table dynamically generated for the movement of the slide rail CT gantry on the slide rail to avoid interference and collision of the CT gantry. The data in the interference table includes the CT gantry position, the CT gantry inclination angle, the patient's bed height and the interference data. The interference data refers to the distance that the CT gantry can move under the corresponding CT gantry position, CT gantry inclination angle and patient's bed height. Due to the different situations in each area, for example, each area includes a different number of beds, a different size of beds, a different length of slide rails, or a different position of beds on the slide rails, the interference of the CT gantry in each area is also different. Therefore, it is necessary to generate a corresponding interference table for each area. Since the beds are set in the free area, the CT gantry moves in the free area and is prone to collision with the beds. Therefore, when the CT gantry reaches the free area, the CT gantry is controlled to move in the free area according to the interference table corresponding to each area. Specifically, the beds in the first area are set in the free area of ​​the first area. When the CT gantry reaches the free area corresponding to the first area, the upper computer software sends the interference table corresponding to the first area to the gantry control software, and then the gantry control software controls the CT gantry to move in the free area corresponding to the first area according to the interference table corresponding to the first area.

[0073] S600, when the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area.

[0074] Among them, there are generally no beds in the transfer area, and the CT gantry only needs to move horizontally in the transfer area, while tilting movement is disabled. There is no need for an interference table to perform interference check in the transfer area. It is only necessary to control the movement of the CT gantry in the transfer area according to the position of the transfer area. Specifically, the CT gantry moves on the slide rail, and when the CT gantry leaves the free zone corresponding to the first area or the free zone corresponding to the second area and arrives at the transfer area, the gantry control software controls the movement of the CT gantry in the transfer area according to the position of the transfer area.

[0075] S800: When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move in the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0076] Among them, since the layout of the second area may be different from that of the first area, the interference table corresponding to the second area may be different from the interference table corresponding to the first area. For example, the interference data in the interference table are different, that is, under the corresponding CT gantry position, CT gantry inclination angle and bed height, the movable distance of the CT gantry in the first area and the second area is different. The bed in the second area is set in the free area of ​​the second area. In order to avoid interference and collision between the CT gantry and the bed in the second area when the CT gantry moves in the free area corresponding to the second area, when the CT gantry reaches the free area corresponding to the second area, the upper computer software sends the interference table corresponding to the second area to the gantry control software, and then the gantry control software controls the CT gantry to move in the free area corresponding to the second area according to the interference table corresponding to the second area.

[0077] In the above-mentioned slide rail CT interference inspection method, a method for determining the free zone corresponding to the first area, the free zone corresponding to the second area, and the transfer area between the first area and the second area on the slide rail according to multiple position sensors can accurately obtain the positions of the free zone and the transfer area, which is conducive to obtaining accurate interference inspection results and precise control of the CT gantry; different control methods are used for the movement of the CT gantry in different areas of the slide rail. When the CT gantry reaches the transfer area, since the transfer area does not require the CT gantry to tilt, it only needs to control the CT gantry to move in the transfer area according to the position of the transfer area, which can improve the accuracy of the interference inspection result and the accuracy of the CT gantry motion control; when the CT gantry reaches the free zones corresponding to different areas, according to the interference tables corresponding to different areas, the CT gantry is controlled to move in the free zones corresponding to the different areas. Since the sizes of the free zones corresponding to different areas may be different and the positions are also different, different interference tables are used in the free zones corresponding to different areas for interference inspection, which can improve the accuracy of the interference inspection results between the bed and the CT gantry, make the motion control of the CT gantry in different free areas more accurate, and effectively avoid the interference collision caused by using fixed interference tables to control the gantry motion in different areas.

[0078] In one embodiment, Figure 3 As shown, the multiple position sensors include a position sensor corresponding to the first area and a position sensor corresponding to the second area; the interference table corresponding to the first area and the interference table corresponding to the second area are obtained by the following steps:

[0079] S320, controlling the CT gantry to move to a position where a first position sensor among the multiple position sensors is located, and then moving from the position where the first position sensor is located to a position where a last position sensor among the multiple position sensors is located, to obtain position coordinates of the position sensor corresponding to the first area and position coordinates of the position sensor corresponding to the second area;

[0080] S340, obtaining an interference table corresponding to the first area through an interference table calculation formula based on the position coordinates of the position sensor corresponding to the first area;

[0081] S360, based on the position coordinates of the position sensor corresponding to the second area, obtain an interference table corresponding to the second area through an interference table calculation formula.

[0082] In this embodiment, among the multiple position sensors, the position sensors deployed in the first area are position sensors corresponding to the first area, and the position sensors deployed in the second area are position sensors corresponding to the second area. When obtaining the interference table corresponding to the first area and the interference table corresponding to the second area, the upper computer software sends a correction protocol to the rack control software. The rack control software controls the CT rack to move from the first area to the second area on the slide rail, and passes through the multiple position sensors in sequence. The types of position sensors include but are not limited to photoelectric switches. When the CT rack passes through each position sensor, the current position sensor is triggered, and the upper computer software receives the corresponding position coordinates sent by the current position sensor until the position coordinates of the multiple position sensors are obtained. Specifically, the rack control software controls the CT rack to move on the slide rail. The initial position of the CT rack on the slide rail can be any position. First, the CT rack is controlled to move to the position where the first position sensor among the multiple position sensors set on the slide rail is located, and then it moves from the position where the first position sensor is located to the position where the last position sensor among the multiple position sensors is located. Every time the CT rack passes through the position where a position sensor is located, the position sensor is triggered, and the upper computer software receives the position coordinates sent by the position sensor to obtain the position coordinates of the position sensor corresponding to the first area and the position coordinates corresponding to the second area. The above process can be called a calibration process. Through the calibration process, the accurate position coordinates of the free zone and the transfer zone on the slide rail can be obtained. Even if the layout of different areas is different, the interference table corresponding to each area can be obtained according to the accurate position coordinates, which is conducive to improving the accuracy of the interference table, obtaining accurate interference inspection results and precise control of the CT rack.

[0083] The interference table calculation formula is a mathematical formula used to calculate the interference data in the interference table. The interference data is related to the CT gantry position, the CT gantry inclination angle and the bed height. Therefore, the interference table calculation formula can be expressed as: Interference data Journey = Function (CT gantry inclination angle Tilt, bed height Height, CT gantry position (position coordinates of the first position sensor, position coordinates of the second position sensor...)), the CT gantry position is the position coordinates of multiple position sensors obtained in the calibration process, the host computer software brings the position coordinates of the position sensor corresponding to the first area into the interference table calculation formula to obtain the interference data corresponding to the first area, brings the position coordinates of the position sensor corresponding to the second area into the interference table calculation formula to obtain the interference data corresponding to the second area, the content of the interference table includes the CT gantry position, the CT gantry inclination angle, the bed height, the interference data corresponding to the first area and the interference data corresponding to the second area, based on the content of the interference table corresponding to the first area and the content of the interference table of the second area, an interference file is generated, and the host computer software parses the interference file to obtain the interference table corresponding to the first area and the interference table corresponding to the second area.

