Boosting system and method for a suspension device and x-ray imaging system

Abstract

The application provides a power assisting system and method of a suspension device and an X-ray imaging system. The suspension device comprises a ball tube device, a ball tube controller, a motion driving device capable of driving the suspension device to move along a first coordinate system, and a power assisting system comprising a measuring device and a control device. The measuring device is installed between the ball tube device and the ball tube controller to obtain an initial force of an operator, wherein the initial force comprises a magnitude and a direction of a force along a second coordinate system in which the measuring device is located. The control device comprises a calibration unit and a calculation unit. The calibration unit is used to calibrate the initial force to obtain a calibrated force. The calculation unit is used to perform coordinate transformation on the calibrated force to obtain a torque value corresponding to the first coordinate system, and send the torque value to the motion driving device, so that the motion driving device can provide power assistance based on the torque value.

Description

Technical Field

[0001] This invention relates to medical imaging technology, and more specifically to an assist system and method for a suspension device, as well as an X-ray imaging system. Background Technology

[0002] In an X-ray imaging system, radiation from an X-ray source is directed at a subject, typically a patient in a medical diagnostic application. A portion of the radiation passes through the subject and impacts a detector, which is divided into a matrix of discrete elements (e.g., pixels). The detector elements are read out to generate an output signal based on the amount or intensity of radiation impacting each pixel region. The signal can then be processed to produce a medical image that can be displayed for examination on the display device of the X-ray imaging system.

[0003] Traditional overhead tube suspensions (OTS) mounted on the ceiling typically include five-axis motion. The suspension device can move along three axes in the room coordinate system, and the tube device can rotate in the horizontal and vertical planes. The suspension device can be configured to different modes such as fully manual mode, five-axis fully automatic mode, four-axis automatic mode, or three-axis automatic mode.

[0004] Even in the five-axis fully automatic mode, when the motor-driven suspension device moves to the preset distance, if the position of the X-ray tube needs to be fine-tuned due to the movement of the object being inspected or other reasons, or if only the X-ray tube device needs to be fine-tuned for the next object being inspected, the user may choose to manually operate the suspension device to achieve the above-mentioned fine-tuning. However, the suspension device is particularly heavy, and the user needs to exert a great deal of force to operate it. For hospitals with particularly high demand for inspection or imaging, high-frequency manual operation will bring great exhaustion to the user. Summary of the Invention

[0005] The present invention provides an assist system and method for a suspension device, as well as an X-ray imaging system.

[0006] An exemplary embodiment of the present invention provides a power assist system for a suspension device. The suspension device includes a ball tube assembly, a ball tube controller, a motion drive device, and a power assist system. The motion drive device is capable of driving the suspension device to move along a first coordinate system. The power assist system includes a measuring device and a control device. The measuring device is installed between the ball tube assembly and the ball tube controller to acquire an initial force from the operator. The initial force includes the magnitude and direction of the force along a second coordinate system in which the measuring device is located. The control device includes a calibration unit and a calculation unit. The calibration unit is used to calibrate the initial force to obtain a calibration force. The calculation unit is used to perform coordinate transformation on the calibration force to obtain a torque value corresponding to the first coordinate system and send the torque value to the motion drive device so that the motion drive device can provide assistance based on the torque value.

[0007] Specifically, the motion drive device includes an automatic mode and an assist mode, and the assist system further includes a mode switching device located on the tube controller to switch the motion drive device between the automatic mode and the assist mode.

[0008] Specifically, the mode switching device includes multiple switching buttons, each corresponding to movement along each axis in the first coordinate system, to switch it from automatic mode to assisted mode.

[0009] Specifically, the tube controller includes a display screen and an operating handle, and the mode switching device further includes at least one sensor, which is disposed at the bottom of the display screen or on the operating handle, so as to switch the motion drive device from automatic mode to assisted mode when the operator operates the operating handle.

[0010] Specifically, each of the multiple switching buttons includes an indicator light. When at least one switching button is pressed, the indicator light illuminates to indicate the operator's press. When the operating handle is operated, all the indicator lights of the multiple switching buttons illuminate to indicate the operator's operation.

[0011] Specifically, the calibration unit is further configured to calibrate the initial force according to a lookup table based on the current first rotation angle and second rotation angle to obtain the calibration force, wherein the first rotation angle is the angle of rotation of the X-ray tube in the vertical plane and the second rotation angle is the angle of rotation of the X-ray tube in the horizontal plane.

[0012] Specifically, the calibration unit further includes limiting the calibration force based on the real-time feedback value of the motion drive device, and performing coordinate transformation on the limited calibration force. The real-time feedback value includes at least one of the speed and position of the suspension device.

