Medical device rack calibration method, apparatus, system, and calibration device

Abstract

The medical equipment rack calibration method, device and system and calibration equipment provided by the embodiment of the present application relate to the technical field of medical instruments. According to the received calibration instruction, the rack of the medical equipment is driven to move, when the target signal sent by the zero switch arranged at the reference position of the rack is received, the rack is controlled to stop moving, and the code disc information of the rack is read. By acquiring the position image of the current rack, the position deviation information of the current rack is determined according to the position image and the position reference image acquired in advance. According to the position deviation information and the code disc information, the rack is calibrated. In this way, by arranging the zero switch at the reference position, the reference position of the rack is positioned according to the zero switch, and the positioning is corrected according to the position deviation information calculated by image processing and the code disc information read, so that the accurate calibration of the rack is realized, and the participation of personnel is avoided, and the safety of personnel is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a medical device gantry calibration method, device, system and calibration equipment. BACKGROUND

[0002] With the continuous improvement and development of medical devices, the radiotherapy technology is continuously mature, and the accuracy requirement of radiotherapy is higher and higher. The higher the accuracy requirement of radiotherapy is, the higher the position accuracy and positioning accuracy of the radiotherapy equipment are required.

[0003] In order to ensure accurate radiotherapy, the radiotherapy equipment should be calibrated before treatment, and the position information after calibration should meet the requirement of accurate radiotherapy. At present, the calibration of radiotherapy equipment is mostly realized by using an inclinometer and manually controlling the rotation of the gantry of the radiotherapy equipment, which has large error and personnel safety problem. SUMMARY

[0004] Based on the above research, the present application provides a medical device gantry calibration method, device, system and calibration equipment to improve the calibration accuracy and ensure the safety of personnel.

[0005] Embodiments of the present application can be implemented in the following way:

[0006] In a first aspect, the embodiments of the present application provide a medical device gantry calibration method, which comprises:

[0007] According to the received calibration instruction, the gantry of the medical device is driven to move, and when a target signal sent by a zero switch arranged at a reference position of the gantry is received, the movement of the gantry is controlled to stop, and the code disc information of the gantry is read;

[0008] The position image of the current gantry is acquired, and the position deviation information of the current gantry is determined according to the position image and the pre-acquired position reference image;

[0009] The gantry is calibrated according to the position deviation information and the code disc information.

[0010] In an optional embodiment, the step of driving the gantry of the medical device to move according to the received calibration instruction, and controlling the movement of the gantry to stop when a target signal sent by a zero switch arranged at a reference position of the gantry is received, comprises:

[0011] According to the received calibration instruction, the gantry is driven to move in a first direction at a first speed, when a trigger signal sent by the zero position switch is received, the gantry is driven to move in a second direction at a second speed, when a target signal sent by the zero position switch is received, the gantry is controlled to stop moving; wherein the first direction is opposite to the direction of the second direction, and the second speed is less than the first speed.

[0012] In an optional embodiment, the step of determining the position deviation information of the gantry according to the position image and the pre-acquired position reference image comprises:

[0013] performing image analysis on the position image and the position reference image to obtain feature information of the position image and the position reference image;

[0014] calculating the position deviation information of the gantry according to the feature information of the position image and the position reference image.

[0015] In an optional embodiment, the step of calibrating the gantry according to the position deviation information and the code disc information comprises:

[0016] calculating a correction coefficient of the gantry according to the position deviation information and the code disc information;

[0017] re-calibrating the current position information of the gantry according to the correction coefficient to calibrate the gantry.

[0018] In an optional embodiment, before driving the gantry of the medical equipment to move according to the received calibration instruction, the method further comprises:

[0019] acquiring display position information when the gantry is in the reference position;

[0020] comparing the display position information with the reference position to obtain an error of the display position information and the reference position;

[0021] judging whether the error is greater than a preset threshold;

[0022] if greater than or equal to the preset threshold, a calibration prompt is given.

[0023] In an optional embodiment, after the calibration prompt is given, the method further comprises:

[0024] receiving a calibration instruction and performing calibration timing according to the calibration instruction;

[0025] judging whether a target signal sent by the zero position switch is received within a set time period;

[0026] If no signal is received, the calibration is deemed to have failed, and a calibration failure message will be displayed.

[0027] In an optional implementation, before moving the gantry of the medical device according to the received calibration instructions, the method further includes:

[0028] When the frame is located at a set reference position and the zero-position switch is in the triggered state, the frame is photographed to obtain the position reference image; wherein, the zero-position switch sends a signal when it is in the triggered state.

[0029] Secondly, embodiments of the present invention provide a medical device rack calibration device, the device comprising:

[0030] The motion control module is used to drive the frame of the medical device to move according to the received calibration instructions. When it receives the target signal sent by the zero-position switch set at the reference position of the frame, it controls the frame to stop moving and reads the code disk information of the frame.

[0031] The position calculation module is used to acquire the current position image of the rack, and determine the current position deviation information of the rack based on the position image and the pre-acquired position reference image.

[0032] The position calibration module is used to calibrate the rack based on the position deviation information and the encoder information.

[0033] Thirdly, embodiments of the present invention provide a medical device rack calibration system, including calibration equipment, medical equipment, and a zero-position switch. The medical equipment includes a rack, a driver, and a motor. The motor is connected to the rack, and the driver is connected to both the motor and the calibration equipment. The zero-position switch is set at a reference position on the rack, and when the zero-position switch is triggered, it sends a signal.

[0034] The calibration device is used to control the driver to drive the motor to move according to the received calibration instructions, so as to drive the frame to move;

[0035] The calibration device is used to control the driver to stop the motor from moving when it receives a target signal sent by a zero-position switch set at the reference position of the frame, so as to control the frame to stop moving.

[0036] The calibration device is used to read the encoder information of the motor when it receives a target signal sent by a zero-position switch set at the reference position of the frame;

[0037] The calibration device is used to acquire the current position image of the rack, determine the current position deviation information of the rack based on the position image and the pre-acquired position reference image, and calibrate the rack based on the position deviation information and the encoder information.

[0038] In an optional implementation, the medical device rack calibration system further includes a camera module connected to the calibration device.

[0039] The camera module is used to capture an image of the current position of the rack and send the captured image of the current position of the rack to the calibration device;

[0040] The camera module is also used to capture the position reference image and send the position reference image to the calibration device.

[0041] In an optional embodiment, the zero-position switch includes a trigger stop and a sensor, the frame includes a roller and a base, the trigger stop is disposed on the roller of the frame and moves with the roller, and the sensor is fixedly disposed at a reference position on the base of the frame.

[0042] When the trigger stop moves with the roller to the reference position, the trigger stop is used to trigger the sensor;

[0043] The sensor is used to send a signal to the calibration device when triggered.

