Vibration control device, method, system, processing equipment and computer equipment

Abstract

The present application relates to a vibration control device, method, system, processing equipment and computer equipment. The device includes an actuating device and a detecting device. The actuating device is arranged on a medical scanning device; the detecting device is used to obtain a residual vibration signal of a target vibration reduction area; the residual vibration signal is used to generate an output signal with a reference signal corresponding to the medical scanning device; the actuating device is used to output a secondary vibration signal according to the output signal. The use of the device can improve the control effect of vibration control.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a vibration control device, method, system, processing equipment and computer equipment. Background Art

[0002] Medical scanning equipment generates vibrations during operation. For example, if the medical scanning equipment is a magnetic resonance imaging device, the gradient coils through which alternating current flows are subjected to the Lorentz force of the peripheral permanent magnets, thus causing the medical scanning equipment to generate low-frequency vibrations during operation.

[0003] The vibration of medical scanning equipment will not only affect the imaging quality, but also be transmitted to the scanning bed of the medical scanning equipment through multiple transmission paths and be felt by the patient, thus reducing the patient's comfort. Therefore, controlling the vibration of medical scanning equipment is a necessary task.

[0004] In the related art, vibration of medical scanning equipment is suppressed by adding vibration-damping pads, etc. However, the current vibration control has the problem of poor control effect. Summary of the invention

[0005] Based on this, it is necessary to provide a vibration control device, method, system, processing equipment and computer equipment that can improve the control effect in response to the above technical problems.

[0006] In a first aspect, the present application provides a vibration control device, comprising an actuating device and a detecting device; the actuating device is arranged in a medical scanning device, and the detecting device is arranged in a target vibration reduction area;

[0007] A detection device, used to obtain a residual vibration signal of a target vibration reduction area; the residual vibration signal is used to generate an output signal with a reference signal corresponding to a medical scanning device;

[0008] The actuating device is used to output a secondary vibration signal according to the output signal.

[0009] In one embodiment, a medical scanning device comprises a scanning bed and a magnet; the actuating device is disposed on a supporting connection between a guide rail of the scanning bed and the magnet.

[0010] In one embodiment, the detection device is disposed on the bottom surface of a scanning bed in a medical scanning device, or the detection device is disposed on an inspection object, and the inspection object is located on the scanning bed.

[0011] In a second aspect, the present application also provides a vibration control method, comprising:

[0012] Acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area;

[0013] determining an output signal according to a reference signal and a residual vibration signal;

[0014] The actuating device is controlled to generate a secondary vibration signal according to the output signal, and the actuating device is arranged in the medical scanning device.

[0015] In one embodiment, determining the output signal according to the reference signal and the residual vibration signal includes:

[0016] Determine the current weight parameter based on the previous residual vibration signal and the historical reference signal;

[0017] The current output signal is determined according to the current weight parameter and the current reference signal.

[0018] In one embodiment, determining the current weight parameter according to the previous residual vibration signal and the historical reference signal includes:

[0019] The current weight parameter is determined according to the previous residual vibration signal, the historical reference signal and the previous weight parameter.

[0020] In one embodiment, determining the current weight parameter according to the previous residual vibration signal, the historical reference signal and the previous weight parameter includes:

[0021] Determine the last filtering reference signal according to the historical reference signal and the filter weight coefficient; the filter weight coefficient is a coefficient determined when the actuating device generates a preset vibration signal;

[0022] The current weight parameter is determined according to the previous weight parameter, the previous residual vibration signal, the previous filtering reference signal and the preset algorithm step size.

[0023] In a third aspect, the present application further provides a processing device, including:

[0024] An acquisition module, used to acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area;

[0025] A determination module, used for determining an output signal according to a reference signal and a residual vibration signal;

[0026] The control module is used to control the actuating device to generate a secondary vibration signal according to the output signal, and the actuating device is arranged in the medical scanning device.

[0027] In a fourth aspect, the present application also provides a vibration control system, comprising any one of the above-mentioned vibration control devices and the above-mentioned processing equipment.

[0028] In one embodiment, the system further comprises a signal processor;

[0029] A signal processor, used for processing the output signal to obtain a processed output signal;

[0030] The processing device is used to control the actuating device to generate a secondary vibration signal according to the processed output signal.