[0013] Specifically, the calculation unit is further used to perform coordinate transformation based on the positional relationship between the first coordinate system and the second coordinate system.

[0014] Specifically, the positional relationship between the first coordinate system and the second coordinate system includes a matrix related to the first rotation angle and the second rotation angle.

[0015] Specifically, the torque value includes the product of the force obtained after coordinate transformation and a multiplier, wherein the multiplier is adjustable.

[0016] Specifically, the calculation unit is further used to limit the slope of the transformed force obtained by the coordinate transformation, and the torque value includes the product of the force limited by the slope and the multiple.

[0017] An exemplary embodiment of the present invention also provides an X-ray imaging system, the system including an assist system for the suspension device as described above.

[0018] An exemplary embodiment of the present invention also provides a method for assisting a suspension device, the suspension device including a motion drive device, the assist method including acquiring an initial force applied to the suspension device by an operator, switching the motion drive device to an assist mode based on the initial force, calibrating the initial force to acquire a calibration force, performing coordinate transformation on the calibration force to acquire a torque value in a first coordinate system corresponding to the initial position of the suspension device, and controlling the motion drive device to operate to provide assistance based on the torque value.

[0019] Specifically, the calibration includes calibrating the initial force according to a lookup table based on the first and second rotation angles of the current suspension device.

[0020] Specifically, the coordinate transformation includes performing coordinate transformation based on the positional relationship between the first coordinate system and the second coordinate system.

[0021] Specifically, the positional relationship between the first coordinate system and the second coordinate system includes matrices related to the first rotation angle and the second rotation angle.

[0022] Specifically, obtaining the torque value involves multiplying the force obtained after coordinate transformation by a multiplier, wherein the multiplier is adjustable.

[0023] Specifically, the assist method further includes limiting the calibration force based on the real-time feedback value of the motion drive device, and performing coordinate transformation on the limited calibration force.

[0024] Specifically, the assist method further includes limiting the slope of the transformation force obtained after coordinate transformation.

[0025] Other features and aspects will become clear from the following detailed description, accompanying drawings, and claims. Attached Figure Description

[0026] The invention can be better understood by describing exemplary embodiments of the invention in conjunction with the accompanying drawings, in which:

[0027] Figure 1 This is a schematic diagram of an X-ray imaging system according to some embodiments of the present invention;

[0028] Figure 2 This is a schematic diagram of a suspension device according to some embodiments of the present invention;

[0029] Figure 3 This is a schematic diagram of the assist system of a suspension device according to some embodiments of the present invention;

[0030] Figure 4 It is based on Figure 3 A schematic diagram showing the location of the measuring device in the power assist system;

[0031] Figure 5 It is based on Figure 3 A schematic diagram of the mode switching device in the power assist system shown;

[0032] Figure 6 This is a flowchart of a suspension device assistance method according to some embodiments of the present invention; and

[0033] Figure 7 This is a flowchart of a suspension device assistance method according to other embodiments of the present invention. Detailed Implementation

[0034] The following describes specific embodiments of the present invention. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, some design, manufacturing, or production modifications based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0035] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the patent application description and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0036] Figure 1 An X-ray imaging system 100 according to some embodiments of the present invention is shown. For example... Figure 1 As shown, the X-ray imaging system 100 includes an X-ray source 104, a detector 106, and a control subsystem 108. In some embodiments, the X-ray imaging system 100 may be a fixed X-ray imaging system disposed in a fixed X-ray imaging room, or it may be a mobile X-ray imaging system.

[0037] X-ray source 104 can project X-rays 114 onto a region of interest in the object 102 being inspected. Specifically, X-ray source 104 can be positioned adjacent to a beam limiter 116, which is used to align the X-rays 114 to the region of interest in the object 102 being inspected. At least a portion of the X-rays 114 can be attenuated by the object 102 being inspected and can be incident on detector 106.

[0038] The control subsystem 108 includes a source controller (not shown) and a detector controller (not shown). The source controller commands the X-ray source 104 to emit X-rays 114 for image exposure. The detector controller coordinates the control of various detector functions, such as performing various signal processing and filtering functions, specifically for initial adjustment of dynamic range, interleaving of digital image data, etc. In some embodiments, the control subsystem 108 can provide power and timing signals for controlling the operation of the X-ray source 104 and the detector 106. Specifically, the control subsystem 108 can provide power and timing signals to the X-ray source 104 and / or detector 106 respectively via a power supply 110 and one or more wired and / or wireless communication links 112, wherein the communication link 112 may correspond to a backplane bus, local area network, wide area network, and / or Internet, etc. In some embodiments, the power supply 110 includes one or more batteries; furthermore, although... Figure 1 The diagram shows that the power supply 110 and the X-ray source 104 are connected via a communication link; however, those skilled in the art should understand that the power supply 110 and the X-ray source 104 can also be directly coupled.