[0044] Fourthly, embodiments of the present invention provide a calibration device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the medical device rack calibration method described in any of the foregoing embodiments.

[0045] Fifthly, embodiments of the present invention provide a readable storage medium, the readable storage medium including a computer program, wherein the computer program, when running, controls the electronic device on which the readable storage medium is located to perform the medical device rack calibration method described in any of the foregoing embodiments.

[0046] The medical equipment rack calibration method, apparatus, system, and calibration equipment provided in this invention drive the medical equipment rack to move according to a received calibration command. Upon receiving a target signal from a zero-position switch set at the rack's reference position, the rack stops moving, and the rack's encoder information is read. By acquiring a position image of the current rack, and based on the position image and a pre-acquired position reference image, the current rack's position deviation information is determined. The rack is then calibrated based on the position deviation information and the encoder information. Thus, by setting a zero-position switch at the reference position, locating the rack at the reference position using the zero-position switch, and correcting the positioning based on the position deviation information calculated through image processing and the read encoder information, precise rack calibration is achieved while avoiding human intervention and ensuring personnel safety. Attached Figure Description

[0047] The technical solution and other beneficial effects of the present invention will become apparent from the following detailed description of specific embodiments of the invention, in conjunction with the accompanying drawings.

[0048] Figure 1 This is a structural scene diagram of a medical equipment rack calibration system provided in an embodiment of the present invention.

[0049] Figure 2 This is a schematic diagram of a zero-position switch provided in an embodiment of the present invention.

[0050] Figure 3 This is a schematic diagram of a calibration device provided in an embodiment of the present invention.

[0051] Figure 4 This is a schematic flowchart of a medical equipment rack calibration method provided in an embodiment of the present invention.

[0052] Figure 5 This is a schematic diagram of a calibration process provided in an embodiment of the present invention.

[0053] Figure 6 This is a block diagram of a medical equipment rack calibration device provided in an embodiment of the present invention.

[0054] Icons: 100-Calibration equipment; 10-Medical equipment rack calibration device; 11-Motion control module; 12-Position calculation module; 13-Position calibration module; 20-Memory; 30-Processor; 40-Communication unit; 200-Zero switch; 300-Medical equipment; 301-Driver; 302-Motor; 303-Rack; 400-Camera module. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0056] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0058] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0059] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0060] Radiation therapy is a medical treatment consisting of one or more types of ionizing radiation. It requires specific radiation therapy equipment that generates rays to achieve the therapeutic effect.

[0061] Most current radiotherapy equipment consists of a radiation-generating structure, a rotating gantry, and control equipment. The radiation-generating structure, including the accelerator treatment head and collimator, generates radiation for radiotherapy. The rotating gantry adjusts the direction of the radiation generated by the radiation-generating structure, ensuring it is aimed at the patient's lesion area. The accelerator treatment head is mounted on the rotating gantry. The control equipment controls the rotation angle of the rotating gantry and the radiation generation by the radiation-generating structure.

[0062] The gantry accumulates positional errors during multiple rotations, reducing treatment accuracy. Therefore, gantry calibration is necessary before use. As described in the background section, existing radiotherapy equipment gantry calibration is typically performed using a tiltmeter and manual gantry rotation control. However, tiltmeters are prone to errors during use, and manual gantry control must be performed in the treatment room. The calibration process requires continuous manual correction of the gantry's position, making it cumbersome and posing a safety risk to calibration personnel who must be close to the gantry to observe the tiltmeter readings.

[0063] Based on this, this embodiment provides a medical equipment rack calibration method, apparatus, system, and calibration equipment. According to the received calibration command, the rack of the medical equipment is driven to move. When a target signal is received from a zero-position switch set at the rack's reference position, the rack is controlled to stop moving, and the rack's encoder information is read. By acquiring the current rack position image, and based on the position image and a pre-acquired position reference image, the current rack position deviation information is determined. Based on the position deviation information and the encoder information, the rack is calibrated. Thus, by setting a zero-position switch at the reference position, positioning the rack at the reference position based on the zero-position switch, and correcting the positioning based on the position deviation calculated by image processing, precise rack calibration is achieved, while also avoiding human intervention and ensuring personnel safety.

[0064] Please see Figure 1 , Figure 1 This is a schematic diagram of a medical equipment rack calibration system provided in this embodiment. Figure 1 As shown, the medical device rack calibration system provided in this embodiment includes a calibration device 100, a medical device 300, and a zero-position switch 200. The medical device 300 includes a rack 303, a driver 301, and a motor 302. The motor 302 is connected to the rack 303. The driver 301 is connected to both the motor 302 and the calibration device 100. The zero-position switch 200 is set at the reference position of the rack 303. When the zero-position switch 200 is triggered, it sends a signal.

[0065] The calibration device 100 is used to control the driver 301 to drive the motor 302 to move in accordance with the received calibration instructions, so as to drive the frame 303 to move.

[0066] The calibration device 100 is used to control the driver 301 to drive the motor 302 to stop moving when it receives a target signal sent by the zero-position switch 200 set at the reference position of the frame 303, so as to control the frame 303 to stop moving.

[0067] The calibration device 100 is used to read the encoder information of the motor 302 when it receives a target signal sent by the zero-position switch 200 set at the reference position of the frame 303.

[0068] The calibration device 100 is used to acquire the position image of the current rack 303, determine the position deviation information of the current rack 303 based on the position image and the pre-acquired position reference image, and calibrate the rack 303 based on the position deviation information and the encoder information.

[0069] In this embodiment, the calibration device 100 may be a computer device including a human-computer interaction interface, through which the user can issue corresponding instructions to the calibration device 100.

[0070] In this embodiment, the calibration device 100 is connected to the driver 301, which in turn is connected to the motor 302, which is connected to the frame 303. After receiving the calibration command from the user through the human-machine interface, the calibration device 100 executes the calibration command and sends a start-motion control command to the driver 301. Upon receiving the start-motion control command, the driver 301 drives the motor 302 to perform corresponding actions, thereby moving the frame 303. Simultaneously, when the calibration device 100 receives the target signal from the zero-position switch 200 set at the reference position, it sends a stop-motion control command to the driver 301. Upon receiving the stop-motion control command, the driver 301 drives the motor 302 to stop moving, thereby stopping the frame 303.

[0071] In this embodiment, the motor 302 is equipped with a motor encoder. After receiving the target signal sent by the zero-position switch 200 set at the reference position of the frame 303, the calibration device 100 can read the motor encoder of the motor 302 through the driver 301 to obtain the motor encoding value. After obtaining the motor encoding value, the driver 301 can feed the motor encoding value back to the calibration device 100, so that the calibration device 100 can read the code disk information of the motor.

