Automatic alignment method and system of moving bed, medium and magnetic resonance medical device

Abstract

The embodiment of the invention provides an automatic alignment method and system for a moving bed, a medium and a magnetic resonance medical device, and the method comprises the steps: obtaining magnetic field parameters based on magnetic field parameter measurement modules which are at least partially and symmetrically arranged at the positions of the two sides of the central axis of the moving bed; based on the magnetic field parameters, the state of the moving bed is determined, and the state of the moving bed comprises an alignment state and a non-alignment state; and adjusting the moving bed from the non-aligned state to the aligned state when the state of the moving bed is responded to be the non-aligned state.

Description

Technical Field

[0001] The present specification relates to the field of medical devices, and in particular to an automatic alignment method, system, medium and magnetic resonance medical device for a moving bed. Background Art

[0002] Magnetic resonance imaging is a medical imaging technology that uses high-intensity magnetic fields and radio frequency pulses to obtain the internal structure of an object. It can play an important auxiliary role in the positioning and treatment of tumors, organs, cartilage and other related lesions. In some usage scenarios, such as intensive care operating rooms and joint treatment rooms, when patients are seriously ill, comatose or overweight, it is not advisable to move patients between different beds to avoid secondary injuries. At this time, a mobile bed compatible with MRI medical equipment is required to achieve diagnosis, surgery, and MRI imaging of lesions on the same bed. When using a mobile bed, it is necessary to ensure that the mobile bed is aligned with the aperture center of the MRI medical equipment to ensure that the patient can be accurately transferred to the imaging area of ​​the aperture center to avoid damage to the person or equipment.

[0003] Therefore, it is necessary to provide a method, system, medium and magnetic resonance medical device for automatically aligning a moving bed, so as to enable the moving bed to automatically and quickly align with the system. Summary of the invention

[0004] The embodiment of the present specification provides an automatic alignment method for a moving bed. The method comprises: obtaining magnetic field parameters based on a magnetic field parameter measurement module, the magnetic field parameter measurement module being at least partially and symmetrically arranged at positions on both sides of the central axis of the moving bed; determining the state of the moving bed based on the magnetic field parameters, the state of the moving bed including an aligned state and a non-aligned state; and in response to the state of the moving bed being a non-aligned state, adjusting the moving bed from the non-aligned state to the aligned state.

[0005] In some embodiments, the type of the non-alignment state includes an offset of the head of the moving bed and / or an offset of the foot of the moving bed, and adjusting the moving bed from the non-alignment state to the alignment state includes: determining the type of the non-alignment state based on the magnetic field parameters; and adjusting the position of the moving bed based on the type of the non-alignment state.

[0006] In some embodiments, the magnetic field parameter measurement module includes at least: a first magnetic field parameter measurement module and a second magnetic field parameter measurement module arranged on both sides of the central axis of the head of the bed; and / or, a third magnetic field parameter measurement module and a fourth magnetic field parameter measurement module arranged on both sides of the central axis of the middle area of ​​the moving bed, and / or a fifth magnetic field parameter measurement module and a sixth magnetic field parameter measurement module arranged on both sides of the central axis of the foot of the moving bed.

[0007] In some embodiments, the magnetic field parameters include an angle value of a magnetic field direction, and adjusting the moving bed from the non-aligned state to the aligned state includes: performing at least one round of iterative adjustment on the moving bed until a first preset condition is met; wherein the at least one round of iteration includes: adjusting the head of the moving bed based on the obtained angle value of the first magnetic field direction and the angle value of the second magnetic field direction; and / or adjusting the foot of the moving bed based on the obtained angle value of the third magnetic field direction and the angle value of the fourth magnetic field direction.

[0008] In some embodiments, the magnetic field parameters include magnetic field strength, and adjusting the moving bed from the non-aligned state to the aligned state includes: performing at least one round of iterative adjustment on the moving bed until a second preset condition is met; wherein the at least one round of iteration includes: adjusting the head of the moving bed based on the obtained first magnetic field strength and the second magnetic field strength; and / or adjusting the foot of the moving bed based on the obtained third magnetic field strength and the fourth magnetic field strength.

[0009] In some embodiments, the magnetic field parameters include an angle value and a magnetic field strength of a magnetic field direction, and adjusting the moving bed from the non-aligned state to the aligned state includes: performing at least one round of iterative adjustment on the moving bed until a third preset condition is met; wherein the at least one round of iteration includes: adjusting the head of the moving bed based on the obtained angle value of the first magnetic field direction, the angle value of the second magnetic field direction, the first magnetic field strength, and the second magnetic field strength; and / or adjusting the foot of the moving bed based on the obtained angle value of the third magnetic field direction, the angle value of the fourth magnetic field direction, the third magnetic field strength, and the fourth magnetic field strength.

[0010] In some embodiments, adjusting the moving bed from the non-aligned state to the aligned state further comprises: adjusting the moving bed to the aligned state based on the angle value of the magnetic field direction and / or the magnetic field strength of the moving bed in the aligned state.

[0011] An embodiment of the present specification provides an automatic alignment system for a moving bed, the system comprising: a moving bed, a magnetic field parameter measurement module and an automatic alignment control module; the moving bed comprises an alignment state and a non-alignment state; the magnetic field parameter measurement module is at least partially and symmetrically arranged at positions on both sides of a central axis of the moving bed; and the automatic alignment control module is used to: obtain magnetic field parameters based on the magnetic field parameter measurement module; determine the state of the moving bed based on the magnetic field parameters; and in response to the state of the moving bed being the non-alignment state, adjust the moving bed from the non-alignment state to the alignment state.

[0012] The embodiment of the present specification provides a nuclear magnetic resonance medical device, which includes: an automatic alignment system of a nuclear magnetic resonance medical device and a moving bed; the magnetic resonance medical device is used to perform nuclear magnetic resonance imaging; the automatic alignment system of the moving bed is used to adjust the moving bed from a non-aligned state to an aligned state; and the nuclear magnetic resonance medical device is provided with a first coupling component, and the moving bed is provided with a second coupling component, the first coupling component and the second coupling component can be coupled, and the connection between the magnetic resonance medical device and the moving bed is established through the coupling.

[0013] An embodiment of the present specification provides a computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes a method for automatically aligning a moving bed.

[0014] In order to solve the problem of how to automatically and quickly align the moving bed with the system, this manual uses the magnetic field of the nuclear magnetic resonance device itself, determines the state of the moving bed based on the magnetic field parameters measured by the magnetic field parameter measurement module, and then automatically adjusts the moving bed from the non-aligned state to the aligned state. The implementation method is simple and low-cost, and the automatic alignment of the moving bed is cleverly realized. In addition, compared with the manual alignment method, it has a high degree of automation, is easy to use, and has high accuracy, which can avoid equipment damage caused by human misoperation, and saves the scanning preparation time of the nuclear magnetic resonance and improves the scanning efficiency; compared with the mechanical alignment method, no additional installation and site costs are required, and because there is no track, the movement of the moving bed is more flexible and the operation is simpler; compared with the camera optical alignment method, it is simpler and does not require complex algorithms. It only requires simple state judgment and state switching, so it can greatly reduce the hardware cost required to implement the algorithm, and has very low power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of an application scenario of an automatic alignment system for a moving bed according to some embodiments of this specification;

[0016] Figure 2 is an exemplary schematic diagram of a nuclear magnetic resonance medical device according to some embodiments of the present specification;

[0017] Figure 3 is an exemplary flow chart of a method for automatically aligning a moving bed according to some embodiments of the present specification;

[0018] Figure 4 is an exemplary schematic diagram of an alignment state of a moving bed according to some embodiments of the present specification;

[0019] Figure 5is an exemplary schematic diagram of the overall offset of the head and foot of a movable bed according to some embodiments of this specification;

[0020] Figure 6 is an exemplary schematic diagram of only moving the foot of the bed offset according to some embodiments of the present specification;

[0021] Figure 7 is an exemplary schematic diagram of only moving the foot of the bed to be offset according to some other embodiments of the present specification;

[0022] Figure 8 is an exemplary schematic diagram of only moving the head of the bed offset according to some embodiments of the present specification;

[0023] Fig. 9 is an exemplary schematic diagram of a moving bed about to be in an alignment state according to some embodiments of the present specification;

[0024] Fig.10 is an exemplary flow chart of a method for automatically aligning a moving bed according to some other embodiments of the present specification;

[0025] Fig.11 is an exemplary flow chart of a method for automatically aligning a moving bed according to some other embodiments of the present specification;

[0026] Fig.12 is an exemplary flow chart of a method for automatically aligning a moving bed according to some other embodiments of the present specification.

[0027] In the figure, 110 is an automatic alignment system of a moving bed, 111 is a moving bed, 112 is a magnetic field parameter measurement module, 112-1 is a first magnetic field parameter measurement module, 112-2 is a second magnetic field parameter measurement module, 112-3 is a third magnetic field parameter measurement module, 112-4 is a fourth magnetic field parameter measurement module, 112-5 is a fifth magnetic field parameter measurement module, 112-6 is a sixth magnetic field parameter measurement module, 112-7 is a seventh magnetic field parameter measurement module, 112-8 is an eighth magnetic field parameter measurement module, 113 is an automatic alignment control module, 120 is a nuclear magnetic resonance medical device, 121 is a nuclear magnetic resonance magnet, 122 is a nuclear magnetic resonance aperture, 130 is a network, and 140 is a processor. DETAILED DESCRIPTION

[0028] The following is a brief introduction to the drawings required for describing the embodiments. The drawings do not represent all implementation methods.

[0029] The "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. If other words can achieve the same purpose, the words can be replaced by other expressions.

[0030] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0031] When the operations performed in the embodiments of this specification are described in steps, unless otherwise specified, the order of the steps is interchangeable, steps may be omitted, and other steps may be included in the operation process.

[0032] Figure 1 1 is a schematic diagram of an application scenario 100 of an automatic alignment system for a moving bed according to some embodiments of the present specification. In some embodiments, the application scenario 100 of the automatic alignment system for a moving bed may include an automatic alignment system 110 for a moving bed, a nuclear magnetic resonance medical device 120, a network 130, and a processor 140. In some embodiments, the application scenario 100 of the automatic alignment system for a moving bed may also include a storage device and / or a user terminal (not shown in the figure).