[0039] Control subsystem 108 can be configured and / or arranged for use in different ways. For example, in some implementations, a single control subsystem 108 may be used; in other implementations, multiple control subsystems 108 are configured to operate together (e.g., based on a distributed processing configuration) or individually, each control subsystem 108 being configured to handle specific aspects and / or functions, and / or process data for generating models that are only used for a specific X-ray imaging system. In some implementations, control subsystem 108 may be local (e.g., co-located with one or more X-ray imaging systems 100, such as within the same facility and / or the same local network); in other implementations, control subsystem 108 may be remote and therefore accessible only via a remote connection (e.g., via the Internet or other available remote access technologies). In a particular implementation, control subsystem 108 may be configured in a cloud-like manner and may be accessed and / or used in a manner substantially similar to accessing and using other cloud-based systems.

[0040] In some embodiments, system 100 further includes computing device 120, which may be configured to use digital signals to reconstruct one or more desired images and / or determine useful diagnostic information corresponding to the object 102 being examined. The computing device 120 may include one or more dedicated processors, graphics processing units, digital signal processors, microcomputers, microcontrollers, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other suitable processing devices.

[0041] In some embodiments, system 100 further includes a storage device 122, in which computing device 120 can store digitized signals. For example, storage device 122 may include a hard disk drive, floppy disk drive, optical disc read / write (CD-R / W) drive, digital universal disk (DVD) drive, flash memory drive, and / or solid-state storage device. The storage device is used to store programs executable by a computer, which, when executed, cause multiple components of the X-ray imaging system to perform operations corresponding to the aforementioned imaging sequence. When the computer executes the program, it can also execute X-ray imaging methods to post-process the raw image to obtain a post-processed optimized image.

[0042] although Figure 1 The storage device 122, computing device 120, and control subsystem 108 are illustrated as separate devices, but in some embodiments, one or more of them may be combined into a single device to efficiently utilize floor space and / or meet desired imaging requirements.

[0043] In one embodiment, the system 100 further includes a display device 124, which can be used to display reconstructed images and / or diagnostic information, etc.

[0044] In one embodiment, system 100 further includes an operator workstation 126, which allows a user to receive and evaluate reconstructed images, as well as input control commands (operation signals or control signals). Operator workstation 126 may include a user interface (or user input device), such as a keyboard, mouse, voice-activated controller, or any other suitable input device, through which the operator can input operation / control signals to control subsystem 108, such as one or more scan parameters and / or request required diagnostic information and / or images to evaluate the internal structure and / or function of the object under examination 102.

[0045] Figure 2 A schematic diagram of a suspension device 200 according to some embodiments of the present invention is shown. Figure 4 A schematic diagram of a suspension assist system 300 according to some embodiments of the present invention is shown. According to... Figures 2 to 3 As shown, the suspension device 200 includes a transverse guide rail 201, a longitudinal guide rail 203, a telescopic cylinder 202, a ball tube device 204, a constrictor 206, and a ball tube controller 208.

[0046] For ease of description, in this application, the x-axis, y-axis, and z-axis are defined as follows: the x-axis and y-axis lie in the horizontal plane and are perpendicular to each other, and the z-axis is perpendicular to the horizontal plane. Specifically, in a first coordinate system based on the room, the direction of the transverse guide rail 201 is defined as the x-axis, the direction of the longitudinal guide rail 203 is defined as the y-axis, and the extension direction of the telescopic tube 202 is defined as the z-axis, which is the vertical direction. Furthermore, the movement of the suspension device further includes the rotation of the ball tube device 204 in the vertical plane and the rotation of the ball tube device 204 in the horizontal plane. That is, the rotation of the ball tube device 204 in the vertical plane is rotation about the y-axis, and the rotation angle of the ball tube device 204 relative to the initial position is defined as the first rotation angle α. The rotation of the ball tube device 204 in the horizontal plane is rotation about the z-axis, and the rotation angle of the ball tube device 204 relative to the initial position is defined as the second rotation angle θ. For ease of display, Figure 2 The bellows is omitted in both.