[0072] After reading the encoder information, the calibration device 100 converts and calculates the encoder information (motor encoding value) fed back by the driver 301 to obtain the position of the rack 303 (i.e., the digital display position). After obtaining the position of the rack 303, the position of the rack 303 is displayed so that the user can know the position of the rack 303.

[0073] Because the transmission ratio changes due to factors such as friction and component wear during the rotation of the frame 303, the calculated position will contain errors. In order to calibrate the frame 303, after receiving the target signal sent by the zero-position switch 200 set at the reference position of the frame 303, the calibration device 100 also needs to acquire the current position image of the frame 303. Based on the position image and the pre-acquired position reference image, the position deviation information of the current frame 303 is determined. Then, based on the position deviation information and the encoder information, the frame 303 can be calibrated.

[0074] In order to facilitate obtaining the position image of the rack 303, in this embodiment, the medical equipment rack calibration system also includes a camera module 400, which is connected to the calibration device 100.

[0075] The camera module 400 is used to capture a position image of the current rack 303 and send the captured position image of the current rack 303 to the calibration device 100. The camera module 400 is also used to capture a position reference image and send the position reference image to the calibration device 100.

[0076] The camera module 400 and calibration device 100 are separately configured. The camera module 400 includes a camera with high image resolution. This camera is connected to the calibration device 100. When the rack 303 is used for the first time, and the rack 303 is in the reference position and the zero-position switch 200 is in the triggered state, the calibration device 100 controls the camera to take a picture of the rack 303 to obtain a position reference image of the rack 303. During subsequent movement of the rack 303, when a target signal is received from the zero-position switch 200, the calibration device 100 controls the camera to take a picture of the current position of the rack 303 to obtain a position image of the rack 303. Then, the position image of the rack 303 is analyzed with the pre-obtained position reference image to determine the position deviation information of the rack 303.

[0077] Optionally, in this embodiment, the camera module 400 may further include a processor and a camera with high image resolution. The processor is connected to the calibration device 100 and the zero-position switch 200. The processor can receive signals sent by the zero-position switch 200 and can also communicate with the calibration device 100. When the rack 303 is used for the first time, when the rack 303 is in the reference position and the zero-position switch 200 is in the triggered state, the processor receives the signal sent by the zero-position switch 200 when it is triggered and controls the camera to take a picture of the rack 303, obtaining a position reference image of the rack 303. During subsequent movement of the rack 303, when the processor receives a target signal sent by the zero-position switch 200, it controls the camera to take a picture of the current position of the rack 303, obtaining a position image of the current rack 303. Then, the position image of the current rack 303 is analyzed with the pre-obtained position reference image to obtain the position deviation information of the current rack 303. After obtaining the position deviation information, the position deviation information is sent to the calibration device 100.

[0078] In this embodiment, the zero-position switch 200 is disposed at the reference position of the frame 303 for positioning the reference position of the frame. In order to accurately position the reference position of the frame 303, the zero-position switch 200 includes a trigger stop and a sensor. The frame 303 includes a roller and a base. The trigger stop is disposed on the roller of the frame 303 and moves with the roller. The sensor is fixedly disposed at the reference position of the base of the frame 303.

[0079] When the trigger stop moves to the reference position with the roller, the trigger stop is used to trigger the sensor, which is used to send a signal to the calibration device 100 when triggered.

[0080] like Figure 2 As shown, in this embodiment, the zero-position switch 200 includes a trigger stop and a sensor. The trigger stop is fixedly mounted on the roller of the frame 303 and moves with the roller. The sensor is fixedly mounted on the base of the frame 303 and remains in a fixed position relative to the roller, i.e., the sensor does not move with the roller. The sensor is located at a reference position on the frame 303. When the trigger stop moves with the roller to the sensor position, i.e., when it reaches the reference position, the sensor is triggered and sends a signal to the calibration device 100.

[0081] Here, there can be two or more sensors, which are respectively set at different reference positions along the circumference and / or radial direction of the frame 303. Even if any sensor malfunctions, it will not affect the overall stability of the calibration system, thus improving the reliability of the calibration system.

[0082] The medical equipment rack calibration system provided in this embodiment involves a calibration device that drives the medical equipment rack to move according to a received calibration command. Upon receiving a target signal from a zero-position switch located at the rack's reference position, the device stops the rack's movement and reads the rack's encoder information. By acquiring a position image of the current rack and determining its position deviation information based on the position image and a pre-acquired reference image, the system calibrates the rack based on the position deviation information and the encoder information. Thus, by setting a zero-position switch at the reference position, locating the rack at the reference position, and correcting the positioning based on the position deviation information calculated through image processing and the read encoder information, precise rack calibration is achieved while avoiding human intervention and ensuring personnel safety.

[0083] based on Figure 1 and Figure 2 Based on the implementation architecture, this embodiment provides a medical device rack calibration method, applied to... Figure 1 The calibration device 100 in the embodiment performs the medical device rack calibration method provided in this embodiment. Please refer to the following: Figure 3 , Figure 3 This is a structural block diagram of the calibration device 100 provided in this embodiment. Figure 3 As shown, the calibration device 100 may include a memory 20, a processor 30, and a communication unit 40. The memory 20 stores machine-readable instructions that can be executed by the processor 30. When the calibration device 100 is running, the processor 30 and the memory 20 communicate via a bus. The processor 30 executes the machine-readable instructions and performs the medical device rack calibration method.

[0084] The memory 20, processor 30, and communication unit 40 are electrically connected directly or indirectly to each other to achieve signal transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The processor 30 is used to execute executable modules stored in the memory 20.

[0085] The memory 20 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0086] In some embodiments, processor 30 is used to perform one or more functions described in this embodiment. In some embodiments, processor 30 may include one or more processing cores (e.g., a single-core processor (S) or a multi-core processor (S)). By way of example only, processor 30 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction-set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic controller (PLC), a microcontroller unit, a reduced instruction set computing (RISC) computer, or a microprocessor, or any combination thereof.

[0087] For ease of explanation, only one processor is described in the calibration device 100. However, it should be noted that the calibration device 100 in this embodiment may also include multiple processors, and therefore the steps performed by one processor as described in this embodiment may also be performed jointly or individually by multiple processors. For example, if the server's processor performs steps A and B, it should be understood that steps A and B may also be performed jointly by two different processors or individually by one processor. For example, one processor performs step A, and a second processor performs step B, or the first and second processors jointly perform steps A and B.

[0088] In this embodiment, the memory 20 is used to store the program, and the processor 30 is used to execute the program after receiving the execution instruction. The process definition method disclosed in any implementation of this embodiment can be applied to the processor 30, or implemented by the processor 30.

[0089] The communication unit 40 is used to establish a communication connection between the calibration device 100 and other devices via a network, and to send and receive data via the network.