[0033] In some embodiments, the automatic alignment system 110 of the moving bed may include: a moving bed, a magnetic field parameter measurement module symmetrically arranged on the moving bed, and an automatic alignment control module. For more descriptions of the moving bed 111, the magnetic field parameter measurement module 112 symmetrically arranged on the moving bed (including a first magnetic field parameter measurement module 112-1, a second magnetic field parameter measurement module 112-2, a third magnetic field parameter measurement module 112-3, a fourth magnetic field parameter measurement module 112-4, a fifth magnetic field parameter measurement module 112-5, and a sixth magnetic field parameter measurement module 112-6), and the automatic alignment control module 113, please refer to Figure 2 Description.

[0034] The nuclear magnetic resonance medical device 120 can be used to perform nuclear magnetic resonance imaging. The nuclear magnetic resonance medical device 120 may include an imaging device, an interventional medical device, or a combination thereof. The imaging device can obtain a reconstructed image related to at least a portion of an object. The object can be biological. For example, a specific part, organ, and / or tissue of a patient. Exemplary imaging devices may include a magnetic resonance imaging (MRI) scanner. Exemplary interventional medical devices may include radiotherapy equipment, ultrasound therapy equipment, thermal therapy equipment, surgical intervention equipment, etc., or a combination thereof. In some embodiments, the nuclear magnetic resonance medical device 120 may include a nuclear magnetic resonance magnet and a nuclear magnetic resonance aperture. For more description of the nuclear magnetic resonance magnet and the nuclear magnetic resonance aperture, please refer to Figure 2 Description.

[0035] The network 130 can connect the components of the application scenario 100 of the automatic alignment system of the moving bed and / or connect the application scenario 100 of the automatic alignment system of the moving bed with external resources. The network 130 enables communication between the components and with other parts outside the system to facilitate the exchange of data and / or information. For example, the magnetic field parameters measured by the magnetic field parameter measurement module can be transmitted to the processor 140 through the network 130 for processing.

[0036] The processor 140 can process data and / or information obtained from other devices or system components. The processor 140 can execute program instructions based on these data, information and / or processing results to perform one or more functions described in this specification. For example, the processor 140 can obtain magnetic field parameters and process them to obtain the state of the moving bed. In response to the state of the moving bed being a non-aligned state, the moving bed is adjusted from the non-aligned state to the aligned state. In some embodiments, the processor 140 may include multiple processors and may include different types. In some embodiments, the processor 140 may be integrated or installed on the automatic alignment system 110 of the moving bed. For example, the processor 140 may be integrated in an automatic alignment control module. In some embodiments, the processor 140 may be integrated or installed on a nuclear magnetic resonance medical device 120.

[0037] In some embodiments, the application scenario 100 of the automatic alignment system for a moving bed may further include one or more other devices, such as a storage device and / or a user terminal.

[0038] The storage device may store data, instructions, and / or any other information. In some embodiments, the storage device may store data and / or instructions related to automatic alignment of the moving bed. For example, the storage device may store magnetic field parameters. As another example, the storage device may store instructions for processing the magnetic field parameters to determine the state of the moving bed.

[0039] In some embodiments, the user can interact with the automatic alignment system of the mobile bed via a user terminal (not shown). For example, when the mobile bed reaches the position to be aligned, the user can trigger the automatic alignment system of the mobile bed to start alignment by clicking, speaking, touching, etc. Exemplary user terminals may include mobile devices, tablet computers, laptop computers, etc., or any combination thereof. In some embodiments, the processor 140 may be part of the user terminal.

[0040] The mobile bed can move freely outside the MRI scanning room (for example, operating room, treatment room, ward and other areas) to pick up and drop off patients. The staff can send the mobile bed to the position to be aligned in the MRI scanning room, and trigger the automatic alignment workflow of the mobile bed by manual triggering or automatic triggering. When the mobile bed moves to the alignment state, the magnetic resonance medical device and the mobile bed are connected through the first coupling component and the second coupling component to perform a MRI scan on the patient. After the examination is completed, the staff operates the mobile bed to leave the MRI scanning room. Among them, the position to be aligned refers to the pre-set position for starting the automatic alignment of the mobile bed. For example, the position to be aligned can be that the tail of the mobile bed is away from the MRI aperture, the head of the mobile bed is close to the MRI aperture, and the distance between the head of the mobile bed and the center of the aperture is within a preset range (for example, 0m~1m, 0m~0.8m, 0m~0.5m, etc.).

[0041] Figure 2 1 is an exemplary schematic diagram of a nuclear magnetic resonance medical device according to some embodiments of the present specification. In some embodiments, the device includes: a nuclear magnetic resonance medical device and an automatic alignment system for a moving bed, and the automatic alignment system for the moving bed includes a moving bed. The nuclear magnetic resonance medical device is used for performing nuclear magnetic resonance imaging; the automatic alignment system for the moving bed can adjust the moving bed to an alignment state; the nuclear magnetic resonance medical device is provided with a first coupling component, and the moving bed is provided with a second coupling component, and the first coupling component and the second coupling component can be coupled to establish a connection between the magnetic resonance medical device and the moving bed.

[0042] A coupling component is a component that establishes a connection when the position meets the conditions. For example, the first coupling component may include a connecting piece with a guide protrusion, and the second coupling component may include a connecting piece with a groove, and the guide protrusion matches the groove. When the first coupling component and the second coupling component are close to each other, the two can be quickly aligned by plugging the guide protrusion into the groove.

[0043] The automatic alignment system 110 of the moving bed can adjust the moving bed to an aligned state. In some embodiments, the automatic alignment system 110 of the moving bed may include a moving bed 111 , a magnetic field parameter measurement module 112 symmetrically arranged on the moving bed, and an automatic alignment control module 113 .

[0044] The mobile bed 111 refers to a bed that can be freely moved in areas such as operating rooms, treatment rooms, and wards. In some embodiments, the mobile bed 111 can be moved by installing rollers (e.g., universal wheels) under the bed. In some embodiments, the mobile bed 111 can include an aligned state and a non-aligned state. For more descriptions of the aligned state and the non-aligned state, please refer to Figure 3 Description.

[0045] The magnetic field parameter measurement module 112 refers to electronic components and circuits that can measure the direction and / or strength of the magnetic field at the location. In some embodiments, the magnetic field measurement module magnetic field parameter measurement module 112 may include: a device that generates magnetic field information (for example, 1D / 2D / 3D Hall element, 1D / 2D / 3D linear Hall sensor, Hall rotary encoder, anisotropic magnetoresistive sensor, anisotropic magnetoresistive rotary encoder, giant magnetoresistive sensor, giant magnetoresistive rotary encoder, tunnel magnetoresistive sensor, tunnel magnetoresistive rotary encoder, etc.), which generates information on the direction and / or strength of the magnetic field and outputs it as analog voltage signals of different sizes or digital level signals; circuits and devices that amplify and attenuate analog voltage signals (for example, amplifiers, variable gain amplifiers, signal The invention relates to circuits and devices for converting analog voltage signals carrying magnetic field measurement information into digital level signals (for example, ADC and related analog / digital conversion circuits); circuits and devices for transmitting digital signals completely to control processing devices through level conversion of digital level signals (for example, digital signal buffers, digital signal isolators, baluns, single-ended to differential circuits, differential to single-ended circuits, etc.); control processing devices (for example, FPGA, MCU, SoC, digital signal processing circuits, etc.) extract the magnetic field direction and / or intensity information at the location through analysis and calculation.

[0046] In some embodiments, the magnetic field parameter measurement modules 112 symmetrically arranged on the moving bed 111 may be a magnetic field parameter measurement module array, that is, a magnetic field parameter measurement module array consisting of an even number of magnetic field parameter measurement modules 112 greater than or equal to four. The magnetic field parameter measurement modules 112 may be arranged on both sides of the central axis of the head of the moving bed, and / or on both sides of the central axis of the middle area of ​​the moving bed or on both sides of the central axis of the foot of the bed. The central axis refers to the horizontal central axis of the moving bed, such as Figure 1 For example, Figure 2As shown, the magnetic field parameter measurement module 112 may include a first magnetic field parameter measurement module 112-1 and a second magnetic field parameter measurement module 112-2 symmetrically arranged on both sides of the central axis of the head of the moving bed, and a third magnetic field parameter measurement module 112-3 and a fourth magnetic field parameter measurement module 112-4 symmetrically arranged on both sides of the central axis of the middle area of ​​the moving bed or on both sides of the central axis of the foot of the bed. For another example, Figure 1 As shown, the magnetic field parameter measurement module 112 may include a first magnetic field parameter measurement module 112-1 and a second magnetic field parameter measurement module 112-2 symmetrically arranged on both sides of the central axis of the head of the moving bed, a third magnetic field parameter measurement module 112-3 and a fourth magnetic field parameter measurement module 112-4 symmetrically arranged on both sides of the central axis of the middle area of ​​the moving bed, and a fifth magnetic field parameter measurement module 112-5 and a sixth magnetic field parameter measurement module 112-6 symmetrically arranged on both sides of the central axis of the foot of the moving bed. For another example, Figure 7 As shown, the magnetic field parameter measurement module 112 may also include a seventh magnetic field parameter measurement module 112-7 and an eighth magnetic field parameter measurement module 112-8 symmetrically arranged on both sides of the outer side of the head of the moving bed. In some embodiments, the magnetic field parameter measurement modules 112 may also be symmetrically arranged in pairs on both sides of the central axis of the head of the moving bed, and / or on both sides of the central axis of the middle area of ​​the moving bed, or on both sides of the central axis of the foot of the bed, so as to compare the magnetic field detection data and improve the accuracy of automatic alignment.

[0047] The distance between the magnetic field parameter measurement modules 112 disposed on both sides of the central axis of the bed head of the mobile bed and the bed head position is within a preset range (for example, 0m to 0.2m, 0m to 0.1m, 0m to 0.05m, etc.). The distance between the magnetic field parameter measurement modules 112 disposed on both sides of the central axis of the bed head of the mobile bed and the central axis is within a preset range (for example, 0m to 0.05m, 0m to 0.03m, 0m to 0.01m, etc.).