[0084] The file structure of the interference file is as follows:

[0085] <file>

[0086] <time> xxxxxxxx< / time>

[0087] <name> Interference_RoomA< / name> <value> The content of the interference table corresponding to the first region< / value>

[0088] <name> Interference_RoomB< / name> <value> The content of the interference table corresponding to the second area< / value>

[0089] < / file>

[0090] The interference table corresponding to the first area is shown in Table 1. The interference table corresponding to the second area has the same format as the interference table corresponding to the first area, but the corresponding Tilt, Height and Journey values ​​are different.

[0091] Table 1 Interference table corresponding to the first area

[0092] Height1 Height2 Height3 Height4 … Height … … … … … … … Tilt1 Journey11 Journey12 Journey13 Journey14 … Journey1m Tilt2 Journey21 Journey22 Journey23 Journey24 … Journey2m Tilt3 Journey31 Journey32 Journey33 Journey34 … Journey3m … … … … … … … Tiltn Journeyn1 Journeyn2 Journeyn3 Journeyn4 … Journeynm

[0093] In the scheme of the above embodiment, before calculating the interference table corresponding to the first area and the interference table corresponding to the second area, it is necessary to obtain the position coordinates of multiple position sensors. The CT gantry control software controls the CT gantry to move from the position of the first position sensor to the position of the last position sensor, and triggers multiple position sensors to send position coordinates in sequence. The upper computer software receives the position coordinates of the multiple position sensors and can obtain the accurate position coordinates of the free area and the transfer area on the slide rail. Even if the layout of different areas is different, the interference table corresponding to each area can be obtained according to the accurate position coordinates, which is conducive to improving the accuracy of the interference table, obtaining accurate interference inspection results and precise control of the CT gantry; the position sensors corresponding to each area are The position coordinates of the position sensors are respectively brought into the interference table calculation formula to obtain the interference table corresponding to each area. Due to the different layouts of each area, the deployment position of the position sensor, the inclination angle of the CT gantry and the height of the bed corresponding to each area can be flexibly adjusted according to the actual situation. The position coordinates of the position sensors corresponding to each area are also different. After being brought into the interference table calculation formula, the interference tables corresponding to each area may be different. This method of generating different interference tables in different areas can flexibly generate interference tables for different areas according to the actual area conditions. Interference checks are performed based on different interference tables in different areas, which is conducive to improving the accuracy of the interference check results between the bed and the CT gantry and improving the accuracy of the CT gantry motion control.

[0094] In one embodiment, Figure 4 As shown, according to a plurality of position sensors, determining a free area corresponding to a first area, a free area corresponding to a second area, and a transfer area between the first area and the second area on a slide rail comprises:

[0095] S220, determining a free area corresponding to the first area on the slide rail according to a first position sensor among the plurality of position sensors and a first position sensor adjacent to the first position sensor;

[0096] S240, determining a free area corresponding to the second area on the slide rail according to a last position sensor among the plurality of position sensors and a first position sensor adjacent to the last position sensor;

[0097] S260, determining a transfer area between a first area and a second area on the slide rail according to a first position sensor adjacent to the first position sensor and a first position sensor adjacent to the last position sensor.

[0098] In this embodiment, if the first position sensor among the multiple position sensors and the first position sensor adjacent to the first position sensor are deployed in the first area, and the last position sensor among the multiple position sensors and the first position sensor adjacent to the last position sensor are deployed in the second area, then the area between the first position sensor among the multiple position sensors and the first position sensor adjacent to the first position sensor is determined as the free area corresponding to the first area, that is, the range of the free area corresponding to the first area is the position range between the position coordinates of the first position sensor and the position coordinates of the first position sensor adjacent to the first position sensor. The area between the last position sensor among the multiple position sensors and the first position sensor adjacent to the last position sensor is determined as the free area corresponding to the second area, that is, the range of the free area corresponding to the second area is the position range between the position coordinates of the last position sensor and the position coordinates of the first position sensor adjacent to the last position sensor, and the area between the first position sensor adjacent to the first position sensor and the first position sensor adjacent to the last position sensor is determined as the transfer area between the first area and the second area, that is, the range of the transfer area between the first area and the second area is the position range between the position coordinates of the first position sensor adjacent to the first position sensor and the position coordinates of the first position sensor adjacent to the last position sensor. In addition, multiple position sensors can be deployed in the transfer area between the first area and the second area to indicate the scanning end stop position of the CT gantry and the long-term stop position of the CT gantry. Among them, for the multiple position sensors in the transfer area, the position sensor deployed near the first area is used to indicate the scanning end stop position of the CT gantry in the first area, the position sensor deployed near the second area is used to indicate the scanning end stop position of the CT gantry in the second area, and the position sensor deployed between the scanning end stop position in the first area and the scanning end stop position in the second area is used to indicate the long-term stop position of the CT gantry. By deploying position sensors at the scanning end stop position of the CT gantry and the long-term stop position of the CT gantry respectively, it is helpful to obtain the accurate stop position of the CT gantry after the scanning is completed and the accurate stop position of the CT gantry for a long time when not in use, which is beneficial to more accurate motion control of the CT gantry in the transfer area. Reference Figure 5, the multiple sensors arranged on the slide rail are S1 to Sn, wherein S1 is the first sensor among the multiple sensors, S2 is the first position sensor adjacent to the first position sensor, Sn is the last position sensor among the multiple position sensors, and Sn-1 is the first position sensor adjacent to the last position sensor. The area between S1 and S2 is the free area corresponding to the first area, the area between Sn-1 and Sn is the free area corresponding to the second area, and the area between S2 and Sn-1 is the transfer area between the first area and the second area. Multiple position sensors can also be deployed in the transfer area between the first area and the second area, Sa is a position sensor close to the first area, used to indicate the scanning end stop position of the CT gantry in the first area; Sc is a position sensor close to the second area, used to indicate the scanning end stop position of the CT gantry in the second area; Sb is a position sensor between the scanning end stop position of the first area and the scanning end stop position of the second area, used to indicate the long-term stop position of the CT gantry.

[0099] The scheme of the above-mentioned embodiment can respectively determine the free zone and the transfer zone corresponding to each area according to the position sensor specified by multiple position sensors, and then obtain the range of the free zone and the range of the transfer zone corresponding to each area according to the position coordinates of the multiple position sensors. This method of determining each area and obtaining the range of each area based on multiple position sensors can accurately obtain the positions of the free zone and the transfer zone, which is conducive to obtaining accurate interference inspection results and precise control of the CT frame.