[0090] In some implementations, the network can be any type of wired or wireless network, or a combination thereof. By way of example only, the network may include wired networks, wireless networks, fiber optic networks, telecommunications networks, intranets, the Internet, local area networks (LANs), wide area networks (WANs), wireless local area networks (WLANs), metropolitan area networks (MANs), public switched telephone networks (PSTNs), Bluetooth networks, ZigBee networks, or near field communication (NFC) networks, or any combination thereof.

[0091] In this embodiment, the calibration device 100 can be a computer device that directly issues control commands, such as a host computer device.

[0092] Understandably, Figure 3 The structure shown is for illustrative purposes only. The calibration device 100 may also have a... Figure 3 Showing more or fewer components, or having with Figure 3 The different configurations shown. Figure 3 The components shown can be implemented using hardware, software, or a combination thereof.

[0093] The following is based on Figure 1 , Figure 2 and Figure 3 The structural diagram shown illustrates in detail the steps of the medical device rack calibration method provided in this embodiment. Please refer to the attached diagram. Figure 4 The medical device rack calibration method provided in this embodiment includes steps S101 to S103.

[0094] Step S101: According to the received calibration command, drive the rack of the medical device to move. When the target signal is received from the zero-position switch set at the reference position of the rack, control the rack to stop moving and read the code disk information of the rack.

[0095] The calibration command can be sent to the calibration equipment through the human-machine interface. When the calibration equipment receives the calibration command, it sends a command to the drive of the rack to control the drive to drive the motor of the rack to rotate, thereby driving the rack to move, that is, driving the roller of the rack to rotate.

[0096] In this embodiment, a zero-position switch is set at the reference position of the rack to locate its reference position. In this embodiment, the reference position of the rack can be the position where the rack is at physical zero degrees, or it can be any designated position. By setting a zero-position switch at the reference position and connecting it to the calibration equipment, when the rack moves to the reference position, the zero-position switch is triggered. This triggers the calibration equipment to send a target signal. Upon receiving the target signal from the zero-position switch, the calibration equipment controls the rack to stop moving and marks this position as the rack's reference position. Thus, the rack's reference position is determined.

[0097] When the reference position of the rack is located by the zero-position switch, that is, after the calibration equipment receives the target signal sent by the zero-position switch, it can read the code disk information of the rack at this time. In this embodiment, the read code disk information represents the motor code value when the rack is in the reference position.

[0098] During the rotation of the rack, factors such as changes in friction and component wear can alter the transmission ratio, causing the rack's position to shift. When the rack reaches its designated reference position, the position calculated from the encoder information (digital display position) may not be the exact reference position. For example, assuming the reference position is physical zero degrees, when the calibration equipment receives the target signal from the zero-position switch, assuming the rack is at the reference position and physical zero degrees, the position calculated by the calibration equipment based on the encoder information may not be physical zero degrees due to the change in transmission ratio. Furthermore, after the rack stops moving, it may slip, further inaccurately positioning the rack at the reference position. Therefore, rack calibration is necessary to correct the transmission ratio and reduce errors.

[0099] Based on this, in this embodiment, after receiving the target signal sent by the zero-position switch and reading the encoder information of the rack, step S102 can be executed.

[0100] Step S102: Obtain the current rack position image, and determine the current rack position deviation information based on the position image and the pre-obtained position reference image.

[0101] In this embodiment, the position reference image represents an image when the rack's position is error-free. The position reference image can be obtained by capturing a picture of the rack using a camera module during initial use or in the initial state, when the rack is located at a set reference position and the zero-position switch is triggered. A signal is sent when the zero-position switch is triggered.

[0102] The current rack position image is obtained by taking a picture of the current rack position through the camera module when the calibration equipment receives the target signal sent by the zero-position switch.

[0103] In one alternative implementation, in order to acquire images of the rack at different positions and analyze the movement process of the rack, the camera module can also take pictures of the rack in real time or at a set period to obtain images of the rack at different positions.

[0104] In this embodiment, when the target signal sent by the zero-position switch is received, the position image of the current rack is obtained, and the position image of the current rack and the pre-acquired position reference image are analyzed to obtain the position deviation information of the current rack. After obtaining the position deviation information of the current rack, step S103 can be executed.

[0105] Step S103: Calibrate the frame based on the position deviation information and the encoder information.

[0106] Among them, the position deviation information represents the position deviation value of the frame relative to the reference position during the movement, while the read code disk information represents the motor encoding value when the frame is in the reference position. Therefore, after obtaining the position deviation information and the code disk information, the error generated by the frame during the movement can be calculated based on the position deviation information and the code disk information, so as to correct the error and realize the calibration of the frame.

[0107] The medical equipment rack calibration method provided in this embodiment sets a zero-position switch at a reference position. When the target signal sent by the zero-position switch is received, the rack is controlled to stop moving, thereby achieving the positioning of the rack reference position. After the rack is positioned, the current rack position image is acquired. Based on the position image and the pre-acquired position reference image, the current rack position deviation information is calculated. Based on the position deviation information and the encoder information, the rack positioning position is corrected. In this way, the rack is accurately calibrated, while avoiding human intervention and ensuring personnel safety.

[0108] To improve the accuracy of rack positioning, in this embodiment, at least two zero-position switches can be used to position the rack, with each zero-position switch set along the same radius of the rack. By setting at least two zero-position switches, rack positioning is achieved when all zero-position switches are in the triggered state, effectively improving the accuracy of rack positioning. Furthermore, using at least two zero-position switches also avoids the problem of a single fault preventing rack positioning. In an optional implementation, the zero-position switches in this embodiment can be any sensor capable of calibrating position, or they can be proximity switches, photoelectric switches, etc.

[0109] To quickly and accurately locate the gantry reference position, in this embodiment, the gantry of the medical device is driven to move according to the received calibration command. The step of controlling the gantry to stop moving upon receiving the target signal from the zero-position switch located at the gantry reference position includes:

[0110] According to the received calibration command, the drive frame moves along a first direction at a first speed. Upon receiving a trigger signal from the zero-position switch, the drive frame moves along a second direction at a second speed. Upon receiving a target signal from the zero-position switch, the control frame stops moving. The first and second directions are opposite, and the second speed is less than the first speed.

[0111] In this embodiment, the first direction can be either clockwise or counterclockwise. When the first direction is clockwise, the second direction is counterclockwise, and when the first direction is counterclockwise, the second direction is clockwise.

[0112] In this embodiment, the values ​​of the first speed and the second speed can be set according to actual needs. This embodiment does not impose specific restrictions, as long as the first speed is greater than the second speed.