[0031] In a fifth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0032] In a sixth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0033] In a seventh aspect, the present application also provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0034] The above-mentioned vibration control device, method, system, processing device and computer device, the vibration control device includes an actuating device and a detecting device, the actuating device is arranged on the medical scanning device, and the detecting device is arranged on the target vibration reduction area. Among them, the detecting device can obtain the residual vibration signal of the target vibration reduction area, and the residual vibration signal is used to generate an output signal with the reference signal corresponding to the medical scanning device, and then the actuating device can output a secondary vibration signal according to the output signal. Since the actuating device is arranged on the medical scanning device, the medical scanning device can vibrate according to the secondary vibration signal, and then the secondary vibration signal can attenuate the current vibration signal of the medical scanning device, so that the vibration of the medical scanning device can be controlled by the vibration control device. In addition, since the secondary vibration signal is determined according to the output signal, and the output signal is determined according to the reference signal and the residual vibration signal, the vibration control method of the present application can also be applied to the scene where the vibration condition of the medical scanning device changes, thereby improving the control effect of the vibration control. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 is a schematic diagram of a vibration control device in one embodiment;

[0037] Figure 2 is a schematic diagram of yet another vibration control device in one embodiment;

[0038] Figure 3 A diagram showing an application environment of a vibration control method in an embodiment;

[0039] Figure 4 A schematic flow chart of a vibration control method in one embodiment;

[0040] Figure 5 A schematic diagram of a process for determining an output signal in an embodiment;

[0041] Figure 6 A schematic diagram of a process for determining an output signal in another embodiment;

[0042] Figure 7 A schematic diagram of a vibration control method according to an embodiment of the present invention;

[0043] Figure 8 A schematic diagram of a signal transmission process in one embodiment;

[0044] Fig. 9 is a structural block diagram of a processing device in one embodiment;

[0045] Fig.10 is a schematic diagram of yet another vibration control system in one embodiment;

[0046] Fig.11 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] At present, when performing vibration control, the relevant technology usually suppresses vibration or blocks its outward propagation by means of structural optimization, adding vibration-damping pads, etc. However, the above-mentioned passive vibration control scheme is usually for the vibration condition of a specific medical scanning device. When the working state of the medical scanning device changes, that is, when the vibration condition changes, the vibration reduction effect of the above-mentioned scheme may decrease. In other words, the passive vibration control scheme cannot be adjusted according to the change of vibration. In addition, the passive vibration control scheme needs to take into account the strength, stiffness, connection relationship and other conditions of the structure when designing. The design scheme will be limited by the above-mentioned various factors, thereby further reducing the vibration reduction effect. Based on this, it is necessary to provide a vibration control device, which will be introduced below.

[0049] Figure 1 Schematic diagram of a vibration control device in one embodiment. Figure 1 As shown, the vibration control device 100 includes a detection device 101 and an actuation device 102 .

[0050] The detection device 101 is used to obtain the residual vibration signal of the target vibration reduction area. The detection device 101 may include but is not limited to a piezoelectric acceleration sensor. In some embodiments, the detection device 101 may also use an optical fiber acceleration sensor to better be compatible with the magnetic field environment of the medical scanning device.

[0051] The detection device 101 is set in the target vibration reduction area. The target vibration reduction area refers to the area where vibration reduction is desired, which can be any position on the scanning bed of the medical scanning device 200, or any position on or around the examination object. The examination object is located on the scanning bed of the medical scanning device 200.

[0052] The residual vibration signal is used to generate an output signal with a reference signal corresponding to the medical scanning device 200. The reference signal refers to a signal that enables the medical scanning device to vibrate itself during operation. Taking the medical scanning device as an example, a magnetic resonance imaging device, a gradient sequence signal is a necessary technical means for magnetic resonance imaging. In order to meet the inspection requirements of different parts and different lesions, a magnetic resonance imaging device is usually provided with a large number of different gradient sequence signals. Different gradient sequence signals mean that the variation law of the alternating current passing through the gradient coil is different, and the distribution and variation law of the Lorentz force on the gradient coil are also different, which leads to changes in the vibration spectrum of the gradient coil. In other words, the gradient sequence signal will cause the medical scanning device to vibrate. In this case, the reference signal includes the gradient sequence signal. For example, the gradient sequence signal can be used as a reference signal.

[0053] The actuating device 102 is disposed on the medical scanning device 200. The actuating device 102 can be disposed on the scanning bed of the medical scanning device 200, for example, on the bottom surface of the scanning bed, or on the end surface of the magnet, for example, near the connection between the guide rail of the scanning bed and the magnet, or at other locations on the medical scanning device, which is not limited in this embodiment.