[0100] In one embodiment, Figure 6 As shown, according to the interference table corresponding to the first area, controlling the CT gantry to move in the free zone corresponding to the first area includes:

[0101] S420, acquiring CT gantry information in the free zone corresponding to the first area, the CT gantry information including: CT gantry position, CT gantry inclination angle, and bed height;

[0102] S440, reading interference data from the interference table corresponding to the first area according to the inclination angle of the CT gantry and the height of the patient bed;

[0103] S460, determining a movable range of the CT gantry within a free zone corresponding to the first region according to the interference data;

[0104] S480: Control the CT gantry to move within a free zone corresponding to the first area according to the position and movable range of the CT gantry.

[0105] In this embodiment, since the CT gantry can move horizontally and tilted in the free zone, the CT gantry information in the free zone includes the CT gantry position, the CT gantry inclination angle, and the height of the bed. The CT gantry position generally refers to the horizontal position of the CT gantry on the slide rail, and the CT gantry inclination angle refers to the rotation angle of the CT gantry relative to the vertical direction. For example, the range of the CT gantry inclination angle is -30 degrees to 30 degrees, and the height of the bed refers to the height of the bed when the CT gantry moves to the bed position. Similarly, the CT gantry information in the free zone corresponding to the first area and the CT gantry information in the free zone corresponding to the second area include the same data type, and the data size corresponding to any data type can be the same or different. The interference data corresponding to the inclination angle of the CT gantry and the height of the patient bed are searched from the interference table corresponding to the first area, and the movable range of the CT gantry in the free area corresponding to the first area is determined according to the interference data. Specifically, the movable range of the CT gantry in the free area corresponding to the first area can be determined according to the interference data and the preset position. The preset position coordinates can be the position where the first position sensor is located, that is, according to the interference data and the position coordinates corresponding to the first position sensor, the movable range of the CT gantry in the free area corresponding to the first area is determined, and the position from the position of the first position sensor to the position where the first position sensor is located is determined as the movable range of the CT gantry in the free area corresponding to the first area. Controlling the CT gantry to move within the movable range can avoid interference collision. According to the CT gantry position and the movable range, the CT gantry is controlled to move in the free area corresponding to the first area. Specifically, it can be determined whether the CT gantry position is within the movable range. If it is, the CT gantry is controlled to move within the movable range of the free area corresponding to the first area. In addition, the interference check method based on the interference table corresponding to the second area is the same as the interference check method based on the interference table corresponding to the first area, that is, according to the interference table corresponding to the second area, the CT gantry is controlled to move in the free zone corresponding to the second area, including: obtaining CT gantry information in the free zone corresponding to the second area, based on the free zone corresponding to the second area, the CT gantry information includes: CT gantry position, CT gantry inclination angle and bed height, according to the CT gantry inclination angle and bed height, reading interference data from the interference table corresponding to the second area, determining the movable range of the CT gantry in the free zone corresponding to the second area according to the interference data, and controlling the CT gantry to move in the free zone corresponding to the second area according to the CT gantry position and the movable range.

[0106] In the scheme of the above-mentioned embodiment, by acquiring the CT gantry information in the free zone corresponding to each area, the interference data is first read from the interference table of the corresponding area, and the movable range is determined according to the interference data, and then the CT gantry is controlled to move within the movable range. In this way, the CT gantry is controlled to move in the free zones corresponding to different areas according to the interference tables corresponding to different areas. Since the sizes of the free zones corresponding to different areas may be different and the positions may also be different, different interference tables are used in the free zones corresponding to different areas to perform interference checks, which can improve the accuracy of the interference check results between the hospital bed and the CT gantry, make the motion control of the CT gantry in different free zones more accurate, and effectively avoid interference collisions caused by using fixed interference tables to control the gantry movement in different areas.

[0107] In one embodiment, Figure 7 As shown, the CT gantry position includes a target gantry position or a current gantry position; and according to the CT gantry position and the movable range, controlling the CT gantry to move within a free zone corresponding to the first area includes:

[0108] S482, determining the position type of the CT gantry position;

[0109] S484, if the position type of the CT gantry position is a target gantry position, determining whether the target gantry position is within a movable range; if the target gantry position is within the movable range, controlling the CT gantry to move to the target gantry position in the free zone corresponding to the first area; if the target gantry position is not within the movable range, controlling the CT gantry not to move in the free zone corresponding to the first area;

[0110] S486, if the position type of the CT gantry position is the current gantry position, determine whether the current gantry position is within the movable range; if the current gantry position is within the movable range, obtain the moving direction, and control the CT gantry to move to the boundary position of the movable range corresponding to the moving direction; if the current gantry position is not within the movable range, control the CT gantry not to move within the free zone corresponding to the first area.

[0111] In this embodiment, the position type of the CT gantry position can be a target gantry position or a current gantry position. The upper computer software determines the position type of the CT gantry position. Specifically, when the gantry control software in the upper computer receives the target gantry position sent by the upper computer software, the position type of the CT gantry position is the target gantry position. When the gantry control software does not receive the target gantry position sent by the upper computer software, the current gantry position of the CT gantry is obtained, and the position type of the CT gantry position is the current gantry position. If the position type of the CT gantry position is the target gantry position, it is determined whether the target gantry position is within the movable range. If the target gantry position is within the movable range, the CT gantry is controlled to move to the target gantry position in the free zone corresponding to the first area. If the target gantry position is not within the movable range, the CT gantry is controlled not to move in the free zone corresponding to the first area. Specifically, the target gantry position is a preset position sent by the host computer software, which is used to instruct the CT gantry to move to the preset position. When the position type of the CT gantry position is judged to be the target gantry position, in order to prevent the target gantry position sent by the host computer software from causing interference collision of the CT gantry, it is necessary to make interference judgment on the target gantry position in advance according to the interference table. Only when the target gantry position is within the movable range can the host computer software send an instruction to control the gantry movement and control the CT gantry to move to the target gantry position. If the target gantry position is not within the movable range, the host computer software does not send an instruction to control the gantry movement. This method of planning movement according to the target gantry position can determine in advance whether interference occurs according to the interference table. Only when the target gantry position is within the movable range can the CT gantry be controlled to move, which is conducive to improving the efficiency of interference inspection, improving the accuracy of interference inspection results and the accuracy of CT gantry motion control.