[0047] Specifically, the horizontal guide rail 201 is installed on the ceiling, and the vertical guide rail 203 is installed on the horizontal guide rail 201 and perpendicular to it. The telescopic cylinder 202 is a telescopic cylinder, with one end connected to the vertical guide rail 203 and the other end connected to the X-ray tube device 204, or connected to the X-ray tube device 204 via a rotating component (not shown in the figure). The telescopic cylinder 202 can move relative to the vertical guide rail 201, thereby causing the telescopic cylinder 202 to move along the y-axis. The vertical guide rail 201 can move relative to the horizontal guide rail 201, thereby causing the telescopic cylinder 202 to move along the x-axis.

[0048] The suspension device 202 includes multiple sleeves (or housings) with different inner diameters. These sleeves can be fitted onto the upper sleeve from bottom to top to achieve telescopic movement, thereby enabling the telescopic cylinder 202 or the ball tube device 204 to move along the z-axis. Specifically, the connection between the suspension device 202 and the longitudinal guide rail 203 may include a rotating shaft, a motor, and a drum. The motor can drive the drum to rotate around the rotating shaft, thereby causing the telescopic cylinder 202 to move along the z-axis.

[0049] The suspension device 200 further includes a motion drive device 210, which includes a motor driver and a plurality of motors, which are used to control the movement of the suspension device in a first coordinate system, including movement along the x-axis, y-axis and z-axis.

[0050] Specifically, for controlling the movement of the suspension device along the x-axis, the motion drive device 210 includes an x-axis motor driver 211, an x-axis motor 221, and an x-axis feedback unit 231. Similarly, for controlling the movement of the suspension device along the y-axis, the motion drive device 210 includes a y-axis motor driver 212, a y-axis motor 222, and a y-axis feedback unit 232. For controlling the movement of the suspension device along the z-axis, the motion drive device 210 includes a z-axis motor driver 213, a y-axis motor 223, and a z-axis feedback unit 233. The x / y / z-axis motor drivers can control the x / y / z-axis motors to rotate based on the controller's instructions, thereby driving the suspension device to move along the x / y / z-axis. The x / y / z-axis feedback unit can monitor the speed and position of the suspension device in real time for real-time feedback. Specifically, the x / y / z-axis feedback unit includes an encoder and a potentiometer.

[0051] Of course, the motion drive also includes other components such as drums, timing pulleys, and wire ropes used to achieve motion.

[0052] Specifically, the motion drive device includes an automatic mode (also known as a position mode) and an assist mode (also known as a torque mode). In automatic mode, the motor driver can drive the corresponding motor to rotate to the preset position, while in assist mode, the motor driver can drive the corresponding motor to rotate according to the torque value.

[0053] The motion drive device 210 can be installed in the connection portion 205 between the telescopic cylinder 202 and the guide rails 201 / 203. The specific installation position and / or method of the motion drive device and how to automatically control the movement of the suspension device along the three axes will not be described here.

[0054] Although some embodiments of the present invention show the motion drive device 210 including three motor drivers, those skilled in the art should understand that it is also possible to provide only one overall motor driver to control the motors of the three axes.

[0055] The suspension device 200 further includes a power assist system 300, which includes a measuring device 310 and a control device 320.

[0056] Figure 4 It shows Figure 3 A schematic diagram showing the location of the measuring device in the assist system 300. (See diagram below.) Figure 4 As shown, the measuring device 310 is installed between the X-ray tube device 204 and the X-ray tube controller 208 to obtain the operator's initial force, wherein the initial force includes the magnitude and direction of the force along the second coordinate system in which the measuring device 310 is located.

[0057] In some embodiments, the measuring device 310 is a three-dimensional sensor that can measure the magnitude and direction of the force applied thereto.

[0058] Specifically, the coordinate system containing the length, width, and height of the measuring device 310 is defined as the second coordinate system. When the suspension device is in a position such as... Figure 2 In the default position shown, the first and second coordinate systems coincide. However, in the actual inspection and scanning process, depending on the inspection protocol or position of the object being inspected, it is usually necessary to move and / or rotate the suspension device to a preset position and / or angle so that the X-ray tube is aligned with the region of interest of the object being inspected. That is to say, the X-ray tube device 204 will rotate around the y-axis or z-axis to a certain extent, and the first and second coordinate systems will also have a certain amount of offset or rotation. If the motion drive device directly provides assistance based on the torque of the three-dimensional force obtained from the measuring device, it will cause a large deviation in control, and the assistance system will not be able to provide assistance in the direction of the operator's movement.