[0113] In this embodiment, upon receiving a calibration command, the first step is to move the frame along a first direction at a first speed to quickly locate the zero-position switch. Upon receiving a trigger signal from the zero-position switch, it indicates that the zero-position switch has been reached, and the frame can be controlled to stop moving. However, due to the excessively high first speed, if the frame stops moving after reaching the zero-position switch, it will continue to move a distance along the first direction due to excessive speed and frame inertia, resulting in inaccurate positioning. Therefore, to achieve accurate positioning, while moving along the first direction, after receiving the trigger signal from the zero-position switch, the frame is further driven to move along a second direction at a second speed—that is, at a low speed in the opposite direction to the first direction—to reduce frame inertia. Then, upon receiving the target signal from the zero-position switch, the frame is controlled to stop moving, thus achieving precise positioning of the frame's reference position.

[0114] Understandably, in this embodiment, both the trigger signal and the target signal are signals sent when the zero-position switch is in the triggered state. The trigger signal represents the signal sent when the frame moves along the first direction, triggering the zero-position switch and putting it in the triggered state. The target signal represents the signal sent when the frame moves along the second direction, triggering the zero-position switch and putting it in the triggered state.

[0115] The medical equipment rack calibration method provided in this embodiment, after receiving the calibration command, first moves along a first direction at a first speed, which greatly reduces the rack positioning time, and then moves along a second direction at a second speed, which can reduce rack inertia and achieve accurate rack positioning.

[0116] Understandably, if at least two zero-position switches are set, the frame is driven to move along the second direction at the second speed when all zero-position switches are in the triggered state, that is, when the trigger signals of each zero-position switch are received simultaneously; and the frame is controlled to stop moving when all zero-position switches are in the triggered state, that is, when the target signals of each zero-position switch are received simultaneously.

[0117] Optionally, in this embodiment, the rising edge when all zero-position switches are triggered can be used as the trigger condition to stop the rack movement, thereby controlling the rack to stop moving and marking this time as the reference position of the rack, while reading the rack's encoder information.

[0118] During rotation, factors such as changes in friction and component wear cause changes in the transmission ratio, resulting in a certain error in the calibrated reference position of the rack. In order to further correct the calibrated reference position and improve the accuracy of rack positioning, the camera module can be triggered to capture the current rack position after receiving the target signal sent by the zero-position switch, thereby obtaining the current rack position image. Then, based on the position image and the pre-acquired position reference image, the position deviation information of the current rack is calculated.

[0119] In this embodiment, the step of determining the current rack position deviation information based on the position image and the pre-acquired position reference image may include:

[0120] Image analysis is performed on the location image and the location reference image to obtain their feature information.

[0121] Based on the feature information of the position image and the position reference image, the position deviation information of the current rack is calculated.

[0122] In this embodiment, the position reference image is the image when the rack position has no error. The actual physical position of the rack in the position reference image is the reference position, and the position calculated based on the encoder information is also the same as the reference position. The position image, however, is an image taken after the rack has rotated, resulting in an error. Because of the error, the actual physical position of the rack in the position image differs from the reference position, and the position calculated based on the encoder information also differs from the reference position, thus causing a difference between the captured position image and the position reference image.

[0123] For example, when no error occurs, the actual physical position of the rack in the position reference image is consistent with the calculated position. However, when the rack generates an error during movement, the actual physical position of the rack in the position image is inconsistent with the calculated position, and the actual physical position of the rack in the position image is also inconsistent with the actual physical position of the rack in the position reference image.

[0124] In this embodiment, the feature information of the position image and the position reference image can be the pixel information of the position image and the position reference image. Based on the pixel information of the position image and the position reference image, the position deviation information of the current rack is calculated.

[0125] In this embodiment, after obtaining the location image, image analysis can be performed on the location image and the location reference image to obtain the pixel information of each pixel in the location image and the location reference image. After obtaining the pixel information of each pixel in the location image and the location reference image, the pixel difference between the location image and the location reference image can be obtained by comparing the pixel information of each pixel in the location image and the location reference image.

[0126] It should be noted that in this embodiment, the position, angle, parameters, etc. of the camera are kept consistent when capturing the position image and the position reference image.

[0127] After obtaining the pixel difference between the position image and the position reference image, the position deviation information of the current rack can be calculated based on the pixel difference between the position image and the position reference image.

[0128] As an optional implementation, a mathematical model of pixel difference and position deviation information can be established in advance, and the position deviation information of the current rack can be obtained based on the mathematical model and the pixel difference between the position image and the position reference image.

[0129] Optionally, the mathematical model can be a correspondence between pixel differences and positional deviation information. After obtaining the pixel differences between the position image and the positional reference image, the positional deviation information corresponding to that pixel difference can be found based on the correspondence. If there are multiple pixel differences between the position image and the positional reference image, the average value of these multiple pixel differences can be calculated, and this average value can be used as the final pixel difference between the position image and the positional reference image.

[0130] In one optional implementation, this embodiment calibrates the rack. During the rack's movement (including during normal use before rack calibration and during calibration), the rack's position is photographed each time a signal from the zero-position switch is received. Based on the photographed position image and a pre-obtained position reference image, a pre-built mathematical model is used to calculate the position deviation information for each received signal. Then, the average value of the position deviation information for each received signal is calculated, and the average value is used as the final position deviation information to achieve rack calibration.

[0131] Understandably, for each calibration, during the movement of the rack, when calculating the average position deviation information at each received signal, the position image captured when the rack first receives a signal after the last calibration can be used as the first image to obtain the first position deviation information for that calibration. Then, the position image captured during that calibration can be used as the last image to obtain the last position deviation information.

[0132] In an optional implementation, the current rack position deviation information can also be calculated based on optical flow. During rack movement, the rack position is captured each time a signal from the zero-position switch is received. By utilizing the changes in pixels in the time domain of the captured position image sequence and the correlation between adjacent position images, the correspondence between the previous and current position images is found. The rack movement information between adjacent frames is calculated, thereby obtaining the rack position deviation information between adjacent frames, and finally obtaining the position deviation value of the rack relative to the reference position during movement.

[0133] Specifically, for each calibration, the position reference image can be used as the first frame. Then, during the rack's movement (including normal use before calibration and during calibration), the position image captured when the rack first receives a signal after the last calibration is used as the second frame, the position image captured when the rack receives a signal for the second time after the last calibration is used as the third frame, and so on, until the rack stops moving after receiving a calibration command and target signal, and the position image captured at that point is used as the last frame. Alternatively, for each calibration, the position reference image can be used as the first frame. Then, during the rack's movement (including normal use before calibration and during calibration), the rack is photographed in real time to obtain multiple consecutive frames. The position image captured when the rack stops moving after receiving a calibration command and target signal is used as the last frame.

[0134] Optionally, in this embodiment, after obtaining the rack position deviation information between two adjacent frames based on the optical flow method, a mathematical model can be constructed using the pixel changes between two adjacent frames and the position deviation information between two adjacent frames, thereby obtaining the correspondence between pixel differences and position deviation information.