[0112] If the position type of the CT gantry position is the current gantry position, it is determined whether the current gantry position is within the movable range. If the current gantry position is within the movable range, the moving direction is obtained, and the CT gantry is controlled to move to the boundary position of the movable range corresponding to the moving direction. If the current gantry position is not within the movable range, the CT gantry is controlled not to move in the free zone corresponding to the first area. Specifically, when it is necessary to perform interference inspection according to the current gantry position of the CT gantry, it is first determined whether the current gantry position is within the movable range. If the current gantry position is within the movable range, the moving direction of the CT gantry is obtained, and the CT gantry is controlled to move from the current gantry position to the moving direction until the CT gantry moves to the boundary position of the movable range corresponding to the moving direction. If the current gantry position is not within the movable range, the CT gantry is controlled not to move in the free zone corresponding to the first area. This method of moving in a preset moving direction according to the current gantry position of the CT gantry controls the CT gantry to move only when the current gantry position is within the movable range, which is conducive to improving the efficiency of interference inspection, the accuracy of interference inspection results and the accuracy of CT gantry motion control. If the target gantry position or the current gantry position is not within the movable range, it is considered that interference collision will occur if the CT gantry continues to move. The CT gantry is controlled not to move, which can avoid interference collision between the CT gantry and the bed, further improving the accuracy of the interference inspection results and the precision of the CT gantry motion control.

[0113] In the scheme of the above embodiment, by judging whether the position type of the CT gantry position is the target gantry position or the current gantry position, different control methods are adopted for different position types, and then different motion controls are performed on the CT gantry. Whether interference occurs is judged in advance according to the movable range obtained based on the interference table. The CT gantry is controlled to move only when the CT gantry position is within the movable range, and the CT gantry is controlled not to move when it is not within the movable range, which is conducive to improving the efficiency of interference inspection, improving the accuracy of interference inspection results and the precision of CT gantry motion control.

[0114] In one embodiment, Figure 8 As shown, according to the position of the transfer area, the CT gantry is controlled to move in the transfer area, including:

[0115] S620, obtaining the current position of the CT rack;

[0116] S640: If the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area.

[0117] In this embodiment, in the transfer area, the CT gantry only moves horizontally, and tilting movement is disabled. The current position of the CT gantry is obtained, and it is determined whether the current position of the CT gantry is within the position range of the transfer area. If the current position of the CT gantry is within the position range of the transfer area, the transfer movement direction and the preset distance are obtained, and the CT gantry is controlled to move the preset distance in the transfer movement direction in the transfer area. Alternatively, a preset position can be obtained, and the preset position can be any position in the transfer area, and can also be the CT scanning end docking position of the first area in the transfer area, the scanning end docking position of the second area, and the long-term docking position of the CT gantry, and the CT gantry is controlled to move to the preset position in the transfer area.

[0118] According to the scheme of the above embodiment, when the CT gantry reaches the transfer area, since the transfer area does not require the CT gantry to tilt, it only needs to control the CT gantry to move in the transfer area according to the position of the transfer area, thereby improving the efficiency of interference inspection and realizing precise control of the CT gantry movement; by obtaining the method of the transfer movement direction, the preset distance and the preset position, the movement of the CT gantry in the transfer area can be precisely controlled, thereby improving the accuracy of the interference inspection result and the accuracy of the CT gantry motion control.

[0119] To explain the slide rail CT interference inspection method and its effect in detail, a most detailed embodiment is described below:

[0120] The slide rail CT device comprises: a CT frame and a slide rail, wherein the slide rail crosses the first area and the second area, and the CT frame can move on the slide rail. Fig. 9 The figure shows the schematic diagram of the slide rail distribution of the double-room slide rail CT device. A plurality of position sensors S1 to Sn are arranged on the slide rail. The plurality of position sensors include position sensors corresponding to the first area and position sensors corresponding to the second area. The positions of the position sensors corresponding to the first area include: S1, S2 and Sa. Any number of position sensors can be arranged between S2 and Sa according to the actual situation. The positions of the position sensors corresponding to the second area include: Sn, Sn-1 and Sc. Any number of position sensors can be arranged between Sn-1 and Sc according to the actual situation. Fig.10The figure shows a schematic diagram of the free zone and the transfer zone. For the double-chamber slide rail CT product, the horizontal movement area of ​​the CT gantry is divided into two areas: the free zone and the transfer zone. For the CT gantry movement in the free zone, an interference check table is automatically generated after the correction process, and then the interference check is performed by reading the interference table and using the interference check algorithm. For the gantry movement in the transfer zone, the tilt operation is disabled by the system code. For the horizontal movement in the transfer zone, the interference check is implemented by the transfer zone position. According to the first position sensor among the multiple position sensors and the first position sensor adjacent to the first position sensor, the free zone corresponding to the first area is determined on the slide rail; according to the last position sensor among the multiple position sensors and the first position sensor adjacent to the last position sensor, the free zone corresponding to the second area is determined on the slide rail; according to the first position sensor adjacent to the first position sensor and the first position sensor adjacent to the last position sensor, the free zone corresponding to the second area is determined on the slide rail. A first position sensor adjacent to a position sensor determines a transfer area between a first area and a second area on the slide rail. Specifically, the area between S1 and S2 is a free area corresponding to the first area, the area between Sn and Sn-1 is a free area corresponding to the second area, and the area between S2 and Sn-1 is a transfer area between the first area and the second area. A plurality of position sensors are arranged in the transfer area between the first area and the second area. Sa is a position sensor close to the first area, used to indicate a scanning end stop position of the CT gantry in the first area; Sc is a position sensor close to the second area, used to indicate a scanning end stop position of the CT gantry in the second area; a position sensor Sb is also arranged between Sa and Sc, used to indicate a long-term stop position of the CT gantry. The beds in the first area are located in the free area corresponding to the first area, and the beds in the second area are located in the free area corresponding to the second area.

[0121] like Fig.11 Schematic diagram of the overall method for automatically generating the interference table shown in the figure. After arranging multiple position sensors, the host computer software configures the control mode of a single room or a double room, sends a calibration protocol and starts the calibration process. The gantry control software controls the CT gantry to move to the position where the first position sensor among the multiple position sensors is located, and then moves from the position where the first position sensor is located to the position where the last position sensor among the multiple position sensors is located, and obtains the position coordinates of the position sensor corresponding to the first area and the position coordinates of the position sensor corresponding to the second area. Figure 5That is, the CT gantry is controlled to move to the position of the S1 position sensor, and then moves from the position of the S1 position sensor to the position of the Sn position sensor. During the movement, the CT gantry passes through S1, S2, Sa, Sb, Sc, Sn-1 and Sn in sequence, and the position coordinates of each position sensor are obtained. The position coordinates of the position sensor corresponding to the first area are substituted into the interference table calculation formula, and the interference data is calculated to obtain the interference table corresponding to the first area. The position coordinates of the position sensor corresponding to the second area are substituted into the interference table calculation formula, and the interference data is calculated to obtain the interference table corresponding to the second area.