[0059] Please return to the reference. Figure 2 In some embodiments, the control device 320 includes a calibration unit 321 and a calculation unit 322. The calibration unit 321 is used to calibrate the initial force F to obtain a calibration force F0, and the calculation unit 322 is used to perform coordinate transformation on the calibration force F0 to obtain a torque value corresponding to the first coordinate system, and send the torque value to the motion drive device so that the motion drive device can provide assistance based on the torque value.

[0060] The calibration unit 311 is further configured to calibrate the initial force according to a look-up table based on the current first rotation angle α and second rotation angle θ to obtain the calibration force F0. The first rotation angle is the angle of rotation of the X-ray tube in the vertical plane, and the second rotation angle is the angle of rotation of the X-ray tube in the horizontal plane.

[0061] In some embodiments, since the X-ray tube device 204 rotates around the y-axis or z-axis, and the measuring device is connected between the X-ray tube device and the X-ray tube controller, when the X-ray tube device rotates, the X-ray tube controller or other components will exert pressure on the measuring device due to their own gravity. This means that the force obtained by the measuring device is not just the operator's operating force. Therefore, during the experimental or installation testing phase, without applying external force, the measured values ​​of the measuring device at different first and second rotation angles are recorded to obtain the aforementioned lookup table. In some non-limiting embodiments, the value of the measuring device can be recorded every 5° in each direction of the X-ray tube device. Of course, for more precise control, the angle interval can also be set smaller.

[0062] The aforementioned lookup table can be stored in the storage device or calibration unit 321 of the X-ray imaging system. During the actual inspection, after the positioning operation is completed, the measurement values ​​corresponding to the first and second rotation angles recorded by the X-ray imaging system can be obtained. The calibration unit 321 can then calibrate the initial force F based on the corresponding measurement values ​​obtained from the lookup table to obtain the magnitude and direction of the force actually applied to the suspension device by the operator, so as to achieve more precise control.

[0063] Although the above embodiments describe calibrating the initial force acquired by the measuring device using a lookup table, those skilled in the art should understand that other illustrative methods can also be used to calibrate the initial force, such as using formula calculations, etc.

[0064] In some embodiments, the calculation unit 322 is used to perform coordinate transformation based on the positional relationship between the first coordinate system and the second coordinate system.

[0065] Specifically, the positional relationship between the first coordinate system and the second coordinate system includes matrices related to the first rotation angle and the second rotation angle.

[0066] Specifically, the magnitude and direction of the initial force measured by the measuring device are based on the second coordinate system in which the measuring device is located, while the motors and motor drivers of the x / y / z axes are based on the first coordinate system in which the room is located. Therefore, the positional relationship between the first and second coordinate systems can be obtained based on the matrix between the first and second rotation angles. Then, the magnitude and direction of the calibrated force in the second coordinate system are converted to the magnitude and direction of the force corresponding to the first coordinate system. The corresponding torque values ​​are then sent to the motor drivers of the x / y / z axes, which can control the x / y / z axis motors to rotate and provide assistance in the direction desired by the operator.

[0067] In some embodiments, the torque value comprises the product of the force obtained after coordinate transformation and a multiplier, which is adjustable. Specifically, in an X-ray imaging system, by providing different multiplier options, users can select according to their actual needs to adjust the sensitivity of the assist system. The multipliers in the system are preset to provide users with a better user experience. However, if users want to achieve precise movement over short distances, they can select a smaller multiplier. When users want to move the suspension device with only a small force, they can select a larger multiplier. This adjustable multiplier provides users with personalized customization.

[0068] In some embodiments, the computing unit can be based on Figure 1 The communication link shown sends the torque value to the corresponding motor driver (or motion drive). Specifically, this communication link includes a CAN bus.

[0069] In some embodiments, the calculation unit 322 is further configured to limit the slope of the transformed force obtained by coordinate transformation, and the torque value includes the product of the slope-limited force and the multiple.

[0070] Specifically, the slope limit mentioned above refers to limiting the force whose change in force per unit time exceeds a threshold.

[0071] By limiting the slope of the transformed force after coordinate changes, forces whose changes exceed a threshold within a unit of time can be removed or limited. On the one hand, this can prevent the power assist system from providing assistance due to instantaneous external forces when the suspension device is subject to external interference or collisions. On the other hand, it can provide stable and smooth assistance when the user applies an extreme, uneven force.

[0072] In some embodiments, the calibration unit 321 may further include limiting the calibration force based on real-time feedback values ​​from the motion drive device and performing coordinate transformation on the limited calibration force, wherein the real-time feedback values ​​include at least one of the speed and position of the suspension device movement.