[0135] In one optional implementation, the feature information of the position image and the position reference image can also be feature point information (such as feature information of key points like corners, edges, and contours) of the position image and the position reference image. Based on the feature point information of the position image and the position reference image, an image registration method is used to determine the current rack position deviation information. Optionally, the position reference image can be used as the reference image, and the position image can be used as the image to be registered. Then, feature points are extracted from the position reference image and the position image, and matching feature point pairs are found by performing a similarity metric. Then, the image space coordinate transformation parameters are obtained from the matching feature point pairs. Finally, image registration is performed using the coordinate transformation parameters to obtain the current rack position deviation information reflected by the two images.

[0136] The medical equipment rack calibration method provided in this embodiment analyzes the position image and the pre-acquired position reference image to obtain the rack position deviation information, which can ensure the accuracy of position deviation calculation and thus improve the accuracy of rack calibration.

[0137] Once the current rack position deviation information is obtained, the rack can be calibrated based on the position deviation information and the encoder information.

[0138] In this embodiment, the step of calibrating the rack based on position deviation information and encoder information may include:

[0139] The correction coefficient of the computer rack is determined based on the position deviation information and the encoder information.

[0140] The current position information of the rack is recalibrated based on the correction coefficient in order to calibrate the rack.

[0141] The read encoder information represents the motor encoding value when the frame is in the reference position, while the position deviation information represents the position deviation value of the frame relative to the reference position during the movement.

[0142] In this embodiment, the read encoder information can be converted and calculated to obtain the position of the frame through parameters such as transmission ratio and torque. That is, there is a functional correspondence between the encoder information and the position of the frame. However, when the frame rotates, the transmission ratio changes, which will cause the functional correspondence to change. As a result, when calculating the position of the frame using the encoder information, the calculation result will be inaccurate, and the calculated position of the frame will have an error and be inconsistent with the actual position.

[0143] Therefore, after obtaining the position deviation information and the encoder information, this embodiment can calculate the actual transmission ratio of the frame during the movement process, i.e., the correction coefficient, based on the position deviation information and the encoder information and the function correspondence. Then, based on the calculated correction coefficient, the current position information of the frame is recalibrated to achieve the calibration of the frame.

[0144] For example, the function correspondence is y = kx + b, where y is the position of the frame, x is the motor encoder value, k is the transmission ratio, and b is the parameter value. After obtaining the position deviation information and the encoder information, these are substituted into the function correspondence. That is, the position deviation information is substituted into y, and the encoder information is substituted into x, to calculate the actual transmission ratio k1, which is the correction coefficient. After obtaining the correction coefficient, the function correspondence can be corrected to obtain y = k1x + b. After correcting the function correspondence, it can be ensured that the actual physical position of the frame is consistent with the calculated position during subsequent rotation, thereby ensuring the accuracy of the frame position and achieving precise frame calibration.

[0145] After calculating the correction coefficient, the current position information (digital display position) of the frame can be recalibrated so that the actual physical position of the frame remains consistent with the calculated position during subsequent rotation.

[0146] In an optional implementation, after the correction coefficient is calculated, it can be saved to facilitate data traceability.

[0147] The medical equipment rack calibration method provided in this embodiment achieves precise rack positioning by setting a zero-position switch at a reference position. When the target signal sent by the zero-position switch is received, the rack is controlled to stop moving. After the rack is positioned, the current rack position image is acquired. Based on the position image and the pre-acquired position reference image, the current rack position deviation information is calculated. Based on the position deviation information and the encoder information, the rack positioning is corrected. In this way, precise rack calibration is achieved, while avoiding human intervention and ensuring personnel safety.

[0148] Since the gantry continuously generates errors during rotation, and these errors sometimes have a negligible impact on radiotherapy accuracy, to avoid excessively frequent gantry calibration and increased costs, in this embodiment, before driving the medical device gantry to move according to the received calibration instructions, the medical device calibration method provided in this embodiment further includes:

[0149] Obtain the display position information when the rack is in the reference position.

[0150] The displayed position information is compared with the reference position to obtain the error between the displayed position information and the reference position.

[0151] Determine whether the error is greater than a preset threshold.

[0152] If the value is greater than or equal to the preset threshold, a calibration prompt will be displayed.

[0153] The display position information of the rack is the digital display position of the rack, which can be calculated based on the encoder information and the transmission ratio. When the rack rotates to the reference position and the zero-position switch is triggered, the encoder information is acquired, and the display position information at the reference position is calculated based on the encoder information.

[0154] Since the reference position is the actual physical position of the gantry, after obtaining the displayed position information, it is compared with the reference position to determine whether the gantry has generated errors during movement and the magnitude of those errors. After obtaining the error between the displayed position information and the reference position, it is determined whether the error exceeds a preset threshold. If it is less than the preset threshold, the error is small and has little impact on the accuracy of radiotherapy, requiring no calibration. However, if it is greater than or equal to the preset threshold, the error is large and will affect the accuracy of radiotherapy, requiring calibration. A calibration prompt is then sent to the user's terminal or human-machine interface. Upon receiving the calibration prompt, the user can issue a calibration command through the human-machine interface. The calibration equipment will then automatically perform calibration upon receiving the command.

[0155] Optionally, in this embodiment, the preset threshold can be set according to actual needs, such as 1°, 1.5°, etc., and this embodiment does not impose any restrictions on the specific threshold.

[0156] The medical device calibration method provided in this embodiment obtains the display position information when the rack is in a reference position, compares the display position information with the reference position to obtain the error between the display position information and the reference position, and determines whether the error is greater than a preset threshold. If the error is greater than or equal to the preset threshold, a calibration prompt is issued. This can effectively avoid the rack from being calibrated too frequently, which would increase costs. At the same time, it can also prompt the user and ensure the accuracy of the medical device during use.

[0157] In practical applications, damage to the rack may occur due to the failure of certain components, causing the rack to remain in a calibration state indefinitely. To avoid damage to the rack caused by prolonged calibration, the medical equipment rack calibration method provided in this embodiment further includes the following after the calibration prompt:

[0158] Receive calibration instructions and perform calibration timing according to the calibration instructions.

[0159] Determine whether the target signal sent by the zero-position switch has been received within the set time period.

[0160] If no signal is received, the calibration is deemed to have failed, and a calibration failure message will be displayed.

[0161] Upon receiving a calibration command, the calibration equipment performs automatic calibration while simultaneously timing the calibration. It then checks whether a target signal from the zero-position switch is received within a set time period. If the target signal is received, it indicates successful rack positioning, allowing subsequent image processing, correction coefficient calculation, and other automatic calibration to proceed. If no target signal is received within the set time period, it indicates a potential malfunction in the zero-position switch or other components, preventing rack calibration. This results in a calibration failure, termination of the calibration process, and a calibration failure notification, enabling users to check for equipment problems and promptly address any issues.