[0122] like Fig.12 The figure shows a schematic diagram of a specific method for generating an interference table corresponding to the first area and an interference table corresponding to the second area. In the interference table generation preparation stage: the interference table generation preparation process is started by setting multiple position sensors on the slide rail. In the position acquisition stage: the correction protocol is sent to the rack control software through the single and double room information configured by the host computer software. The rack control software controls the CT rack to move and hit S1, then the position of S1 is recorded as 0, and it continues to move in the opposite direction. During the movement, the switches of multiple position sensors are triggered respectively, and the position coordinates of S2, Sa, Sb, Sc and Sn-1 are recorded until the CT rack moves and hits Sn. The correction is completed, and the rack control software sends the collected track data to the host computer software, and the position acquisition is completed. In the interference table generation stage: after the host computer software obtains the slide rail CT rack position sent by the rack control software, according to the single and double room information, the CT rack inclination angle and the bed height, the CT rack position is brought into the interference table calculation formula, the interference data is calculated, the interference file and interference table are generated and saved to the hard disk, wherein the slide rail CT rack position is also the position coordinate of multiple position sensors. The interference table calculation formula can be expressed as: Interference data Journey = Function (CT gantry tilt angle Tilt, bed height Height, CT gantry position (S1 / S2 / Sa / Sb / Sc / Sn-1 / Sn)), and the generated interference file structure is as follows:

[0123] <file>

[0124] <time> xxxxxxxx< / time>

[0125] <name> Interference_RoomA< / name> <value> The content of the interference table corresponding to the first region< / value>

[0126] <name> Interference_RoomB< / name> <value> The content of the interference table corresponding to the second area< / value>

[0127] < / file>

[0128] Among them, time represents the timestamp when the host computer software generates the interference table, which is mainly used by the host computer software to check the consistency of the interference table; table represents the file name of the interference table and its specific content.

[0129] In the interference table synchronization stage: when the host computer software sends a restart command, it first parses the generated interference file, extracts the interference table and timestamp from the interference file, and sends them to the rack control software. The rack control software saves the received interference table and timestamp to the hard disk and executes the restart command; in the interference table use stage: when the system starts, the rack control software sends the interference table and its timestamp to the host computer software. The host computer software verifies whether the received timestamp is consistent with the timestamp in the local interference table file. If they are consistent, the system can perform the scan normally. When performing the scan, the host computer software sends the interference table and timestamp to the rack control software. After receiving it, the rack control software verifies whether the received timestamp is consistent with the timestamp in the local interference table file. If they are consistent, the rack control software system can perform the scan normally.

[0130] When the host computer controls the CT gantry to move on the slide rail, if the CT gantry is currently in the free zone, the interference table of the corresponding zone is read according to the information of the current zone. The movement types of the CT gantry in the free zone include: moving to the target gantry position and moving to a preset direction. Specifically, when the CT gantry reaches the free zone corresponding to the first zone, the CT gantry information in the free zone corresponding to the first zone is obtained, and the CT gantry information includes: CT gantry position, CT gantry inclination angle and bed height; according to the CT gantry inclination angle and bed height, the interference data is read from the interference table corresponding to the first zone, and according to the interference data, the movable range of the CT gantry in the free zone corresponding to the first zone is determined. Determine the position type of the CT gantry position. If the position type of the CT gantry position is the target gantry position, determine whether the target gantry position is within the movable range. If the target gantry position is within the movable range, control the CT gantry to move to the target gantry position in the free zone corresponding to the first area. If the target gantry position is not within the movable range, control the CT gantry not to move in the free zone corresponding to the first area. If the position type of the CT gantry position is the current gantry position, determine whether the current gantry position is within the movable range. If the current gantry position is within the movable range, obtain the moving direction, and control the CT gantry to move to the boundary position of the movable range corresponding to the moving direction. If the current gantry position is not within the movable range, control the CT gantry not to move in the free zone corresponding to the first area. When the CT gantry reaches the free zone corresponding to the second area, the same interference check method as the first area is used to control the movement of the CT gantry, that is, according to the interference table corresponding to the second area, control the CT gantry to move in the free zone corresponding to the second area. When the CT gantry arrives at the transfer area, the current position of the CT gantry is obtained. If the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area. In addition, a threshold is reserved for interference judgment in the interference check algorithm, so that a prejudgment can be made before interference occurs to avoid collision. If the slide rail CT device only passes through a single room, the single-room slide rail CT device does not need to move across the area. Therefore, there is no need to set up a transfer area. The interference check method for the free zone under the single room is the same as the interference check method for the free zone under the double room.

[0131] The above-mentioned slide rail CT interference inspection method determines the free zone corresponding to the first area, the free zone corresponding to the second area, and the transfer area between the first area and the second area on the slide rail through multiple position sensors, which can accurately obtain the positions of the free zone and the transfer area, which is conducive to obtaining accurate interference inspection results and precise control of the CT gantry; different control methods are used for the movement of the CT gantry in different areas of the slide rail. When the CT gantry reaches the transfer area, since the transfer area does not require the CT gantry to tilt, it only needs to control the CT gantry to move in the transfer area according to the position of the transfer area, which can improve the accuracy of the interference inspection result and the accuracy of the CT gantry motion control; when the CT gantry reaches the free zones corresponding to different areas, according to the interference tables corresponding to different areas, the CT gantry is controlled to move in the free zones corresponding to the different areas. Since the sizes of the free zones corresponding to different areas may be different and the positions are also different, different interference tables are used in the free zones corresponding to different areas for interference inspection, which can improve the accuracy of the interference inspection results between the bed and the CT gantry, make the motion control of the CT gantry in different free areas more accurate, and effectively avoid the interference collision caused by using fixed interference tables to control the gantry motion in different areas.

[0132] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0133] Based on the same inventive concept, the embodiment of the present application also provides a slide rail CT interference inspection device for implementing the slide rail CT interference inspection method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more slide rail CT interference inspection device embodiments provided below can refer to the limitations of the slide rail CT interference inspection method above, and will not be repeated here.

[0134] In one embodiment, Fig.13As shown, a slide rail CT interference inspection device 100 is provided, and the device is deployed on a slide rail CT device, and the slide rail CT device includes: a CT frame and a slide rail, the slide rail crosses the first area and the second area, the CT frame can move on the slide rail, and a plurality of position sensors are arranged on the slide rail, including: a determination module 120, a first control module 140, a second control module 160 and a third control module 180, wherein:

[0135] The determination module 120 is used to determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors.