[0054] The actuator device 102 is also a device capable of generating vibrations, including but not limited to a piezoelectric ceramic actuator. The output signal is a signal that can be used to drive the actuator device 102 to generate a secondary vibration signal. Furthermore, the actuator device 102 is used to output a secondary vibration signal according to the output signal. The secondary vibration signal is used to attenuate the current vibration signal of the medical scanning device 200. In other words, after determining the output signal according to the reference signal and the residual vibration signal, the actuator device 102 can be driven according to the output signal. Under the drive of the output signal, the actuator device 102 will output a secondary vibration signal to attenuate the current vibration signal.

[0055] The current vibration signal of the medical scanning device 200 is a vibration signal transmitted to the target vibration reduction area by the medical scanning device 200 based on the reference signal. Optionally, the current vibration signal and the secondary vibration signal can destructively interfere. Further optionally, the current vibration signal and the secondary vibration signal have the same or similar amplitude and an anti-phase or nearly anti-phase phase. For example, the current vibration signal and the secondary vibration signal are equal in amplitude and anti-phase.

[0056] The vibration control device provided above includes an actuating device and a detecting device, wherein the actuating device is arranged on the medical scanning device, and the detecting device is arranged on the target vibration reduction area. The detecting device can obtain the residual vibration signal of the target vibration reduction area, and the residual vibration signal is used to generate an output signal with a reference signal corresponding to the medical scanning device, and then the actuating device can output a secondary vibration signal according to the output signal. Since the actuating device is arranged on the medical scanning device, the medical scanning device can vibrate according to the secondary vibration signal, and then the secondary vibration signal can attenuate the current vibration signal of the medical scanning device, so that the vibration of the medical scanning device can be controlled by the vibration control device. Moreover, since the secondary vibration signal is determined according to the output signal, and the output signal is determined according to the reference signal and the residual vibration signal, the vibration control method of the present application can also be applied to the scenario where the vibration condition of the medical scanning device changes, thereby improving the control effect of the vibration control.

[0057] Figure 2 FIG. 1 is a schematic diagram of another vibration control device in an embodiment, Figure 2 As shown, in an exemplary embodiment, optionally, the medical scanning device 200 includes a scanning bed 201 and a magnet 202 .

[0058] Please continue to refer to Figure 2 The actuating device 102 is disposed on a supporting connecting member 203 between the guide rail 201a of the scanning bed 201 and the magnet 202. The actuating device 102 may be attached to the supporting connecting member 203, or may be installed on the supporting connecting member 203 in other ways.

[0059] In the above embodiment, the medical scanning device includes a scanning bed and a magnet. Since the actuating device is arranged on a supporting connector between a guide rail of the scanning bed and the magnet, the secondary vibration signal of the actuating device can act on the scanning bed of the medical scanning device to reduce the vibration of the scanning bed in the medical scanning device and improve the comfort of the object to be examined on the scanning bed.

[0060] Please continue to refer to Figure 2 In an exemplary embodiment, optionally, the detection device 101 is disposed on the bottom surface of a scanning bed 201 in a medical scanning device.

[0061] In some embodiments, the detection device 101 is also disposed on the inspection subject on the scanning bed 201. Exemplarily, the detection device 101 may be disposed around the body of the inspection subject, such as near the head of the inspection subject.

[0062] In the above embodiments, since the detection device is arranged on the bottom surface of the scanning bed, or the detection device is arranged on the inspection object, and the inspection object is located on the scanning bed, the accuracy of the residual vibration signal can be improved, which is helpful to reduce the vibration perceived by the inspection object and improve comfort.

[0063] In some embodiments, different numbers of actuating devices 102 may be used as secondary vibration sources depending on the type of medical scanning device. In some embodiments, different numbers of detection devices 101 may also be used, and the number of detection devices 101 may depend on the vibration reduction capability desired to be achieved and the computing capability of vibration control.

[0064] Figure 3 FIG. 1 is an application environment diagram of a vibration control method in an embodiment. The vibration control method provided in the embodiment of the present application can be applied to Figure 3 In the application environment shown, the processing device 301 can communicate with the vibration control device 100. For example, the processing device can communicate with the detection device 101 and the actuation device 102 respectively.

[0065] The processing device 301 may be, but is not limited to, various personal computers, laptops, smart phones, and tablet computers. The processing device 301 may also be an independent physical server or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0066] In some embodiments, the processing device 301 may also include but is not limited to a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA) or other programmable logic devices.

[0067] Figure 4 FIG. 1 is a flow chart of a vibration control method in an embodiment. In an exemplary embodiment, as shown in FIG. Figure 4 As shown, a vibration control method is provided, which is applied to Figure 3 The processing device in is used as an example for description, including the following S401 to S403.

[0068] S401, acquiring a reference signal corresponding to a medical scanning device and a residual vibration signal corresponding to a target vibration reduction area.