[0048] The distance between the magnetic field parameter measurement module 112 disposed on both sides of the central axis of the middle area of ​​the moving bed or on both sides of the central axis of the end of the bed and the bed head position is within a preset range (for example, 0.2m~am, 0.4m~am, 0.5m~am, etc.). Wherein, am represents the length of the moving bed. The distance between the magnetic field parameter measurement module 112 disposed on both sides of the central axis of the middle area of ​​the moving bed or on both sides of the central axis of the end of the bed and the central axis is within a preset range (for example, 0m~0.05m, 0m~0.03m, 0m~0.01m, etc.).

[0049] The magnetic field parameter measuring module 112 is located in a vertical direction of the moving bed, and the distance from the moving bed board is within a preset range (e.g., 0m-0.3m, 0m-0.1m, 0m-0.05m, etc.). The magnetic field parameter measuring modules 112 (e.g., Figure 2The first magnetic field parameter measurement module 112-1 and the second magnetic field parameter measurement module 112-2 in the vertical direction of the moving bed must be kept at the same distance from the moving bed board; the asymmetrically arranged magnetic field parameter measurement modules 112 (for example, Figure 2 The first magnetic field parameter measuring module 112-1 and the third magnetic field parameter measuring module 112-3) may be at the same distance or at different distances from the bed board of the moving bed in the vertical direction of the moving bed.

[0050] The automatic alignment control module 113 can be used to determine the state of the moving bed based on the magnetic field parameters measured by the magnetic field parameter measurement module 112, and in response to the moving bed 111 being in a non-aligned state, adjust the moving bed 111 from the non-aligned state to the aligned state. For more descriptions of magnetic field parameters, please refer to Figure 3 For more information on determining the state of the moving bed and adjusting the moving bed from a non-aligned state to an aligned state, refer to Figure 3-Figure 12 Description.

[0051] The nuclear magnetic resonance medical device 120 can be used for performing nuclear magnetic resonance imaging. For more information about the nuclear magnetic resonance medical device 120, please refer to Figure 1 Description.

[0052] In some embodiments, the NMR medical device 120 may include a NMR magnet 121 and a NMR aperture 122 .

[0053] The nuclear magnetic resonance magnet 121 can emit a high-intensity magnetic field around the nuclear magnetic resonance medical device 120. The size and direction of the high-intensity magnetic field around the nuclear magnetic resonance medical device 120 are relatively stable and generally do not change with time. At the same time, the intensity and direction of the magnetic field are symmetrical relative to the central axis of the nuclear magnetic resonance medical device 120. Due to the above reasons, the automatic alignment system of the mobile bed can adjust the mobile bed to an aligned state based on the magnetic field parameters. In addition, since a high-intensity magnetic field is distributed around the nuclear magnetic resonance medical device 120, a magnetic alignment method cannot be used to prevent the magnet from being attracted by the magnetic field and flying out, endangering the equipment and personal safety.

[0054] The moving bed 111 can enter the nuclear magnetic resonance aperture 122 so as to perform a nuclear magnetic resonance scan on the patient lying on the moving bed 111. During the nuclear magnetic resonance scanning process, it is necessary to ensure that the moving bed 111 is aligned with the center of the nuclear magnetic resonance aperture 122 to ensure that the patient can be accurately transferred to the imaging area in the center of the nuclear magnetic resonance aperture 122 to avoid damage to the patient or the equipment, so the moving bed 111 needs to be aligned.

[0055] Figure 3 is an exemplary flow chart of the automatic alignment method of the moving bed according to some embodiments of this specification. Figure 3As shown, process 300 includes the following steps. In some embodiments, Figure 3 One or more operations of the process 300 shown may be performed in Figure 1 The automatic alignment system of the moving bed is implemented in the application scenario 100 shown. For example, Figure 3 The process 300 shown may be stored in a storage device in the form of instructions and called and / or executed by the processor 140. In some embodiments, Figure 3 One or more operations of the illustrated process 300 may be performed by the automatic alignment control module 113 .

[0056] Step 310: Obtain magnetic field parameters based on the magnetic field parameter measurement module.

[0057] In some embodiments, the magnetic field parameter measurement module may be at least partially and symmetrically arranged at positions on both sides of the central axis of the moving bed. In some embodiments, the magnetic field parameter measurement module may include a first magnetic field parameter measurement module, a second magnetic field parameter measurement module, a third magnetic field parameter measurement module, and a fourth magnetic field parameter measurement module. Among them, the first magnetic field parameter measurement module and the second magnetic field parameter measurement module are symmetrically arranged on both sides of the central axis of the head of the moving bed, and the third magnetic field parameter measurement module and the fourth magnetic field parameter measurement module are symmetrically arranged on both sides of the central axis of the middle area of ​​the moving bed or on both sides of the central axis of the foot of the bed.

[0058] The magnetic field parameters refer to parameter values ​​that can reflect the direction and strength of the magnetic field. In some embodiments, the magnetic field parameters may include the angle value of the magnetic field direction and the magnetic field strength. The processor may adjust the magnetic field along the central axis of the nuclear magnetic resonance medical device from the nuclear magnetic resonance aperture to the direction of the moving bed (i.e., Figure 2 The angle value of the magnetic field direction (the +x direction in the figure) is set to 0°; the angle value of the magnetic field direction corresponding to the direction deflected clockwise from the direction with an angle value of 0° is set to a positive value; the angle value of the magnetic field direction corresponding to the direction deflected counterclockwise from the direction with an angle value of 0° is set to a negative value; then the range of the angle value of the magnetic field direction is [-180°, 180°). The magnetic field strength is related to the distance from the nuclear magnetic resonance aperture, that is, the farther the distance from the nuclear magnetic resonance aperture, the lower the magnetic field strength of the nuclear magnetic resonance device. For example, Figure 2 As shown, the magnetic field strength values ​​are: isogaussian line A>isogaussian line B>isogaussian line C.

[0059] In some embodiments, four anisotropic magnetoresistive rotary encoders are used as magnetic field measurement modules, arranged into a sensor module array and placed at a position such as Figure 5At the positions 1-4 shown, the magnetic field angle information of the position is directly measured, and a digital level signal is generated using the 3.3V I2C protocol and input into the MCU. The data is parsed in the MCU to obtain the magnetic field angle of the position. Figure 5 The +x direction in the figure is 0°, clockwise is a positive angle value, counterclockwise is a negative angle value, and the angle value range is [-180°, 180°). The angle value of the magnetic field direction at the location is obtained by converting the magnetic field angle. MCU is a type of processor.

[0060] In some embodiments, six 3D linear Hall sensor chips are used as magnetic field parameter measurement modules, arranged into a sensor module array and placed in a Figure 7 At the positions 1-6 shown, the magnetic field strength information at the position is directly measured, and a digital level signal is generated using the 1.8V SPI protocol and transmitted to the SoC. The data is parsed in the SoC to directly obtain the magnetic field strength at the position.

[0061] In some embodiments, three 1D Hall elements are placed vertically in pairs to detect the magnetic field strength in the x, y, and z directions of the location, respectively, as a magnetic field parameter measurement module. The four magnetic field parameter measurement modules are arranged into a sensor module array and placed as follows: Figure 5 Positions 1-4 as shown. The Hall element converts the magnetic field strength signal into an analog voltage signal output (such as 0~5V), enters the signal gain circuit, and performs the same proportion of signal gain or attenuation in the amplifier (such as attenuating the analog voltage strength to 1 / 2 of the original), forming a voltage signal within the ADC input voltage range (such as 0~2.5V) converted by the ADC into a digital level signal (such as a 3.3V LVDS serial signal) and transferred to the FPGA. The square sum of the magnetic field strengths in the x, y, and z directions is calculated in the FPGA to obtain the magnetic field strength at the location. At the same time, the trigonometric function is used to calculate the magnetic field angle at the location, so that the magnetic field aperture points to the direction of the moving bed (i.e., along the central axis of the nuclear magnetic resonance medical equipment). Figure 2 The +x direction in the figure is 0°, clockwise is a positive angle value, counterclockwise is a negative angle value, and the angle value range is [-180°, 180°). By converting the magnetic field angle, you can get the angle value of the magnetic field direction at your location.

[0062] In some embodiments, magnetic field parameters can also be obtained by a variety of methods. For example, six anisotropic magnetoresistive rotary encoders are used as magnetic field measurement modules, arranged into a sensor module array and placed in a Figure 7 Positions 1-6 etc. shown.

[0063] Step 320: Determine the state of the moving bed based on the magnetic field parameters.

[0064] In some embodiments, the state of the moving bed may include an aligned state and a non-aligned state.

[0065] The alignment state refers to the position of the moving bed that can directly perform MRI scanning. Figure 4 As shown, the moving bed is close to the NMR magnet, and the moving bed, the NMR magnet, and the NMR aperture are symmetrical about the central axis of the NMR medical device, which is called the alignment state. Since the magnetic field direction and / or strength of the NMR device is generally symmetrical with respect to the central axis of the NMR medical device, when the moving bed is in the alignment state, the magnetic field directions of the symmetrical positions along the central axis of the moving middle area are opposite to each other or both are zero, and the magnetic field strengths are equal to each other.

[0066] The non-aligned state refers to the position state of the moving bed that requires the moving bed to be moved before the MRI scan can be performed. For example, Figure 5-Figure 8 The states are all non-aligned. Figure 5-Figure 8 In the figure, 111 is a moving bed, 112 is a magnetic field parameter measurement module, 112-1 is a first magnetic field parameter measurement module, 112-2 is a second magnetic field parameter measurement module, 112-3 is a third magnetic field parameter measurement module, 112-4 is a fourth magnetic field parameter measurement module, 112-5 is a fifth magnetic field parameter measurement module, 112-6 is a sixth magnetic field parameter measurement module, 112-7 is a seventh magnetic field parameter measurement module, 112-8 is an eighth magnetic field parameter measurement module, 120 is a nuclear magnetic resonance medical device, 121 is a nuclear magnetic resonance magnet, and 122 is a nuclear magnetic resonance aperture.