[0136] The first control module 140 is used to control the CT gantry to move on the slide rail. When the CT gantry reaches the free zone corresponding to the first area, the CT gantry is controlled to move in the free zone corresponding to the first area according to the interference table corresponding to the first area.

[0137] The second control module 160 is used to control the CT gantry to move in the transfer area according to the position of the transfer area when the CT gantry arrives at the transfer area.

[0138] The third control module 180 is used to control the CT gantry to move in the free zone corresponding to the second area according to the interference table corresponding to the second area when the CT gantry reaches the free zone corresponding to the second area.

[0139] The above-mentioned slide rail CT interference inspection device, through a method of determining the free zone corresponding to the first area, the free zone corresponding to the second area, and the transfer area between the first area and the second area on the slide rail by multiple position sensors, can accurately obtain the positions of the free zone and the transfer area, which is conducive to obtaining accurate interference inspection results and precise control of the CT gantry; different control methods are used for the movement of the CT gantry in different areas of the slide rail. When the CT gantry reaches the transfer area, since the transfer area does not require the CT gantry to tilt, it only needs to control the CT gantry to move in the transfer area according to the position of the transfer area, which can improve the accuracy of the interference inspection result and the accuracy of the CT gantry motion control; when the CT gantry reaches the free zones corresponding to different areas, according to the interference tables corresponding to different areas, the CT gantry is controlled to move in the free zones corresponding to the different areas. Since the sizes of the free zones corresponding to different areas may be different and the positions are also different, different interference tables are used in the free zones corresponding to different areas for interference inspection, which can improve the accuracy of the interference inspection results between the bed and the CT gantry, make the motion control of the CT gantry in different free areas more accurate, and effectively avoid the interference collision caused by using fixed interference tables to control the gantry motion in different areas.

[0140] In one embodiment, the slide rail CT interference inspection device 100 further includes an interference table acquisition module 130. In the aspect of acquiring the interference table corresponding to the first area and the interference table corresponding to the second area, the plurality of position sensors include a position sensor corresponding to the first area and a position sensor corresponding to the second area, the interference table acquisition module 130 is further used to:

[0141] Control the CT gantry to move to a position where a first position sensor among the multiple position sensors is located, and then move from the position where the first position sensor is located to a position where a last position sensor among the multiple position sensors is located, to obtain position coordinates of the position sensor corresponding to the first area and position coordinates of the position sensor corresponding to the second area;

[0142] Based on the position coordinates of the position sensor corresponding to the first area, an interference table corresponding to the first area is obtained by using an interference table calculation formula;

[0143] Based on the position coordinates of the position sensor corresponding to the second area, an interference table corresponding to the second area is obtained through an interference table calculation formula.

[0144] In one embodiment, in determining the free area corresponding to the first area, the free area corresponding to the second area, and the transfer area between the first area and the second area on the slide rail according to the plurality of position sensors, the determination module 120 is further configured to:

[0145] Determine a free area corresponding to the first area on the slide rail according to a first position sensor among the plurality of position sensors and a first position sensor adjacent to the first position sensor;

[0146] Determine a free area corresponding to the second area on the slide rail according to a last position sensor among the plurality of position sensors and a first position sensor adjacent to the last position sensor;

[0147] A transfer area between the first area and the second area is determined on the rail based on a first position sensor adjacent to the first position sensor and a first position sensor adjacent to the last position sensor.

[0148] In one embodiment, in controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area, the first control module 140 is further configured to:

[0149] Acquire CT gantry information in the free zone corresponding to the first area, the CT gantry information including: CT gantry position, CT gantry inclination angle, and bed height;

[0150] Reading interference data from the interference table corresponding to the first area according to the inclination angle of the CT gantry and the height of the patient bed;

[0151] Determine, based on the interference data, a movable range of the CT gantry within a free zone corresponding to the first region;

[0152] According to the position and movable range of the CT gantry, the CT gantry is controlled to move within a free zone corresponding to the first area.

[0153] In one embodiment, when the CT gantry position includes a target gantry position or a current gantry position, in terms of controlling the CT gantry to move within a free zone corresponding to the first area according to the CT gantry position and the movable range, the first control module 140 is further configured to:

[0154] Determine the location type of the CT gantry position;

[0155] If the position type of the CT gantry position is a target gantry position, it is determined whether the target gantry position is within a movable range; if the target gantry position is within the movable range, the CT gantry is controlled to move to the target gantry position in the free zone corresponding to the first area; if the target gantry position is not within the movable range, the CT gantry is controlled not to move in the free zone corresponding to the first area;

[0156] If the position type of the CT gantry position is the current gantry position, it is determined whether the current gantry position is within the movable range; if the current gantry position is within the movable range, the moving direction is obtained, and the CT gantry is controlled to move to the boundary position of the movable range corresponding to the moving direction; if the current gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area.

[0157] In one embodiment, in controlling the movement of the CT gantry in the transfer area according to the position of the transfer area, the second control module 160 is further configured to:

[0158] Get the current position of the CT gantry;

[0159] If the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area.

[0160] Each module in the above-mentioned slide rail CT interference inspection device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

[0161] In one embodiment, a slide rail CT device is provided, and its internal structure diagram can be as follows: Fig.14As shown. The slide rail CT device includes a CT rack, a slide rail and a processor. The CT rack can move on the slide rail. A plurality of position sensors are arranged on the slide rail. The processor stores a computer program. The slide rail CT device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor is used to provide computing and control capabilities. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database is used to store the interference table corresponding to the first area, the interference table corresponding to the second area, the position of the transfer area, the position coordinates of the position sensor corresponding to the first area, the position coordinates of the position sensor corresponding to the second area, the position of the CT rack, the inclination angle of the CT rack and the height of the bed. The input / output interface of the slide rail CT device is used to exchange information between the processor and the external device. The communication interface of the slide rail CT device is used to communicate with an external host computer through a network connection. When the computer program is executed by a processor, a slide rail CT interference inspection method is implemented.

[0162] Those skilled in the art will understand that Fig.14 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the processor to which the scheme of the present application is applied. The specific processor may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0163] In one embodiment, a slide rail CT device is provided, the slide rail CT device comprising a CT gantry, a slide rail and a processor, the slide rail crosses a first area and a second area, the CT gantry can move on the slide rail, a plurality of position sensors are arranged on the slide rail, a computer program is stored in the processor, and the processor implements the following steps when executing the computer program:

[0164] Determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0165] Controlling the CT gantry to move on the slide rail, when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0166] When the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area;

[0167] When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move within the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0168] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0169] The multiple position sensors include position sensors corresponding to a first area and position sensors corresponding to a second area; the CT frame is controlled to move to a position where a first position sensor among the multiple position sensors is located, and then move from the position where the first position sensor is located to a position where a last position sensor among the multiple position sensors is located, to obtain position coordinates of the position sensor corresponding to the first area and position coordinates of the position sensor corresponding to the second area; based on the position coordinates of the position sensor corresponding to the first area, an interference table corresponding to the first area is obtained through an interference table calculation formula; based on the position coordinates of the position sensor corresponding to the second area, an interference table corresponding to the second area is obtained through an interference table calculation formula.