[0073] Specifically, the feedback units on the x / y / z axes can provide real-time feedback on the speed and position of the suspension device. By sending the real-time feedback speed and position information to the calibration unit, the calibration unit can limit the calibration force based on the real-time feedback speed and position. For example, when the suspension device is about to reach its limit position (the positions at both ends of the guide rail) or the speed is too fast, if the initial force applied to the suspension device by the operator is still large, the assist system will correspondingly reduce the torque sent to the motion drive device to reduce the speed of the suspension device and avoid collisions caused by excessive speed.

[0074] Figure 5 It shows Figure 4 A schematic diagram of the mode switching device in the power assist system is shown. Figure 5 As shown, the assist system 300 further includes a mode switching device 300, which is located on the tube controller 208 to switch the motion drive device between automatic mode and assist mode.

[0075] Specifically, the X-ray tube controller 208 includes a display screen 281 and an operating handle 282.

[0076] In some embodiments, the mode switching device includes a plurality of switching buttons 331 / 332 / 333, each corresponding to movement along each axis in a first coordinate system to switch it from automatic mode to assisted mode. Other control buttons shown in the figure can be used for pre-capsulation preparations, such as patient selection, protocol selection, and positioning.

[0077] Multiple toggle buttons are located on the operating handle 282 and near the end of the display screen 281. Of course, these multiple toggle buttons can also be located on the display screen.

[0078] Specifically, the first switching button 331 is used to control the movement of the suspension device along the x-axis, that is, the first switching button 331 can switch the x-axis motor from automatic mode to power-assisted mode. The second switching button 332 is used to control the movement of the suspension device along the y-axis, that is, the second switching button 332 can switch the y-axis motor from automatic mode to power-assisted mode. The third switching button 333 is used to control the movement of the suspension device along the z-axis, that is, the third switching button 333 can switch the z-axis motor from automatic mode to power-assisted mode.

[0079] although Figure 5 The figure shows multiple toggle buttons arranged on the same side of the display screen; however, those skilled in the art should understand that these multiple toggle buttons can be arranged in any suitable order or position, for example, all on the left side, or some on the left side and some on the right side. Furthermore, although the figure shows six toggle or control buttons arranged symmetrically, the number and position of the toggle or control buttons are not fixed.

[0080] In some embodiments, the mode switching device 330 further includes at least one sensor 335, which is disposed at the bottom of the display screen 281 or on the operating handle 282, so as to switch the motion drive device from automatic mode to assisted mode when the operator operates the operating handle 282.

[0081] Specifically, sensor 335 can be mounted at the bottom of the display screen or on the operating handle to switch to assist mode based on sensing the operator's hand. In non-limiting embodiments, the sensor can be an infrared sensor or a camera, etc.

[0082] In some embodiments, when the user operates the handle 282, the x-axis motor, y-axis motor, and z-axis motor all switch to assist mode.

[0083] In some embodiments, the multiple switching buttons 331 / 332 / 333 each include an indicator light. When at least one switching button is pressed, the indicator light illuminates or changes color to indicate the operator's press. When the operating handle 282 is operated, the indicator lights of the multiple switching buttons illuminate or change color to indicate the operator's operation, that is, the movement of all three axes is switched to the assist mode.

[0084] Specifically, the motion drive device (or motor) can only be switched to assist mode to provide assistance to the user when the user operates the X-ray tube controller (switch button or operating handle), rather than switching based on the force measured by the measuring device. This avoids switching to assist mode when the measuring device measures some unexpected or non-operational forces.

[0085] When the user operates the X-ray tube controller, the controller or workstation can send instructions to the motor driver of the corresponding axis through the communication link to switch to the power assist mode.

[0086] Figure 6 A flowchart of a suspension device assist method 400 according to some embodiments of the present invention is shown. For example... Figure 6 As shown, the suspension device assist method 400 includes steps 410, 420, 430 and 440.

[0087] In step 410, the initial force applied by the operator to the suspension device is obtained, and the motion drive device is switched to assist mode based on the initial force.

[0088] In some embodiments, when a user operates a switch button on the X-ray tube controller, the motor of the axis controlled by that switch button is switched to assist mode, and assistance is provided to the user on that axis. When the user operates the operating handle on the X-ray tube controller, all three axis motors are switched to assist mode, and assistance is provided to the user on the corresponding axis based on the magnitude and direction of the initial force obtained by the measuring device. In assist mode, the motor can rotate based on the corresponding torque value.

[0089] In step 420, the initial force is calibrated to obtain the calibration force.

[0090] In some embodiments, calibration includes calibrating the initial force according to a lookup table based on a first rotation angle α and a second rotation angle θ of the current suspension device.