[0067] In some embodiments, the processor may obtain the angle value of the magnetic field direction and / or the magnetic field strength of the magnetic field parameter measurement module. Then, the processor may determine whether the moving bed is in an aligned state or a non-aligned state by judging whether there are magnetic field parameter measurement modules symmetrically arranged on the moving bed, the signs of the angle values ​​of the magnetic field directions are the same, and / or the difference in strength is greater than a preset threshold. The difference in magnetic field strength may be preset based on experience.

[0068] In some embodiments, if the signs of the angle values ​​of the magnetic field directions of the magnetic field parameter measurement modules symmetrically arranged on the moving bed are different or both are zero, and the difference in intensity is not greater than a preset threshold, the processor can determine that the state of the moving bed is an alignment state or is about to become an alignment state. Figure 4As shown, if the sign of the angle value of the first magnetic field direction and the sign of the angle value of the second magnetic field direction are both zero, the difference between the first magnetic field strength and the second magnetic field strength is not greater than the preset threshold, the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction are both zero, the difference between the third magnetic field strength and the fourth magnetic field strength is not greater than the preset threshold, and the angle value and magnetic field strength of the magnetic field direction measured by the magnetic field parameter measurement module at this time are the same as the angle value and magnetic field strength of the magnetic field direction measured by the magnetic field parameter measurement module when the moving bed with the same configuration (that is, the number, location, type, and bed size of the magnetic field parameter measurement module are all the same) is in the alignment state, then the processor can determine that the state of the moving bed at this time is the alignment state. For another example, Fig. 9 As shown, if the sign of the angle value of the first magnetic field direction and the sign of the angle value of the second magnetic field direction are both zero, the difference between the first magnetic field strength and the second magnetic field strength is not greater than the preset threshold, the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction are both zero, the difference between the third magnetic field strength and the fourth magnetic field strength is not greater than the preset threshold, and the angle value and magnetic field strength of the magnetic field direction measured by the magnetic field parameter measurement module at this time are different from the angle value and magnetic field strength of the magnetic field direction measured by the magnetic field parameter measurement module when the moving bed with the same configuration is in the alignment state, then the processor can determine that the state of the moving bed at this time is about to become the alignment state.

[0069] In some embodiments, if the signs of the angle values ​​of the magnetic field directions of the magnetic field parameter measurement modules symmetrically arranged on the moving bed are the same, and / or the difference in intensity is greater than a preset threshold, the processor may determine that the state of the moving bed is a non-aligned state. Figure 5 As shown, there is a situation where the sign of the angle value of the first magnetic field direction is the same as the angle value of the second magnetic field direction, the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold, the sign of the angle value of the third magnetic field direction is the same as the sign of the angle value of the fourth magnetic field direction, and the difference between the third magnetic field strength and the fourth magnetic field strength is greater than the preset threshold, then the processor can determine that the state of the moving bed at this time is a non-aligned state.

[0070] Step 330, in response to the state of the moving bed being a non-aligned state, adjusting the moving bed from the non-aligned state to the aligned state.

[0071] In some embodiments, the processor may determine the type of the misalignment condition based on the magnetic field parameters, and adjust the position of the moving bed based on the type of the misalignment condition.

[0072] In some embodiments, the type of misalignment may include an overall offset of the head and foot of the mobile bed (eg, Figure 5 As shown), only the head of the bed is offset (as shown Figure 8 ) and moving only the end of the bed offset (as shown Figure 6shown).

[0073] In some embodiments, the processor can determine the type of the non-aligned state of the moving bed by comparing whether the signs of the angle values ​​of the magnetic field directions of the magnetic field parameter measurement modules symmetrically arranged on the moving bed in the non-aligned state are the same, and / or whether the difference in magnetic field strength is greater than a preset threshold. Figure 5 As shown, if the sign of the angle value of the first magnetic field direction is the same as the angle value of the second magnetic field direction, the difference between the first magnetic field strength and the second magnetic field strength is greater than the preset threshold, the sign of the angle value of the third magnetic field direction is the same as the sign of the angle value of the fourth magnetic field direction, and the difference between the third magnetic field strength and the fourth magnetic field strength is greater than the preset threshold, the processor can determine that the state of the moving bed at this time is that the head and foot of the moving bed are offset as a whole.

[0074] In some embodiments, if the type of non-alignment state is that the head and foot of the moving bed are offset as a whole, the processor may first adjust the head of the moving bed and then adjust the foot of the moving bed. Figure 5 As shown, if the type of non-alignment state is that the head and foot of the moving bed are offset as a whole, the processor can first move the moving bed in the direction where the absolute value of the angle value in the first magnetic field direction and the absolute value of the angle value in the second magnetic field direction decrease, and / or the direction of the magnetic field parameter measurement module corresponding to the magnetic field strength with a larger magnetic field strength in the first magnetic field strength and the second magnetic field strength (the moving bed is translated along the y-axis as a whole), until the sign of the angle value in the first magnetic field direction and the sign of the angle value in the second magnetic field direction are different or both are zero, and the difference between the first magnetic field strength and the second magnetic field strength is not greater than the preset threshold. When the head of the bed is aligned, the processor can move the moving bed in the direction where the absolute value of the angle value in the third magnetic field direction and the absolute value of the angle value in the fourth magnetic field direction decrease, and / or the direction of the magnetic field parameter measurement module corresponding to the magnetic field strength with a larger magnetic field strength in the third magnetic field strength and the fourth magnetic field strength (the head of the bed does not move, the foot of the bed rotates), until the sign of the angle value in the third magnetic field direction and the sign of the angle value in the fourth magnetic field direction are different or both are zero, and the difference between the third magnetic field strength and the fourth magnetic field strength is not greater than the preset threshold. Repeatedly determine whether there is an offset at the head and / or foot of the bed, and make corresponding adjustments if there is an offset, until the signs of the angle values ​​of the magnetic field directions of the magnetic field parameter measurement modules symmetrically arranged on the moving bed are different or all zero, and the difference in intensity is not greater than a preset threshold. Finally, the processor can adjust the moving bed to the aligned state based on the angle value and magnetic field intensity of the magnetic field direction of the moving bed in the aligned state.

[0075] In some embodiments, if the type of non-alignment state is that only the end of the moving bed is offset, the processor can directly adjust the end of the moving bed. Figure 6 As shown, if the type of non-alignment state is the end of the bed offset of the moving bed only, the processor can use Figure 5 Adjust the foot of the movable bed in a similar way to how you adjusted the foot of the movable bed.

[0076] In some embodiments, if the type of non-alignment state is that only the head of the mobile bed is offset, the processor can directly adjust the head of the mobile bed. Figure 8 As shown, if the type of non-alignment state is the deviation of the head of the moving bed only, the processor can use Figure 5 The head of the moving bed is adjusted in a similar manner to the method of adjusting the foot of the moving bed. It should be noted that only when the third magnetic field parameter measurement module and the fourth magnetic field parameter measurement module are symmetrically arranged on both sides of the central axis of the foot of the moving bed, can the type of non-alignment state be determined as the displacement of only the head of the moving bed. Since the situation of only the displacement of the head of the moving bed is similar to the situation of only the displacement of the foot of the moving bed, and the non-alignment state type of only the displacement of the head of the moving bed can still be automatically aligned by adjusting the head of the bed first and then adjusting the foot of the bed, therefore, for the convenience of description, in the following description, the third magnetic field parameter measurement module and the fourth magnetic field parameter measurement module are symmetrically arranged on both sides of the central axis of the middle area of ​​the moving bed or the central axis of the foot of the bed, and the automatic alignment is performed by first adjusting the head of the bed (the moving bed as a whole is translated along the y-axis direction) and then adjusting the foot of the bed (the head of the bed is stationary and the foot of the bed rotates), instead of the foot of the bed being stationary and the head of the bed rotating.

[0077] For more information on adjusting the moving bed from a non-aligned state to an aligned state, refer to Figure 10-12 Description.

[0078] In some embodiments of the present specification, the magnetic field of the nuclear magnetic resonance device itself is used to determine the state of the moving bed based on the magnetic field parameters measured by the magnetic field parameter measurement module, and then the moving bed is automatically adjusted from the non-aligned state to the aligned state. The implementation method is simple and low-cost, and the automatic alignment of the moving bed is cleverly achieved. In addition, compared with the manual alignment method, it has a high degree of automation, is easy to use, and has high accuracy, which can avoid equipment damage caused by human misoperation, and saves the scanning preparation time of the nuclear magnetic resonance and improves the scanning efficiency; compared with the mechanical alignment method, no additional installation and site costs are required, and since there is no track, the movement of the moving bed is more flexible and the operation is simpler; compared with the camera optical alignment method, it is simpler and does not require complex algorithms. It only requires simple state judgment and state switching, so it can greatly reduce the hardware cost required to implement the algorithm, and has very low power consumption.

[0079] The embodiments in this specification are only for illustration and description, and do not limit the scope of application of this specification. For those skilled in the art, various modifications and changes that can be made under the guidance of this specification are still within the scope of this specification.

[0080] In some embodiments, the magnetic field parameter measurement module may include a first magnetic field parameter measurement module and a second magnetic field parameter measurement module symmetrically arranged on both sides of the central axis of the head of the moving bed, a third magnetic field parameter measurement module and a fourth magnetic field parameter measurement module symmetrically arranged on both sides of the central axis of the middle area of ​​the moving bed, and a fifth magnetic field parameter measurement module and a sixth magnetic field parameter measurement module symmetrically arranged on both sides of the central axis of the tail of the moving bed. The method for automatically aligning the moving bed based on the first magnetic field parameter measurement module, the second magnetic field parameter measurement module, the third magnetic field parameter measurement module, the fourth magnetic field parameter measurement module, the fifth magnetic field parameter measurement module and the sixth magnetic field parameter measurement module is similar to the method for automatically aligning the moving bed based on the first magnetic field parameter measurement module, the second magnetic field parameter measurement module, the third magnetic field parameter measurement module and the fourth magnetic field parameter measurement module, which will not be repeated here. In some embodiments, the magnetic field parameter measurement module may also include multiple groups of magnetic field parameter measurement modules symmetrically arranged on both sides of the central axis of the head of the moving bed, symmetrically arranged on both sides of the central axis of the middle area of ​​the moving bed and / or symmetrically arranged on both sides of the central axis of the tail of the moving bed, which are not limited here.