[0170] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0171] A free zone corresponding to a first area is determined on the slide rail according to a first position sensor among multiple position sensors and a first position sensor adjacent to the first position sensor; a free zone corresponding to a second area is determined on the slide rail according to a last position sensor among multiple position sensors and a first position sensor adjacent to the last position sensor; a transfer zone between the first area and the second area is determined on the slide rail according to the first position sensor adjacent to the first position sensor and the first position sensor adjacent to the last position sensor.

[0172] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0173] The method comprises: obtaining CT gantry information in a free zone corresponding to the first area, wherein the CT gantry information includes: a CT gantry position, a CT gantry inclination angle, and a patient bed height; reading interference data from an interference table corresponding to the first area according to the CT gantry inclination angle and the patient bed height; determining a movable range of the CT gantry in the free zone corresponding to the first area according to the interference data; and controlling the CT gantry to move in the free zone corresponding to the first area according to the CT gantry position and the movable range.

[0174] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0175] The CT gantry position includes a target gantry position or a current gantry position; the position type of the CT gantry position is determined; if the position type of the CT gantry position is a target gantry position, whether the target gantry position is within a movable range is determined; if the target gantry position is within the movable range, the CT gantry is controlled to move to the target gantry position in a free zone corresponding to the first area; if the target gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area; if the position type of the CT gantry position is a current gantry position, whether the current gantry position is within the movable range is determined; if the current gantry position is within the movable range, a moving direction is obtained, and the CT gantry is controlled to move to a boundary position of the movable range corresponding to the moving direction; if the current gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area.

[0176] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0177] The current position of the CT gantry is obtained; if the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area.

[0178] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0179] Determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0180] Controlling the CT gantry to move on the slide rail, when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0181] When the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area;

[0182] When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move within the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0184] The multiple position sensors include a position sensor corresponding to a first area and a position sensor corresponding to a second area; the CT frame is controlled to move to a position where a first position sensor among the multiple position sensors is located, and then move from the first position sensor to a position where a last position sensor among the multiple position sensors is located, to obtain position coordinates of the position sensor corresponding to the first area and position coordinates of the position sensor corresponding to the second area; based on the position coordinates of the position sensor corresponding to the first area, an interference table corresponding to the first area is obtained through an interference table calculation formula; based on the position coordinates of the position sensor corresponding to the second area, an interference table corresponding to the second area is obtained through an interference table calculation formula.

[0185] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0186] A free zone corresponding to a first area is determined on the slide rail according to a first position sensor among multiple position sensors and a first position sensor adjacent to the first position sensor; a free zone corresponding to a second area is determined on the slide rail according to a last position sensor among multiple position sensors and a first position sensor adjacent to the last position sensor; a transfer zone between the first area and the second area is determined on the slide rail according to the first position sensor adjacent to the first position sensor and the first position sensor adjacent to the last position sensor.

[0187] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0188] The method comprises: obtaining CT gantry information in a free zone corresponding to the first area, wherein the CT gantry information includes: a CT gantry position, a CT gantry inclination angle, and a patient bed height; reading interference data from an interference table corresponding to the first area according to the CT gantry inclination angle and the patient bed height; determining a movable range of the CT gantry in the free zone corresponding to the first area according to the interference data; and controlling the CT gantry to move in the free zone corresponding to the first area according to the CT gantry position and the movable range.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0190] The CT gantry position includes a target gantry position or a current gantry position; the position type of the CT gantry position is determined; if the position type of the CT gantry position is a target gantry position, whether the target gantry position is within a movable range is determined; if the target gantry position is within the movable range, the CT gantry is controlled to move to the target gantry position in a free zone corresponding to the first area; if the target gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area; if the position type of the CT gantry position is a current gantry position, whether the current gantry position is within the movable range is determined; if the current gantry position is within the movable range, a moving direction is obtained, and the CT gantry is controlled to move to a boundary position of the movable range corresponding to the moving direction; if the current gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area.

[0191] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0192] The current position of the CT gantry is obtained; if the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area.

[0193] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0194] Determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to a plurality of position sensors;

[0195] Controlling the CT gantry to move on the slide rail, when the CT gantry reaches the free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area;

[0196] When the CT gantry arrives at the transfer area, the CT gantry is controlled to move in the transfer area according to the position of the transfer area;

[0197] When the CT gantry reaches the free zone corresponding to the second area, the CT gantry is controlled to move within the free zone corresponding to the second area according to the interference table corresponding to the second area.

[0198] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0199] The multiple position sensors include position sensors corresponding to a first area and position sensors corresponding to a second area; the CT frame is controlled to move to a position where a first position sensor among the multiple position sensors is located, and then move from the position where the first position sensor is located to a position where a last position sensor among the multiple position sensors is located, to obtain position coordinates of the position sensor corresponding to the first area and position coordinates of the position sensor corresponding to the second area; based on the position coordinates of the position sensor corresponding to the first area, an interference table corresponding to the first area is obtained through an interference table calculation formula; based on the position coordinates of the position sensor corresponding to the second area, an interference table corresponding to the second area is obtained through an interference table calculation formula.

[0200] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0201] A free zone corresponding to a first area is determined on the slide rail according to a first position sensor among multiple position sensors and a first position sensor adjacent to the first position sensor; a free zone corresponding to a second area is determined on the slide rail according to a last position sensor among multiple position sensors and a first position sensor adjacent to the last position sensor; a transfer zone between the first area and the second area is determined on the slide rail according to the first position sensor adjacent to the first position sensor and the first position sensor adjacent to the last position sensor.

[0202] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0203] The method comprises: obtaining CT gantry information in a free zone corresponding to the first area, wherein the CT gantry information includes: a CT gantry position, a CT gantry inclination angle, and a patient bed height; reading interference data from an interference table corresponding to the first area according to the CT gantry inclination angle and the patient bed height; determining a movable range of the CT gantry in the free zone corresponding to the first area according to the interference data; and controlling the CT gantry to move in the free zone corresponding to the first area according to the CT gantry position and the movable range.