[0091] Specifically, the lookup table is used during the experimental or initial stage to record the measurement values ​​of the measuring device at different first and second rotation angles without applying external force, in order to obtain the aforementioned lookup table. In some non-limiting embodiments, the value of the measuring device can be recorded every 5° in each direction of the X-ray tube device. Of course, for more precise control, the angle interval can also be set smaller.

[0092] In step 430, the calibration force is transformed to obtain the torque value of the first coordinate system corresponding to the initial position of the suspension device.

[0093] In some embodiments, the coordinate transformation includes performing a coordinate transformation based on the positional relationship between a first coordinate system and a second coordinate system. Specifically, the positional relationship between the first coordinate system and the second coordinate system includes a matrix related to a first rotation angle and a second rotation angle.

[0094] Specifically, by using the known magnitudes of the first and second rotation angles of the current suspension device, the matrix between the first and second rotation angles can be obtained. Then, the positional relationship between the first and second coordinate systems can be obtained. The magnitude and direction of the calibrated force in the second coordinate system are then converted to the magnitude and direction of the force corresponding to the first coordinate system. The corresponding torque values ​​are then sent to the motor driver, which can control the motor of the corresponding axis to rotate, so as to provide assistance in the direction desired by the operator.

[0095] In some embodiments, obtaining the torque value includes multiplying the force obtained after coordinate transformation by a multiplier, wherein the multiplier is adjustable. By adjusting the multiplier in the torque value, the sensitivity of the power assist system can be adjusted to improve the user experience.

[0096] In step 440, based on the torque value, the motion drive device is controlled to operate to provide assistance.

[0097] Figure 7 A flowchart of a suspension assist method 500 according to another embodiment of the present invention is shown. Figure 6 The difference between the assistance method 400 shown is that... Figure 7 The assist method 500 shown also includes steps 550 and 560.

[0098] After calibrating the processing force in step 420, step 550 is also included. In step 550, the calibration force is limited based on the real-time feedback value of the motion drive device, and the limited calibration force is subjected to coordinate transformation.

[0099] Specifically, the real-time feedback values ​​include at least one of the suspension device's speed and position. Specifically, when the suspension device is about to reach its limit position (the positions at both ends of the guide rail) or the speed is too high, if the initial force applied to the suspension device by the operator is still relatively large, the power assist system will correspondingly reduce the torque sent to the motion drive device to reduce the suspension device's speed and avoid a collision due to excessive speed.

[0100] After performing coordinate transformation on the calibration force in step 430, step 560 is also included. In step 560, the transformed force obtained after coordinate transformation is subject to slope limitation, and the torque value includes the product of the slope-limited force and a multiple.

[0101] Specifically, the aforementioned slope limitation refers to limiting the force whose magnitude (or amplitude) changes within a unit of time exceeds a threshold. By limiting the slope of the transformed force after coordinate changes, on the one hand, forces whose magnitude changes within a unit of time exceed the threshold can be removed. This prevents the power assist system from providing assistance due to instantaneous external forces in the event of external interference or collisions with the suspension device. On the other hand, when the user operates the suspension device with extreme force, the power assist system can provide assistance in a stable manner or at a stable speed, achieving smooth and safe control or operation.

[0102] The assist system of the suspension device in some embodiments of the present invention firstly acquires the magnitude and direction of the force applied by the operator through a measuring device, and transforms the force acquired by the measuring device into the torque values ​​of the motor corresponding to the three axes of the room coordinate system based on the rotation angle of the X-ray tube device. This allows the motor to provide assistance in the direction desired by the operator. Secondly, the force acquired by the measuring device is calibrated using a lookup table to obtain the magnitude and direction of the force applied by the operator to the suspension device, avoiding the influence of the pressure generated by the X-ray tube controller on the measuring device on the initial force magnitude and direction, thus achieving more precise control. Furthermore, by limiting the calibrated force based on real-time feedback of speed and position, the speed of the suspension device can be reduced when it is about to reach its limit position or when the speed is too high, avoiding collisions caused by excessive speed. Moreover, by limiting the slope of the transformed force after coordinate transformation, the assist system can be prevented from providing assistance due to instantaneous external forces in the event of external interference or collisions with the suspension device. Finally, by making the multiplier for acquiring the torque value adjustable, users can select different multipliers to adjust the sensitivity of the assist system, improving the user experience. Ultimately, the assist system of this application requires no modifications to the structure or hardware of the motion drive device, except for installing a measuring device in the X-ray tube and X-ray tube controller, resulting in lower costs.