[0162] The medical equipment calibration method provided in this embodiment utilizes a zero-position switch to calibrate the reference position of the gantry, achieving a one-click automatic gantry calibration function. In actual use, simply sending a calibration command to the calibration equipment is sufficient, and the equipment can automatically perform calibration. Figure 5 As shown, after receiving the calibration command from the human-machine interface, the calibration device starts timing and then checks whether the driver is powered on. If the driver is not powered on, the calibration is deemed a failure, and the human-machine interface is not informed that the driver is not powered on. If the driver is powered on, a command is sent to the driver to control the driver to drive the frame to move along a first direction at a first speed, and it is checked whether a trigger signal from the zero-position switch is received within a set time. If no trigger signal from the zero-position switch is received, the calibration is deemed a failure, and the human-machine interface is informed that the zero-position switch is faulty. If a trigger signal from the zero-position switch is received, a new command is sent to the driver to control the driver to drive the frame to move along a second direction at a second speed, and it is checked whether a target signal from the zero-position switch is received within a set time. If no target signal from the zero-position switch is received, the calibration is deemed a failure, and the human-machine interface is informed that the zero-position switch is faulty. If the target signal from the zero-position switch is received, the calibration coefficient of the computer rack is set to 0 on the rack's digital display. If the rack's digital display cannot be set to 0, the calibration is considered a failure, and a function block error is reported to the human-machine interface. If the rack's digital display is successfully set to 0, the calibration is considered successful. During the calibration process, if the timer finishes counting down before calibration is complete, the calibration is considered a failure, and the human-machine interface reports a timeout. If the timer finishes counting down before calibration is complete, the calibration is considered successful.

[0163] The medical equipment rack calibration method provided in this embodiment achieves precise rack positioning by setting a zero-position switch at a reference location. When a target signal is received from the zero-position switch, the rack stops moving. After positioning, an image of the rack's current position is acquired. Based on this image and a pre-acquired reference image, the rack's position deviation is calculated. The rack's positioning is then corrected based on this deviation and encoder information. Thus, through a simple calibration process, precise rack calibration is achieved, ensuring the rack's positioning accuracy. The calculation of cumulative errors prompts calibration personnel to perform calibration work, making the calibration process convenient and quick while ensuring the safety of calibration personnel.

[0164] The following is a specific scenario: After the rack rotates several times, the calibration equipment calculates the position error to be 1.1°. The inclinometer measures the current physical position of the rack to be 1.2°, and the displayed position information is 0°. At this time, the rack should be calibrated, and a calibration prompt should be sent to the human-machine interface. After receiving the calibration prompt, the user issues a calibration command through the human-machine interface. Upon receiving the calibration command, the calibration equipment drives the machine to move counterclockwise at a speed of -6° / s. When the calibration equipment receives the trigger signal sent by the zero-position switch, it decelerates and stops the frame movement, then moves clockwise towards the zero-position switch at a speed of 0.2° / s. When the calibration equipment receives the target signal sent by the zero-position switch, it controls the machine to stop moving and records the encoded value at this time, i.e., the code disk information. Then, it takes a picture of the frame to obtain the current position image of the frame. By analyzing and processing the position image and the pre-acquired position reference image, the position deviation value of the frame relative to the reference position during the movement is calculated according to the established mathematical model. Then, the correction coefficient is calculated based on the position deviation value and the code disk information to calibrate the frame. At the same time, the display position information of the frame is set to 0.

[0165] If the rack overshoots or fails to move to the correct position due to inertia or slippage, and the rack does not stop at the reference position, after calibration and obtaining the correction coefficient, the reference position of the rack can be sent to the driver. The driver will then drive the motor to move to this position based on the obtained correction coefficient. At this time, the digital display of the rack will be the reference position of the rack, thereby achieving the accuracy calibration of the rack.

[0166] Based on the same inventive concept, please refer to the following: Figure 6 This embodiment also provides a medical device rack calibration device 10, which is applied to calibration equipment, such as... Figure 6 As shown, the medical device rack calibration device 10 provided in this embodiment includes a motion control module 11, a position calculation module 12, and a position calibration module 13.

[0167] The motion control module 11 is used to drive the frame of the medical device to move according to the received calibration instructions. When it receives the target signal sent by the zero-position switch set at the frame reference position, it controls the frame to stop moving and reads the encoder information of the frame.

[0168] The position calculation module 12 is used to acquire the position image of the current rack and determine the position deviation information of the current rack based on the position image and the pre-acquired position reference image.

[0169] The position calibration module 13 is used to calibrate the rack based on the root position deviation information and the encoder information.

[0170] In an optional implementation, the motion control module 11 is used for:

[0171] According to the received calibration command, the drive frame moves along the first direction at a first speed. When a trigger signal is received from the zero-position switch, the drive frame moves along the second direction at a second speed. When a target signal is received from the zero-position switch, the control frame stops moving. The first direction and the second direction are opposite, and the second speed is less than the first speed.

[0172] In an optional implementation, the location calculation module 12 is used for:

[0173] Image analysis is performed on the location image and the location reference image to obtain their feature information.

[0174] Based on the feature information of the position image and the position reference image, the position deviation information of the current rack is calculated.

[0175] In an optional implementation, the position calibration module 13 is used for:

[0176] The correction coefficient of the computer rack is determined based on the position deviation information and the encoder information.

[0177] The current position information of the rack is recalibrated based on the correction coefficient in order to calibrate the rack.

[0178] In an optional embodiment, the medical device rack calibration device 10 further includes a calibration prompt module, which is used for:

[0179] Obtain the display position information when the rack is in the reference position.

[0180] The displayed position information is compared with the reference position to obtain the error between the displayed position information and the reference position.

[0181] Determine whether the error is greater than a preset threshold.

[0182] If the value is greater than or equal to the preset threshold, a calibration prompt will be displayed.

[0183] In an optional embodiment, the medical device rack calibration device 10 further includes a calibration timing module, which is used for:

[0184] Receive calibration instructions and perform calibration timing according to the calibration instructions.

[0185] Determine whether the target signal sent by the zero-position switch has been received within the set time period.

[0186] If no signal is received, the calibration is deemed to have failed, and a calibration failure message will be displayed.

[0187] In an optional embodiment, the medical device rack calibration device 10 further includes a camera module, which is used for:

[0188] When the frame is in the set reference position and the zero-position switch is in the triggered state, the frame is photographed to obtain a position reference image; wherein, the zero-position switch sends a signal when it is in the triggered state.