[0081] In some embodiments, in response to the state of the moving bed being that only the head of the moving bed is offset or only the foot of the moving bed is offset, the magnetic field parameter measurement module may include a first magnetic field parameter measurement module and a second magnetic field parameter measurement module arranged on both sides of the central axis of the head of the bed; or, a third magnetic field parameter measurement module and a fourth magnetic field parameter measurement module arranged on both sides of the central axis of the middle area of ​​the moving bed; or, a fifth magnetic field parameter measurement module and a sixth magnetic field parameter measurement module arranged on both sides of the central axis of the foot of the moving bed.

[0082] For example, the processor may perform image recognition through a camera to determine whether the state of the movable bed is that only the head of the movable bed is offset or only the foot of the movable bed is offset.

[0083] In response to the state of the movable bed being that only the head of the movable bed is offset, the processor may adjust the head of the bed, that is, the foot of the bed remains stationary and the head of the bed rotates until the head of the bed is aligned.

[0084] In response to the status of the movable bed being that only the foot of the movable bed is offset, the processor may adjust the foot of the bed, that is, the head of the bed remains stationary and the foot of the bed rotates until the foot of the bed is aligned.

[0085] In some embodiments of the present specification, an automatic alignment method of a moving bed is implemented by using a first magnetic field parameter measurement module and a second magnetic field parameter measurement module, or a third magnetic field parameter measurement module and a fourth magnetic field parameter measurement module, or a fifth magnetic field parameter measurement module and a sixth magnetic field parameter measurement module, thereby reducing the number of magnetic field parameter measurement modules and lowering hardware costs.

[0086] Fig.10is an exemplary flow chart of the automatic alignment method of the moving bed according to some other embodiments of this specification. Fig.10 As shown, process 1000 includes the following steps. In some embodiments, Fig.10 One or more operations of the process 1000 shown may be performed at Figure 1 The automatic alignment system of the moving bed is implemented in the application scenario 100 shown. For example, Fig.10 The process 1000 shown may be stored in a storage device in the form of instructions and called and / or executed by the processor 140. In some embodiments, Fig.10 One or more operations of the illustrated process 1000 may be performed by the automatic alignment control module 113 .

[0087] Step 1010: Perform at least one round of iterative adjustment on the moving bed until a first preset condition is met.

[0088] In some embodiments, the magnetic field parameter may include an angle value of the magnetic field direction, and the processor may automatically align the moving bed through at least one round of iteration. During each round of iteration, the processing device may adjust the position of the moving bed and determine whether a first preset condition is met. If the first preset condition is met, the iteration is completed and the moving bed is automatically aligned; if the first preset condition is not met, the next round of iteration is continued until the first preset condition is met.

[0089] In some embodiments, at least one round of iteration may include: firstly adjusting the head of the movable bed based on the angle value of the first magnetic field direction and the angle value of the second magnetic field direction, and then adjusting the foot of the movable bed based on the angle value of the third magnetic field direction and the angle value of the fourth magnetic field direction. For example, at least one round of iteration may include the following steps:

[0090] Step 1011, determining whether the sign of the angle value of the first magnetic field direction is the same as the sign of the angle value of the second magnetic field direction.

[0091] like Figure 5 As shown, the angle value of the first magnetic field direction refers to the angle value of the magnetic field direction measured by the first magnetic field parameter measurement module 112-1, and the angle value of the second magnetic field direction refers to the angle value of the magnetic field direction measured by the second magnetic field parameter measurement module 112-2.

[0092] In some embodiments, the processor may determine whether the sign of the angle value of the first magnetic field direction is the same as the sign of the angle value of the second magnetic field direction based on the angle value of the first magnetic field direction and the angle value of the second magnetic field direction. Figure 5 As shown, the angle value of the first magnetic field direction is -60°, and the angle value of the second magnetic field direction is -65°, then the processor can determine that the sign of the angle value of the first magnetic field direction is the same as the sign of the second magnetic field parameter value.

[0093] In some embodiments, in response to the sign of the angle value of the first magnetic field direction being the same as the sign of the angle value of the second magnetic field direction, the processor may execute step 1012. In some embodiments, in response to the sign of the angle value of the first magnetic field direction being different from the sign of the angle value of the second magnetic field direction or both being zero, the processor may execute step 1013.

[0094] Step 1012: Move the moving bed in a direction where the absolute value of the angle in the first magnetic field direction and the absolute value of the angle in the second magnetic field direction decrease.

[0095] In some embodiments, the processor may translate the entire moving bed along the y-axis direction in a direction in which the absolute value of the angle value in the first magnetic field direction and the absolute value of the angle value in the second magnetic field direction decrease, that is, if the sign of the angle value in the first magnetic field direction and the sign of the angle value in the second magnetic field direction are both negative values, the entire moving bed is translated along the y-axis direction toward the +y-axis direction; if the sign of the angle value in the first magnetic field direction and the sign of the angle value in the second magnetic field direction are both positive values, the entire moving bed is translated along the y-axis direction toward the -y-axis direction. For example, Figure 5 As shown, the processor can translate the entire moving bed along the y-axis direction toward the +y-axis direction (ie, the direction in which the absolute value of the angle value of the first magnetic field direction and the absolute value of the angle value of the second magnetic field direction decrease).

[0096] In some embodiments, after the processor executes step 1012, it executes step 1011 again, that is, it continues to determine whether the sign of the angle value of the first magnetic field direction and the sign of the angle value of the second magnetic field direction are the same after executing step 1012. By looping through step 1011 and step 1012, until the sign of the angle value of the first magnetic field direction and the sign of the angle value of the second magnetic field direction are different or both are zero (that is, the head of the moving bed is not offset), step 1013 is started. For example, Figure 5 As shown, the processor can translate the entire moving bed along the y-axis direction to the +y-axis direction, and then determine again whether the sign of the angle value in the first magnetic field direction is the same as the sign of the angle value in the second magnetic field direction. If the signs are both negative, continue to translate the entire moving bed along the y-axis direction to the +y-axis direction; if the signs are both positive, continue to translate the entire moving bed along the y-axis direction to the -y-axis direction. By looping through the above steps until the angle value in the first magnetic field direction is +3° and the angle value in the second magnetic field direction is -5°, the signs are different, and the head of the moving bed does not deviate (for example, in Figure 6 state), and start executing step 1013.

[0097] Step 1013, determining whether the sign of the angle value of the third magnetic field direction is the same as the sign of the angle value of the fourth magnetic field direction.

[0098] like Figure 6 As shown, the angle value of the third magnetic field direction refers to the angle value of the magnetic field direction measured by the third magnetic field parameter measurement module 112-3, and the angle value of the fourth magnetic field direction refers to the angle value of the magnetic field direction measured by the fourth magnetic field parameter measurement module 112-4.

[0099] In some embodiments, the processor can determine the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction based on the angle value of the magnetic field direction measured by the third magnetic field parameter measurement module 112-3 and the angle value of the magnetic field direction measured by the fourth magnetic field parameter measurement module 112-4, thereby determining whether the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction are the same. For example, Figure 6 As shown, the angle value of the third magnetic field direction is -40°, and the angle value of the fourth magnetic field direction is -45°, then the processor can determine that the sign of the angle value of the third magnetic field direction is the same as the sign of the fourth magnetic field parameter value.

[0100] In some embodiments, in response to the sign of the angle value of the third magnetic field direction being the same as the sign of the angle value of the fourth magnetic field direction, the processor may execute step 1014. In some embodiments, in response to the sign of the angle value of the third magnetic field direction being different from the sign of the angle value of the fourth magnetic field direction or both being zero, the processor may execute step 1011.

[0101] Step 1014: Move the moving bed in a direction where the absolute value of the angle value in the third magnetic field direction and the absolute value of the angle value in the fourth magnetic field direction decrease.

[0102] In some embodiments, the processor can keep the head of the mobile bed stationary, and the foot of the bed rotates in the direction in which the absolute value of the angle value of the third magnetic field direction and the absolute value of the angle value of the fourth magnetic field direction decrease, that is, if the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction are both negative values, the head of the mobile bed is kept stationary, and the foot of the bed rotates in a clockwise direction; if the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction are both positive values, the head of the mobile bed is kept stationary, and the foot of the bed rotates in a counterclockwise direction. For example, Figure 6 As shown, the processor can keep the head of the mobile bed stationary and rotate the foot of the bed in a clockwise direction (ie, a direction in which the absolute values ​​of the angle values ​​of the third magnetic field direction and the absolute values ​​of the angle values ​​of the fourth magnetic field direction decrease).

[0103] In some embodiments, after the processor executes step 1014, it will execute step 1013 again, that is, continue to determine whether the sign of the angle value of the third magnetic field direction after executing step 1014 is the same as the sign of the angle value of the fourth magnetic field direction. By looping through steps 1013 and 1014 until the sign of the angle value of the third magnetic field direction is different from the sign of the angle value of the fourth magnetic field direction or both are zero (that is, the end of the moving bed is not offset), step 1011 is started, that is, continue to determine whether the sign of the angle value of the first magnetic field direction after executing step 1014 is the same as the sign of the angle value of the second magnetic field direction, until the first preset condition is met. For example, Figure 6 As shown, the processor can keep the head of the moving bed stationary, and after the foot of the bed rotates in a clockwise direction, it determines again whether the sign of the angle value in the third magnetic field direction and the sign of the angle value in the fourth magnetic field direction are the same. If the signs are both negative, the head of the moving bed continues to be kept stationary, and the foot of the bed rotates in a clockwise direction; if the signs are both positive, the head of the moving bed continues to be kept stationary, and the foot of the bed rotates in a counterclockwise direction. The above steps are executed in a loop until the angle value in the first magnetic field direction is +1° and the angle value in the second magnetic field direction is -2°, the signs are different, and the foot of the moving bed does not deviate, and step 1011 is executed until the first preset condition is met, and the head and foot of the moving bed do not deviate (for example, in Fig. 9 status).