[0204] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0205] The CT gantry position includes a target gantry position or a current gantry position; the position type of the CT gantry position is determined; if the CT gantry position includes the target gantry position, whether the target gantry position is within a movable range is determined; if the target gantry position is within the movable range, the CT gantry is controlled to move to the target gantry position in the free zone corresponding to the first area; if the target gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area; if the position type of the CT gantry position is the current gantry position, whether the current gantry position is within the movable range is determined; if the current gantry position is within the movable range, a moving direction is obtained, and the CT gantry is controlled to move to a boundary position of the movable range corresponding to the moving direction; if the current gantry position is not within the movable range, the CT gantry is controlled not to move within the free zone corresponding to the first area.

[0206] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0207] The current position of the CT gantry is obtained; if the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area.

[0208] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0209] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0210] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0211] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A slide rail CT interference inspection method, characterized in that: The slide rail CT device comprises: a CT frame and a slide rail, wherein the slide rail crosses a first area and a second area, the CT frame can move on the slide rail, and a plurality of position sensors are arranged on the slide rail. The method comprises: Determining, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to the plurality of position sensors; Controlling the CT gantry to move on the slide rail, and when the CT gantry reaches a free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to an interference table corresponding to the first area; When the CT gantry arrives at the transfer area, controlling the CT gantry to move in the transfer area according to the position of the transfer area; When the CT gantry reaches the free zone corresponding to the second area, controlling the CT gantry to move in the free zone corresponding to the second area according to the interference table corresponding to the second area; Wherein, controlling the CT gantry to move within the free zone corresponding to the first area according to the interference table corresponding to the first area includes: Acquire CT gantry information in a free zone corresponding to the first area, the CT gantry information including: CT gantry position, CT gantry inclination angle, and bed height; Reading interference data from an interference table corresponding to the first area according to the inclination angle of the CT gantry and the height of the patient bed; Determining, according to the interference data, a movable range of the CT gantry within a free zone corresponding to the first area; According to the position of the CT gantry and the movable range, the CT gantry is controlled to move within a free zone corresponding to the first area.

2. The method according to claim 1, characterized in that The plurality of position sensors include a position sensor corresponding to the first area and a position sensor corresponding to the second area; The interference table corresponding to the first area and the interference table corresponding to the second area are obtained by the following steps: Control the CT gantry to move to a position where a first position sensor among the multiple position sensors is located, and then move from the position where the first position sensor is located to a position where a last position sensor among the multiple position sensors is located, to obtain position coordinates of the position sensor corresponding to the first area and position coordinates of the position sensor corresponding to the second area; Based on the position coordinates of the position sensor corresponding to the first area, an interference table corresponding to the first area is obtained by using an interference table calculation formula; Based on the position coordinates of the position sensor corresponding to the second area, an interference table corresponding to the second area is obtained by using the interference table calculation formula.

3. The method according to claim 1, characterized in that: Determining, on the slide rail, a free area corresponding to the first area, a free area corresponding to the second area, and a transfer area between the first area and the second area according to the plurality of position sensors comprises: determining a free area corresponding to the first area on the slide rail according to a first position sensor among the plurality of position sensors and a position sensor adjacent to the first position sensor; determining a free area corresponding to the second area on the slide rail according to a last position sensor among the plurality of position sensors and a position sensor adjacent to the last position sensor; A transfer area between the first area and the second area is determined on the slide rail based on a position sensor adjacent to the first position sensor and a position sensor adjacent to the last position sensor.

4. The method according to claim 1, characterized in that The step of controlling the CT gantry to move within a free zone corresponding to the first area according to the position of the CT gantry and the movable range includes: Determining the position type of the CT gantry position; If the position type of the CT gantry position is a target gantry position, determining whether the target gantry position is within the movable range; if the target gantry position is within the movable range, controlling the CT gantry to move to the target gantry position in the free zone corresponding to the first area; if the target gantry position is not within the movable range, controlling the CT gantry not to move in the free zone corresponding to the first area; If the position type of the CT gantry position is the current gantry position, it is determined whether the current gantry position is within the movable range; if the current gantry position is within the movable range, a moving direction is acquired, and the CT gantry is controlled to move to a boundary position of the movable range corresponding to the moving direction; if the current gantry position is not within the movable range, the CT gantry is controlled not to move within a free zone corresponding to the first area.

5. The method according to claim 1, characterized in that According to the position of the transfer area, controlling the CT gantry to move in the transfer area includes: Obtaining the current position of the CT gantry; If the current position of the CT gantry is within the position range of the transfer area, the CT gantry is controlled to move in the transfer area.

6. A slide rail CT interference inspection device, characterized in that: The device is deployed on a slide rail CT device, the slide rail CT device includes: a CT frame and a slide rail, the slide rail crosses the first area and the second area, the CT frame can move on the slide rail, and a plurality of position sensors are arranged on the slide rail. The device includes: a determination module, configured to determine, on the slide rail, a free zone corresponding to the first zone, a free zone corresponding to the second zone, and a transfer zone between the first zone and the second zone according to the plurality of position sensors; a first control module, configured to control the CT gantry to move on the slide rail, and when the CT gantry reaches a free zone corresponding to the first area, controlling the CT gantry to move within the free zone corresponding to the first area according to an interference table corresponding to the first area; A second control module is used for controlling the CT gantry to move in the transfer area according to the position of the transfer area when the CT gantry arrives at the transfer area; a third control module, configured to control the CT gantry to move in the free zone corresponding to the second area according to the interference table corresponding to the second area when the CT gantry reaches the free zone corresponding to the second area; The first control module is further used to obtain CT gantry information in a free zone corresponding to the first area, the CT gantry information including: CT gantry position, CT gantry inclination angle and hospital bed height; read interference data from an interference table corresponding to the first area according to the CT gantry inclination angle and the hospital bed height; determine a movable range of the CT gantry in the free zone corresponding to the first area according to the interference data; and control the CT gantry to move in the free zone corresponding to the first area according to the CT gantry position and the movable range.

7. The device according to claim 6, characterized in that The device further includes an interference table acquisition module, wherein the plurality of position sensors include a position sensor corresponding to the first area and a position sensor corresponding to the second area; The interference table acquisition module is used to control the CT gantry to move to the position of the first position sensor among the multiple position sensors, and then move from the position of the first position sensor to the position of the last position sensor among the multiple position sensors, to obtain the position coordinates of the position sensor corresponding to the first area and the position coordinates of the position sensor corresponding to the second area; based on the position coordinates of the position sensor corresponding to the first area, obtain the interference table corresponding to the first area through the interference table calculation formula; Based on the position coordinates of the position sensor corresponding to the second area, an interference table corresponding to the second area is obtained by using the interference table calculation formula.

8. A slide rail CT device, characterized in that: The invention comprises a CT gantry, a slide rail and a processor, wherein the CT gantry can move on the slide rail, a plurality of position sensors are arranged on the slide rail, and the processor is used to execute the steps implemented in the slide rail CT interference inspection method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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