[0189] The medical equipment rack calibration device provided in this embodiment achieves precise rack positioning by setting a zero-position switch at a reference position. When the target signal sent by the zero-position switch is received, the rack is controlled to stop moving. After precise rack positioning, the current rack position image is acquired. Based on the position image and the pre-acquired position reference image, the current rack position deviation information is calculated. Based on the position deviation information and the encoder information, the rack positioning is corrected. In this way, precise rack calibration is achieved, while avoiding human intervention and ensuring personnel safety.

[0190] Based on the above, this embodiment also provides a readable storage medium, which includes a computer program. When the computer program is executed, it controls the calibration device where the readable storage medium is located to perform the medical device rack calibration method described in any of the foregoing embodiments.

[0191] The readable storage medium can be, but is not limited to, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, and other media capable of storing program code.

[0192] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the readable storage medium described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0193] In summary, the medical device rack calibration method, apparatus, system, and calibration equipment provided in this invention drive the medical device rack to move according to the received calibration command. Upon receiving a target signal from a zero-position switch set at the rack's reference position, the rack stops moving, and the rack's encoder information is read. By acquiring a position image of the current rack, and based on the position image and a pre-acquired position reference image, the current rack's position deviation information is determined. The rack is then calibrated based on the position deviation information and the encoder information. Thus, by setting a zero-position switch at the reference position, locating the rack at the reference position using the zero-position switch, and correcting the positioning based on the position deviation information calculated through image processing and the read encoder information, precise rack calibration is achieved while avoiding human intervention and ensuring personnel safety.

[0194] The foregoing has provided a detailed description of a medical device rack calibration method, apparatus, system, and calibration equipment provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of the present invention. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating a medical equipment rack, characterized in that, The method includes: According to the received calibration instructions, the medical device rack is driven to move. When a target signal is received from the zero-position switch set at the reference position of the rack, the rack is controlled to stop moving, and the code disk information of the rack is read. Obtain the current position image of the rack, and determine the current position deviation information of the rack based on the position image and the pre-obtained position reference image; Based on the position deviation information and the encoder information, the actual transmission ratio of the frame during the movement is calculated as a correction coefficient. The current position information of the rack is recalibrated based on the correction coefficient in order to calibrate the rack.

2. The medical equipment rack calibration method according to claim 1, characterized in that, The step of driving the medical device frame to move according to the received calibration command, and controlling the frame to stop moving when a target signal is received from a zero-position switch set at the frame reference position, includes: According to the received calibration command, the frame is driven to move along a first direction at a first speed. When a trigger signal is received from the zero-position switch, the frame is driven to move along a second direction at a second speed. When a target signal is received from the zero-position switch, the frame is controlled to stop moving. The first direction and the second direction are opposite, and the second speed is less than the first speed.

3. The medical equipment rack calibration method according to claim 1, characterized in that, The step of determining the current position deviation information of the rack based on the position image and the pre-acquired position reference image includes: Image analysis is performed on the location image and the location reference image to obtain feature information of the location image and the location reference image; Based on the feature information of the position image and the position reference image, the current position deviation information of the rack is calculated.

4. The medical equipment rack calibration method according to claim 1, characterized in that, Before moving the gantry of the medical device according to the received calibration instructions, the method further includes: Obtain the display position information when the rack is in the reference position; The display position information is compared with the reference position to obtain the error between the display position information and the reference position; Determine whether the error is greater than a preset threshold; If the value is greater than or equal to the preset threshold, a calibration prompt will be issued.

5. The medical equipment rack calibration method according to claim 4, characterized in that, After the calibration prompt is given, the method further includes: Receive calibration instructions and perform calibration timing according to the calibration instructions; Determine whether the target signal sent by the zero-position switch is received within the set time period; If no signal is received, the calibration is deemed to have failed, and a calibration failure message will be displayed.

6. The medical equipment rack calibration method according to claim 1, characterized in that, Before moving the gantry of the medical device according to the received calibration instructions, the method further includes: When the frame is located at a set reference position and the zero-position switch is in the triggered state, the frame is photographed to obtain the position reference image; wherein, the zero-position switch sends a signal when it is in the triggered state.

7. A medical equipment rack calibration device, characterized in that, The device includes: The motion control module is used to drive the frame of the medical device to move according to the received calibration instructions. When it receives the target signal sent by the zero-position switch set at the reference position of the frame, it controls the frame to stop moving and reads the code disk information of the frame. The position calculation module is used to acquire the current position image of the rack, and determine the current position deviation information of the rack based on the position image and the pre-acquired position reference image. The position calibration module is used to calculate the actual transmission ratio of the frame during the movement process as a correction coefficient based on the position deviation information and the encoder information; and to recalibrate the current position information of the frame based on the correction coefficient in order to calibrate the frame.

8. A medical equipment rack calibration system, characterized in that, The device includes calibration equipment, medical equipment, and a zero-position switch. The medical equipment includes a frame, a driver, and a motor. The motor is connected to the frame, and the driver is connected to both the motor and the calibration equipment. The zero-position switch is positioned at a reference position on the frame, and sends a signal when triggered. The calibration device is used to control the driver to drive the motor to move according to the received calibration instructions, so as to drive the frame to move; The calibration device is used to control the driver to stop the motor from moving when it receives a target signal sent by a zero-position switch set at the reference position of the frame, so as to control the frame to stop moving. The calibration device is used to read the encoder information of the motor when it receives a target signal sent by a zero-position switch set at the reference position of the frame; The calibration device is used to acquire the current position image of the rack, determine the current position deviation information of the rack based on the position image and the pre-acquired position reference image, calculate the actual transmission ratio of the rack during the movement as a correction coefficient based on the position deviation information and the encoder information, and recalibrate the current position information of the rack based on the correction coefficient to calibrate the rack.

9. The medical equipment rack calibration system according to claim 8, characterized in that, The medical equipment rack calibration system also includes a camera module, which is connected to the calibration equipment. The camera module is used to capture an image of the current position of the rack and send the captured image of the current position of the rack to the calibration device; The camera module is also used to capture the position reference image and send the position reference image to the calibration device.

10. The medical equipment rack calibration system according to claim 8, characterized in that, The zero-position switch includes a trigger stop and a sensor. The frame includes a roller and a base. The trigger stop is disposed on the roller of the frame and moves with the roller. The sensor is fixedly disposed at a reference position on the base of the frame. When the trigger stop moves with the roller to the reference position, the trigger stop is used to trigger the sensor; The sensor is used to send a signal to the calibration device when triggered.

11. A calibration device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the medical device rack calibration method according to any one of claims 1 to 6.

12. A readable storage medium, characterized in that, The readable storage medium includes a computer program that, when executed, controls the electronic device containing the readable storage medium to perform the medical device rack calibration method according to any one of claims 1 to 6.

Images