[0104] The first preset condition means that the sign of the angle value of the first magnetic field direction, the sign of the angle value of the second magnetic field direction, the sign of the angle value of the third magnetic field direction, and the sign of the angle value of the fourth magnetic field direction are opposite to each other or are all zero. Fig. 9 As shown, the angle value of the first magnetic field direction is +1°, the angle value of the second magnetic field direction is -2°, the angle value of the third magnetic field direction is 0°, and the angle value of the fourth magnetic field direction is 0°, which meets the first preset condition.

[0105] Step 1020: Adjust the moving bed to the aligned state based on the angle value of the magnetic field direction and the magnetic field strength of the moving bed in the aligned state.

[0106] In some embodiments, the processor can determine the angle value and magnetic field strength of the magnetic field direction of the moving bed with the same configuration in the alignment state based on the magnetic field parameter measurement module as the angle value and magnetic field strength of the magnetic field direction of the moving bed in the alignment state. The above process of obtaining the angle value and magnetic field strength of the magnetic field direction of the moving bed with the same configuration in the alignment state must be performed when the magnetic field strength of the nuclear magnetic resonance equipment is stable. Generally, it only needs to be performed once and the data is recorded in a storage device. When the magnetic field of the nuclear magnetic resonance medical device changes, such as when the device has been running for too long, or due to equipment failure, after the field is lowered / raised, the moving bed needs to be reset to the alignment state and measured again. The angle value and magnetic field strength of the magnetic field direction measured at this time are determined as the latest angle value and magnetic field strength of the magnetic field direction of the moving bed in the alignment state.

[0107] In some embodiments, the processor can control the moving bed to slowly translate toward the bed head until the first coupling component and the second coupling component are coupled, triggering the electrical connection between the moving bed and the magnetic resonance medical device, and the moving bed reaches an alignment state, ready to perform a nuclear magnetic resonance scan on the patient. Fig. 9 As shown, the processor can control the moving bed to slowly move toward the bed head until the electrical connection between the moving bed and the device is triggered and the moving bed reaches Figure 4 alignment status.

[0108] In some embodiments of the present specification, the automatic alignment of the moving bed is achieved by measuring the angle value of the magnetic field direction only through the magnetic field parameter measurement module. At least four magnetic field parameter measurement modules are required and there is no need to compare the magnitude of the magnetic field strength. The magnetic field parameter measurement module has low cost and simple calculation.

[0109] The embodiments in this specification are only for illustration and description, and do not limit the scope of application of this specification. For those skilled in the art, various modifications and changes that can be made under the guidance of this specification are still within the scope of this specification. For example, after executing step 1010, the moving bed is in the alignment state, and there is no need to continue to execute step 1020.

[0110] Fig.11 is an exemplary flow chart of the automatic alignment method of the moving bed according to some other embodiments of this specification. Fig.11 As shown, process 1100 includes the following steps. In some embodiments, Fig.11 One or more operations of the process 1100 shown may be performed at Figure 1 The automatic alignment system of the moving bed is implemented in the application scenario 100 shown. For example, Fig.11 The process 1100 shown may be stored in a storage device in the form of instructions and called and / or executed by the processor 140. In some embodiments, Fig.11One or more operations of the illustrated process 1100 may be performed by the automatic alignment control module 113 .

[0111] Step 1110: perform at least one round of iterative adjustment on the moving bed until a second preset condition is met.

[0112] In some embodiments, the magnetic field parameter may include magnetic field strength, and the processor may automatically align the moving bed through at least one round of iteration. During each round of iteration, the processing device may adjust the position of the moving bed and determine whether a second preset condition is met. If the second preset condition is met, the iteration is completed and the moving bed is automatically aligned; if the second preset condition is not met, the next round of iteration is continued until the second preset condition is met.

[0113] In some embodiments, at least one round of iteration may include: first adjusting the head of the movable bed based on the first magnetic field strength, the second magnetic field strength, the seventh magnetic field strength, and the eighth magnetic field strength, and then adjusting the foot of the movable bed based on the third magnetic field strength and the fourth magnetic field strength. For example, at least one round of iteration may include the following steps:

[0114] Step 1111, determine whether the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold.

[0115] like Figure 7 As shown, the first magnetic field strength refers to the magnetic field strength measured by the first magnetic field parameter measurement module 112-1, and the second magnetic field strength refers to the magnetic field strength measured by the second magnetic field parameter measurement module 112-2.

[0116] In some embodiments, the processor may determine the difference between the first magnetic field strength and the second magnetic field strength based on the magnetic field strength measured by the first magnetic field parameter measurement module 112-1 and the magnetic field strength measured by the second magnetic field parameter measurement module 112-2, thereby determining whether the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold. Figure 7 As shown, the first magnetic field strength is 400mT and the second magnetic field strength is 200mT. The processor can determine that the difference between the first magnetic field strength and the second magnetic field strength is 200mT, thereby judging that the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold (for example, the preset threshold is 30mT).

[0117] In some embodiments, in response to the difference between the first magnetic field strength and the second magnetic field strength being greater than a preset threshold, the processor may execute step 1112. In some embodiments, in response to the difference between the first magnetic field strength and the second magnetic field strength being not greater than a preset threshold, the processor may execute step 1113.

[0118] Step 1112: Move the moving bed toward the direction of the magnetic field parameter measurement module corresponding to the larger magnetic field strength between the seventh magnetic field strength and the eighth magnetic field strength.

[0119] like Figure 7 As shown, the seventh magnetic field strength refers to the magnetic field strength measured by the seventh magnetic field parameter measurement module 112-7, and the eighth magnetic field strength refers to the magnetic field strength measured by the eighth magnetic field parameter measurement module 112-8.

[0120] Because Figure 5 As shown in FIG. 1 , the first magnetic field intensity and the second magnetic field intensity are both near the isogauss line B. The magnetic field parameter measurement module will have a certain error in measuring the magnetic field intensity. Therefore, if only the first magnetic field parameter measurement module and the second magnetic field parameter measurement module are set, and the seventh magnetic field parameter measurement module and the eighth magnetic field parameter measurement module are not set, the following may occur: Figure 5 The head of the bed is offset, but the difference between the first magnetic field strength and the second magnetic field strength is not greater than the preset threshold. However, the seventh magnetic field strength and the eighth magnetic field strength are quite different. Therefore, adding the seventh magnetic field parameter measurement module and the eighth magnetic field parameter measurement module can achieve more accurate automatic alignment of the mobile bed.

[0121] In some embodiments, the processor can translate the entire moving bed along the y-axis direction toward the direction of the magnetic field parameter measurement module corresponding to the magnetic field strength with the larger magnetic field strength between the seventh magnetic field strength and the eighth magnetic field strength, that is, if the fifth magnetic field strength is larger, the entire moving bed is translated along the y-axis direction toward the +y-axis direction; if the eighth magnetic field strength is larger, the entire moving bed is translated along the y-axis direction toward the -y-axis direction. For example, Figure 5 As shown, the processor can translate the entire moving bed along the y-axis direction toward the +y-axis direction (ie, the direction of the magnetic field parameter measurement module corresponding to the larger magnetic field strength between the seventh magnetic field strength and the eighth magnetic field strength).

[0122] In some embodiments, after the processor executes step 1112, it executes step 1111 again, that is, it continues to determine whether the difference between the first magnetic field strength and the second magnetic field strength after executing step 1112 is greater than a preset threshold. By looping through step 1111 and step 1112, until the difference between the first magnetic field strength and the second magnetic field strength is not greater than the preset threshold (that is, the head of the mobile bed does not deviate), step 1113 is started. For example, Figure 7As shown, the processor can translate the moving bed as a whole along the y-axis direction to the +y-axis direction, and then determine again whether the difference between the first magnetic field strength and the second magnetic field strength is greater than the preset threshold. If the above difference is greater than the preset threshold and the seventh magnetic field strength is larger, the moving bed as a whole will continue to be translated along the y-axis direction to the +y-axis direction; if the above difference is greater than the preset threshold and the eighth magnetic field strength is larger, the moving bed as a whole will continue to be translated along the y-axis direction to the -y-axis direction. By looping through the above steps until the first magnetic field strength is 520mT and the second magnetic field strength is 550mT, the difference is 30mT, which is not greater than the preset threshold, the head of the moving bed is not offset, and step 1013 is started.

[0123] Step 1113, determining whether the difference between the third magnetic field strength and the fourth magnetic field strength is greater than a preset threshold.

[0124] like Figure 7 As shown, the third magnetic field strength refers to the magnetic field strength measured by the third magnetic field parameter measurement module 112-3, and the fourth magnetic field strength refers to the magnetic field strength measured by the fourth magnetic field parameter measurement module 112-4.

[0125] In some embodiments, the processor may determine the difference between the third magnetic field strength and the fourth magnetic field strength based on the magnetic field strength measured by the third magnetic field parameter measurement module 112-3 and the strength measured by the fourth magnetic field parameter measurement module 112-4, thereby determining whether the difference between the third magnetic field strength and the fourth magnetic field strength is greater than a preset threshold. Figure 7 As shown, the third magnetic field strength is 160mT and the fourth magnetic field strength is 100mT, the processor can determine that the difference between the third magnetic field strength and the fourth magnetic field strength is 60mT, thereby judging that the difference between the third magnetic field strength and the fourth magnetic field strength is greater than the preset threshold.

[0126] In some embodiments, in response to the difference between the third magnetic field strength and the fourth magnetic field strength being greater than a preset threshold, the processor may execute step 1114. In some embodiments, in response to the difference between the third magnetic field strength and the fourth magnetic field strength being not greater than a preset threshold, the processor may execute step 1111.

[0127] Step 1114: Move the moving bed toward the direction of the magnetic field parameter measurement module corresponding to the larger magnetic field strength between the third magnetic field strength and the fourth magnetic field strength.