[0103] As used herein, the term "computer" can include any processor-based or microprocessor-based system, including systems that use microcontrollers, reduced instruction set computers (RISC), application-specific integrated circuits (ASICs), logic circuits, and any other circuitry or processors capable of performing the functions described herein. The examples above are merely illustrative and are not intended to limit the definition and / or meaning of the term "computer" in any way.

[0104] Some exemplary embodiments have been described above; however, it should be understood that various modifications can be made. For example, suitable results may be achieved if the described techniques are performed in a different order and / or if components in the described system, architecture, device, or circuit are combined in a different manner and / or replaced or supplemented by other components or their equivalents. Accordingly, other embodiments also fall within the scope of the claims.

Claims

1. A power assist system for a suspension device, the suspension device comprising a ball tube assembly, a ball tube controller, and a motion drive device, the motion drive device being capable of driving the suspension device to move along a first coordinate system, the power assist system comprising: A measuring device, mounted between the X-ray tube assembly and the X-ray tube controller, is used to acquire the operator's initial force, wherein the initial force includes the magnitude and direction of the force along a second coordinate system in which the measuring device is located; and Control device, comprising: A calibration unit is used to calibrate the initial force based on a current first rotation angle and a second rotation angle to obtain the calibration force actually applied by the operator to the suspension device, wherein the first rotation angle is the angle of rotation of the X-ray tube device in the vertical plane, and the second rotation angle is the angle of rotation of the X-ray tube device in the horizontal plane; and A calculation unit is used to perform coordinate transformation on the calibration force to obtain a torque value corresponding to the first coordinate system, and send the torque value to the motion drive device so that the motion drive device can provide assistance based on the torque value.

2. The assist system as described in claim 1, wherein, The motion drive device includes an automatic mode and an assist mode. The assist system further includes a mode switching device located on the tube controller to switch the motion drive device between the automatic mode and the assist mode.

3. The assist system as described in claim 2, wherein, The mode switching device includes multiple switching buttons, each corresponding to movement along each axis in the first coordinate system, to switch it from automatic mode to assisted mode.

4. The assist system as described in claim 3, wherein, The X-ray tube controller includes a display screen and an operating handle. The mode switching device further includes at least one sensor, which is disposed at the bottom of the display screen or on the operating handle, so as to switch the motion drive device from automatic mode to assisted mode when the operator operates the operating handle.

5. The assist system as described in claim 4, wherein, Each of the multiple switching buttons includes an indicator light. When at least one switching button is pressed, the indicator light illuminates to indicate the operator's press. When the operating handle is operated, all the indicator lights of the multiple switching buttons illuminate to indicate the operator's operation.

6. The assist system as described in claim 1, wherein, The calibration unit is further configured to calibrate the initial force according to a lookup table based on the current first rotation angle and second rotation angle to obtain the calibration force.

7. The assist system as described in claim 6, wherein, The calibration unit further includes limiting the calibration force based on the real-time feedback value of the motion drive device, and performing coordinate transformation on the limited calibration force, wherein the real-time feedback value includes at least one of the speed and position of the suspension device.

8. The assist system as described in claim 1, wherein, The calculation unit is further used to perform coordinate transformation based on the positional relationship between the first coordinate system and the second coordinate system.

9. The assist system as described in claim 8, wherein, The positional relationship between the first coordinate system and the second coordinate system includes a matrix related to the first rotation angle and the second rotation angle.

10. The assist system as claimed in claim 1, wherein, The torque value includes the product of the force obtained after coordinate transformation and a multiplier, wherein the multiplier is adjustable.

11. The assist system as claimed in claim 10, wherein, The calculation unit is further used to limit the slope of the transformed force obtained by the coordinate transformation, and the torque value includes the product of the force limited by the slope and the multiple.

12. An X-ray imaging system comprising an assist system for a suspension device as described in any one of claims 1-11.

13. A method for assisting a suspension device, the suspension device including a motion drive device, the method comprising: The initial force applied by the operator to the suspension device is acquired, and the motion drive device is switched to assist mode based on the initial force; The initial force is calibrated based on the current first rotation angle and second rotation angle to obtain the calibration force actually applied by the operator to the suspension device. The first rotation angle is the angle of rotation of the X-ray tube device in the vertical plane, and the second rotation angle is the angle of rotation of the X-ray tube device in the horizontal plane. The calibration force is subjected to coordinate transformation to obtain the torque value of the first coordinate system corresponding to the initial position of the suspension device; as well as Based on the torque value, the motion drive device is controlled to operate to provide assistance.

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