[0128] In some embodiments, the processor can keep the head of the mobile bed stationary, and the foot of the bed rotates in a direction in which the absolute value of the angle value of the third magnetic field direction and the absolute value of the angle value of the fourth magnetic field direction decrease, that is, if the third magnetic field strength is large, the head of the mobile bed is kept stationary, and the foot of the bed rotates in a clockwise direction; if the fourth magnetic field strength is large, the head of the mobile bed is kept stationary, and the foot of the bed rotates in a counterclockwise direction. For example, Figure 7As shown, the processor can keep the head of the mobile bed stationary, and rotate the foot of the bed in a clockwise direction (ie, the direction of the magnetic field parameter measurement module corresponding to the larger magnetic field strength between the third magnetic field strength and the fourth magnetic field strength).

[0129] In some embodiments, after the processor executes step 1114, it will execute step 1113 again, that is, continue to determine whether the difference between the third magnetic field strength and the fourth magnetic field strength after executing step 1114 is greater than a preset threshold. By looping through step 1113 and step 1114, until the difference between the third magnetic field strength and the fourth magnetic field strength is not greater than the preset threshold (that is, the foot of the mobile bed is not offset), step 1111 is started, that is, continue to determine whether the difference between the first magnetic field strength and the second magnetic field strength after executing step 1114 is greater than the preset threshold, until the second preset condition is met. For example, Figure 7 As shown, the processor can keep the head of the moving bed stationary, and after the foot of the bed rotates in a clockwise direction, it is determined again whether the difference between the third magnetic field strength and the fourth magnetic field strength is greater than the preset threshold. If the above difference is greater than the preset threshold and the third magnetic field strength is large, the head of the moving bed continues to be kept stationary, and the foot of the bed rotates in a clockwise direction; if the above difference is greater than the preset threshold and the fourth magnetic field strength is large, the head of the moving bed continues to be kept stationary, and the foot of the bed rotates in a counterclockwise direction. The above steps are executed cyclically until the third magnetic field strength is 210mT and the fourth magnetic field strength is 200mT, the difference is 10mT, which is not greater than the preset threshold, and the foot of the moving bed does not deviate, and step 1011 is executed until the second preset condition is met, and the head and foot of the moving bed do not deviate (for example, in Fig. 9 status).

[0130] The second preset condition means that the difference between the first magnetic field strength and the second magnetic field strength, the difference between the third magnetic field strength and the fourth magnetic field strength, and the difference between the seventh magnetic field strength and the eighth magnetic field strength are not greater than the preset threshold. Fig. 9 As shown, the first magnetic field strength is 520mT, the second magnetic field strength is 550mT, the third magnetic field strength is 210mT, the fourth magnetic field strength is 200mT, the seventh magnetic field strength is 460mT, and the eighth magnetic field strength is 470mT, which meets the second preset condition.

[0131] Step 1120: adjust the moving bed to the aligned state based on the angle value of the magnetic field direction and the magnetic field strength of the moving bed in the aligned state.

[0132] The process of further adjusting the moving bed to the aligned state is similar to the process of further adjusting the moving bed to the aligned state described in step 1020, and will not be repeated here.

[0133] In some embodiments of the present specification, the automatic alignment of the moving bed is achieved only by measuring the magnetic field strength through a magnetic field parameter measurement module, and the automatic alignment of the moving bed can be achieved in more ways.

[0134] The embodiments in this specification are only for illustration and description, and do not limit the scope of application of this specification. For those skilled in the art, various modifications and changes that can be made under the guidance of this specification are still within the scope of this specification. For example, when the magnetic field parameter measurement module measures the magnetic field strength more accurately and the error is small, the seventh magnetic field parameter measurement module and the eighth magnetic field parameter measurement module may not be set. In at least one round of iterations, the processor can adjust the head of the moving bed based on the obtained first magnetic field strength and the second magnetic field strength, and then adjust the foot of the moving bed based on the obtained third magnetic field strength and the fourth magnetic field strength.

[0135] Fig.12 is an exemplary flow chart of the automatic alignment method of the moving bed according to some other embodiments of this specification. Fig.12 As shown, process 1200 includes the following steps. In some embodiments, Fig.12 One or more operations of the process 1200 shown may be performed at Figure 1 The automatic alignment system of the moving bed is implemented in the application scenario 100 shown. For example, Fig.12 The process 1200 shown may be stored in a storage device in the form of instructions and called and / or executed by the processor 140. In some embodiments, Fig.12 One or more operations of the illustrated process 1200 may be performed by the automatic alignment control module 113 .

[0136] Step 1210: Perform at least one round of iterative adjustment on the moving bed until a third preset condition is met.

[0137] In some embodiments, the magnetic field parameters may include the angle value of the magnetic field direction and the magnetic field strength, and the processor may automatically align the moving bed through at least one round of iteration. During each round of iteration, the processing device may adjust the position of the moving bed and determine whether the third preset condition is met. If the third preset condition is met, the iteration is completed and the moving bed completes the automatic alignment; if the third preset condition is not met, the next round of iteration process is continued until the first preset condition is met.

[0138] In some embodiments, at least one round of iteration may include: firstly adjusting the head of the movable bed based on the angle value of the first magnetic field direction, the angle value of the second magnetic field direction, the first magnetic field strength, and the second magnetic field strength, and then adjusting the foot of the movable bed based on the angle value of the third magnetic field direction, the angle value of the fourth magnetic field direction, the third magnetic field strength, and the fourth magnetic field strength. For example, at least one round of iteration may include the following steps:

[0139] Step 1211, determine whether the sign of the angle value of the first magnetic field direction is the same as the sign of the angle value of the second magnetic field direction and / or whether the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold.

[0140] In some embodiments, the processor can determine whether the sign of the angle value of the first magnetic field direction and the sign of the angle value of the second magnetic field direction are the same and whether the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold based on the angle value of the first magnetic field direction, the first magnetic field strength, the angle value of the second magnetic field direction, and the second magnetic field strength. Figure 5 As shown, the angle value of the first magnetic field direction is -60°, the first magnetic field strength is 400mT, the angle value of the second magnetic field direction is -65°, and the second magnetic field strength is 200mT. The processor can determine that the sign of the angle value of the first magnetic field direction is the same as the sign of the second magnetic field parameter value and the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold.

[0141] In some embodiments, in response to the sign of the angle value of the first magnetic field direction being the same as the sign of the angle value of the second magnetic field direction and / or the difference between the first magnetic field strength and the second magnetic field strength being greater than a preset threshold, the processor may execute step 1212. In some embodiments, in response to the sign of the angle value of the first magnetic field direction being different from the sign of the angle value of the second magnetic field direction or both being zero, and the difference between the first magnetic field strength and the second magnetic field strength being not greater than a preset threshold, the processor may execute step 1213.

[0142] Step 1212: Move the moving bed toward the direction of the magnetic field parameter measurement module corresponding to the larger magnetic field strength between the first magnetic field strength and the second magnetic field strength.

[0143] In some embodiments, the processor can translate the entire moving bed along the y-axis direction toward the direction of the magnetic field parameter measurement module corresponding to the magnetic field strength with a larger magnetic field strength between the first magnetic field strength and the second magnetic field strength, or translate the entire moving bed along the y-axis direction toward the direction in which the absolute value of the angle value in the first magnetic field direction and the absolute value of the angle value in the second magnetic field direction decrease. For more descriptions on the translation toward the direction of the magnetic field parameter measurement module corresponding to the magnetic field strength with a larger magnetic field strength between the first magnetic field strength and the second magnetic field strength, and the direction in which the absolute value of the angle value in the first magnetic field direction and the absolute value of the angle value in the second magnetic field direction decrease, please refer to Fig.10 and Fig.11 Description.

[0144] In some embodiments, after the processor executes step 1212, step 1211 is executed again, that is, the processor continues to determine whether the sign of the angle value of the first magnetic field direction and the sign of the angle value of the second magnetic field direction are the same and / or whether the difference between the first magnetic field strength and the second magnetic field strength is greater than a preset threshold after executing step 1212. Steps 1211 and 1212 are executed cyclically until the sign of the angle value of the first magnetic field direction and the sign of the angle value of the second magnetic field direction are different or both are zero, and the difference between the first magnetic field strength and the second magnetic field strength is not greater than the preset threshold, and then step 1213 is executed.

[0145] Step 1213, determine whether the sign of the angle value of the third magnetic field direction is the same as the sign of the angle value of the fourth magnetic field direction and / or whether the difference between the third magnetic field strength and the fourth magnetic field strength is greater than a preset threshold.

[0146] In some embodiments, the processor can determine the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction based on the angle value and magnetic field strength of the magnetic field direction measured by the third magnetic field parameter measurement module 112-3 and the angle value and magnetic field strength of the magnetic field direction measured by the fourth magnetic field parameter measurement module 112-4, thereby determining whether the sign of the angle value of the third magnetic field direction and the sign of the angle value of the fourth magnetic field direction are the same and whether the difference between the third magnetic field strength and the fourth magnetic field strength is greater than a preset threshold. For example, Figure 5 As shown, the angle value of the third magnetic field direction is -45°, the third magnetic field strength is 80mT, the angle value of the fourth magnetic field direction is -40°, and the fourth magnetic field strength is 40mT. The processor can determine that the sign of the angle value of the third magnetic field direction is the same as the sign of the fourth magnetic field parameter value and the difference between the third magnetic field strength and the fourth magnetic field strength is greater than the preset threshold.

[0147] In some embodiments, in response to the sign of the angle value of the third magnetic field direction being the same as the sign of the angle value of the fourth magnetic field direction and / or the difference between the third magnetic field strength and the fourth magnetic field strength being greater than a preset threshold, the processor may execute step 1214. In some embodiments, in response to the sign of the angle value of the third magnetic field direction being different from the sign of the angle value of the fourth magnetic field direction or both being zero, and the difference between the third magnetic field strength and the fourth magnetic field strength being not greater than a preset threshold, the processor may execute step 1211.

[0148] Step 1214: Move the moving bed in a direction where the absolute value of the angle value in the third magnetic field direction and the absolute value of the angle value in the fourth magnetic field direction decrease.

[0149] In some embodiments, the processor can keep the head of the mobile bed stationary, and rotate the foot of the bed in a direction in which the absolute value of the angle value of the third magnetic field direction and the absolute value of the angle value of the fourth magnetic field direction decrease, or keep the head of the mobile bed stationary, and rotate the foot of the bed in the direction of the magnetic field parameter measurement module corresponding to the magnetic field strength with the larger magnetic field strength between the third magnetic field strength and the fourth magnetic field strength. For more descriptions on the direction of the magnetic field parameter measurement module corresponding to the magnetic field strength with the larger magnetic field strength between the third magnetic field strength and the fourth magnetic field strength, and the direction in which the absolute value of the angle value of the third magnetic field direction and the absolute value of the angle value of the fourth magnetic field direction decrease, please refer to Fig.10 and Fig.11 Description.

[0150] The third preset condition means that the signs of the angle value of the first magnetic field direction and the angle value of the second magnetic field direction, the signs of the angle value of the third magnetic field direction and the signs of the angle value of the fourth magnetic field direction are opposite to each other or are all zero, and the difference between the first magnetic field strength and the second magnetic field strength, and the difference between the third magnetic field strength and the fourth magnetic field strength are not greater than the preset threshold. For example, Figure 5 As shown, the angle value of the first magnetic field direction is +1°, the first magnetic field strength is 520mT, the angle value of the second magnetic field direction is -2°, the second magnetic field strength is 550mT, the angle value of the third magnetic field direction is 0°, the third magnetic field strength is 210mT, the angle value of the fourth magnetic field direction is 0°, and the fourth magnetic field strength is 200mT, then the third preset condition is met.

[0151] Step 1220: Adjust the moving bed to the aligned state based on the angle value of the magnetic field direction and the magnetic field strength of the moving bed in the aligned state.

[0152] The process of further adjusting the moving bed to the aligned state is similar to the process of further adjusting the moving bed to the aligned state described in step 1020, and will not be repeated here.

[0153] In some embodiments of the present specification, the angle value of the magnetic field strength and the magnetic field direction is measured by a magnetic field parameter measurement module to realize automatic alignment of the moving bed. The angle value of the magnetic field strength and the magnetic field direction is taken into consideration, thereby avoiding the need to set up the seventh magnetic field parameter measurement module and the eighth magnetic field parameter measurement module when automatic alignment of the moving bed is performed only by the magnetic field strength. While ensuring accuracy, the magnetic field parameter measurement module has a lower cost.

[0154] The embodiments in this specification are only for illustration and description, and do not limit the scope of application of this specification. For those skilled in the art, various modifications and changes that can be made under the guidance of this specification are still within the scope of this specification.

[0155] In some embodiments, a computer-readable storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer runs the automatic alignment method of the moving bed.

[0156] The beneficial effects that may be brought by the embodiments of this specification include but are not limited to: (1) The magnetic field of the nuclear magnetic resonance device itself is used to determine the state of the moving bed based on the magnetic field parameters measured by the magnetic field parameter measurement module, and then the moving bed is automatically adjusted from the non-aligned state to the aligned state. The implementation method is simple and low-cost, and the automatic alignment of the moving bed is cleverly realized. In addition, compared with the manual alignment method, it has a high degree of automation, is easy to use, and has high accuracy, which can avoid equipment damage caused by human misoperation, and at the same time saves the scanning preparation time of the nuclear magnetic resonance and improves the scanning efficiency; compared with the mechanical alignment method, no additional installation and site costs are required, and since there is no track, the movement of the moving bed is more flexible and the operation is simpler; compared with the camera optical alignment method, it is simpler and does not require complex algorithms. It only requires simple state judgment and state switching, so the hardware cost required to implement the algorithm can be greatly reduced, and it has very low power consumption. (2) Only the angle value of the magnetic field direction is determined by the magnetic field parameter measurement module to realize the automatic alignment of the moving bed. At least only four magnetic field parameter measurement modules are required and there is no need to compare the magnitude of the magnetic field strength. The magnetic field parameter measurement module has low cost and simple calculation. (3) Automatic alignment of the moving bed is achieved by measuring the magnetic field strength only through the magnetic field parameter measurement module, which can realize automatic alignment of the moving bed in more ways. (4) Automatic alignment of the moving bed is achieved by measuring the angle value of the magnetic field strength and the magnetic field direction through the magnetic field parameter measurement module. The angle value of the magnetic field strength and the magnetic field direction is taken into consideration, and the situation where the seventh magnetic field parameter measurement module and the eighth magnetic field parameter measurement module need to be set when the automatic alignment of the moving bed is performed only through the magnetic field strength is avoided. While ensuring accuracy, the cost of the magnetic field parameter measurement module is lower. (5) The automatic alignment method of the moving bed is realized by the first magnetic field parameter measurement module and the second magnetic field parameter measurement module, or the third magnetic field parameter measurement module and the fourth magnetic field parameter measurement module, which reduces the number of magnetic field parameter measurement modules and reduces the cost of hardware.

[0157] Furthermore, certain features, structures or characteristics in one or more embodiments of this specification may be appropriately combined.

[0158] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

Claims

1. A method for automatically aligning a moving bed (111), characterized in that: The method comprises: Based on a magnetic field parameter measurement module (112), a magnetic field parameter is obtained, wherein the magnetic field parameter measurement module (112) is at least partially and symmetrically arranged at positions on both sides of the central axis of the moving bed (111); Based on the magnetic field parameters, determining the state of the moving bed (111), the state of the moving bed (111) comprising an aligned state and a non-aligned state; and In response to the state of the moving bed (111) being the non-aligned state, the moving bed (111) is adjusted from the non-aligned state to the aligned state.

2. The method according to claim 1, characterized in that The type of the non-aligned state includes an offset of the head of the movable bed (111) and / or an offset of the foot of the movable bed (111), and adjusting the movable bed (111) from the non-aligned state to the aligned state includes: determining a type of the misalignment condition based on the magnetic field parameters; and Based on the type of the misalignment state, the position of the moving bed (111) is adjusted.

3. The method according to claim 1, characterized in that The magnetic field parameter measurement module (112) at least comprises: A first magnetic field parameter measurement module (112-1) and a second magnetic field parameter measurement module (112-2) are arranged on both sides of the central axis of the bedside; and / or, A third magnetic field parameter measurement module (112-3) and a fourth magnetic field parameter measurement module (112-4) are arranged on both sides of the central axis of the central area of ​​the moving bed (111), and / or a fifth magnetic field parameter measurement module (112-5) and a sixth magnetic field parameter measurement module (112-6) are arranged on both sides of the central axis at the end of the moving bed (111).

4. The method according to claim 1, characterized in that The magnetic field parameter includes an angle value of a magnetic field direction, and adjusting the moving bed (111) from the non-aligned state to the aligned state includes: Performing at least one round of iterative adjustment on the moving bed (111) until a first preset condition is met; The at least one round of iteration includes: Adjusting the head of the movable bed (111) based on the obtained angle value of the first magnetic field direction and the obtained angle value of the second magnetic field direction; and / or Based on the obtained angle value of the third magnetic field direction and the obtained angle value of the fourth magnetic field direction, the foot of the moving bed (111) is adjusted.

5. The method according to claim 1, characterized in that The magnetic field parameter includes magnetic field strength, and adjusting the moving bed (111) from the non-aligned state to the aligned state includes: Performing at least one round of iterative adjustment on the moving bed (111) until a second preset condition is met; The at least one round of iteration includes: Based on the obtained first magnetic field strength and second magnetic field strength, adjusting the head of the movable bed (111); and / or Based on the obtained third magnetic field strength and fourth magnetic field strength, the foot of the moving bed (111) is adjusted.

6. The method according to claim 1, characterized in that The magnetic field parameters include an angle value of a magnetic field direction and a magnetic field strength, and adjusting the moving bed (111) from the non-aligned state to the aligned state includes: Performing at least one round of iterative adjustment on the moving bed (111) until a third preset condition is met; The at least one round of iteration includes: Adjusting the head of the movable bed (111) based on the obtained angle value of the first magnetic field direction, the angle value of the second magnetic field direction, the first magnetic field strength, and the second magnetic field strength; and / or Based on the obtained angle value of the third magnetic field direction, the angle value of the fourth magnetic field direction, the third magnetic field strength, and the fourth magnetic field strength, the foot of the moving bed (111) is adjusted.

7. The method according to any one of claims 1 to 6, characterized in that The step of adjusting the movable bed (111) from the non-aligned state to the aligned state further comprises: Based on the angle value of the magnetic field direction and / or the magnetic field strength of the moving bed (111) in the alignment state, the moving bed (111) is adjusted to the alignment state.

8. An automatic alignment system (110) for a moving bed (111), characterized in that: The system comprises: a moving bed (111), a magnetic field parameter measurement module (112) and an automatic alignment control module (113); The moving bed (111) includes an aligned state and a non-aligned state; The magnetic field parameter measurement module (112) is at least partially and symmetrically arranged at positions on both sides of the central axis of the moving bed (111); The automatic alignment control module (113) is used for: Obtaining magnetic field parameters based on the magnetic field parameter measurement module (112); determining the state of the moving bed (111) based on the magnetic field parameters; and In response to the state of the moving bed (111) being the non-aligned state, the moving bed (111) is adjusted from the non-aligned state to the aligned state.

9. A magnetic resonance medical device, characterized in that: The device comprises: a nuclear magnetic resonance medical device (120) and an automatic alignment system (110) of a moving bed (111) as claimed in claim 8; The magnetic resonance medical device is used for performing nuclear magnetic resonance imaging; The automatic alignment system (110) of the moving bed (111) is used to adjust the moving bed (111) from a non-aligned state to an aligned state; and The nuclear magnetic resonance medical device (120) is provided with a first coupling component, and the movable bed (111) is provided with a second coupling component. The first coupling component and the second coupling component are capable of coupling, and a connection between the magnetic resonance medical device and the movable bed (111) is established through the coupling.

10. A computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the method for automatic alignment of a moving bed (111) as described in any one of claims 1 to 7.

Images