[0069] In this embodiment, the processing device can obtain the reference signal corresponding to the medical scanning device. Optionally, the processing device can receive the reference signal sent by the medical scanning device, and the processing device can also read the reference signal from the system where the medical scanning device is located.

[0070] Furthermore, the processing device can also obtain the residual vibration signal corresponding to the target vibration reduction area. Exemplarily, the processing device obtains the residual vibration signal through a detection device arranged in the target vibration reduction area.

[0071] Optionally, the processing device may periodically acquire the reference signal and the residual vibration signal. The periods for acquiring the reference signal and the participating vibration signal may be different. The reference signal and the residual vibration signal may be signals acquired at the same time or at different times.

[0072] S402: Determine an output signal according to a reference signal and a residual vibration signal.

[0073] After obtaining the reference signal and the residual vibration signal, the processing device can determine the output signal for controlling the actuator device according to the reference signal and the residual vibration signal. Optionally, the processing device can periodically determine the corresponding output signal according to the reference signal and the residual vibration signal. For example, the processing device can determine an output signal per second.

[0074] Further optionally, the processing device may determine the output signal according to the reference signal and the residual vibration signal based on a preset active control algorithm. The active control algorithm may include, but is not limited to, at least one of a least mean square algorithm, a recursive least square algorithm, a neural network algorithm, a filtered-x stable fast recursive least squares transversal filter (FxSFTF) algorithm, and a normalized filtered-x least mean square (NFxLMS) algorithm.

[0075] In some embodiments, the processing device may also input the reference signal and the residual vibration signal into a trained output model, and the output model determines the output signal. The output model is determined based on the reference signal samples, the residual vibration signal samples corresponding to the reference signal samples, and the output signal samples corresponding to the reference signal samples.

[0076] The output model may include, but is not limited to, a Convolutional Neural Network (CNN) model, a Recurrent Neural Network (RNN) model, a Fully Convolutional Neural Network (FCN) model, a Generative Adversarial Network (GAN) model, a Back-propagation (BP) machine learning model, a Radial Basis Function (RBF) model, a Deep Belief Network (DBN) model, an Elman model, or at least one of a combination thereof.

[0077] S403, controlling the actuating device to generate a secondary vibration signal according to the output signal; the actuating device is disposed in the medical scanning device.

[0078] In the present embodiment, the output signal is a signal that can be used to drive the actuator device to generate a secondary vibration signal. Furthermore, after the processing device determines the output signal, it can control the actuator device to generate a secondary vibration signal according to the output signal. Exemplarily, after the processing device determines the output signal, the output signal can be used to drive the actuator device, and under the drive of the output signal, the actuator device can generate a secondary vibration signal. After determining the output signal, the processing device can also post-process the output signal to obtain a processed output signal, and drive the actuator device through the processed output signal, so that the actuator device generates a secondary vibration signal. Among them, post-processing may include but is not limited to amplification processing, filtering processing or digital-to-analog conversion processing, etc.

[0079] In the above-mentioned vibration control method, a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area can be obtained, and an output signal can be determined based on the reference signal and the residual vibration signal, so as to control the actuating device to generate a secondary vibration signal based on the output signal. Since the actuating device is arranged on the medical scanning device, the medical scanning device can vibrate according to the secondary vibration signal, and then, the secondary vibration signal can attenuate the current vibration signal of the medical scanning device. Therefore, the vibration of the medical scanning device can be controlled by using the output signal. In addition, since the secondary vibration signal is determined based on the output signal, and the output signal is determined based on the reference signal and the residual vibration signal, the vibration control method of the present application can also be applied to the scenario where the vibration condition of the medical scanning device changes, thereby improving the control effect of the vibration control.

[0080] Figure 5 FIG. 1 is a flow chart of determining an output signal in an embodiment. In an exemplary embodiment, as shown in FIG. Figure 5 As shown, S402 includes S501 to S502.

[0081] S501, determining the current weight parameter according to the previous residual vibration signal and the historical reference signal.

[0082] In this embodiment, when the processing device needs to determine the current output signal, it first determines the current weight parameter based on the previous residual vibration signal and the historical reference signal.

[0083] Among them, different weight parameters will correspond to different output signals. The weight parameter represents the impulse response of the filter transfer function in the processing device, which can be, for example, a weight coefficient vector corresponding to the filter in the processing device. In other words, the processing device can change the corresponding output signal by adjusting the filter inside it. It should be noted that the weight parameter can be represented by a vector, a matrix, or other methods, which is not limited in this embodiment.

[0084] The weight parameter includes multiple elements, and the number of elements in the weight parameter is equal to the order of the filter, that is, the length of the filter. The filter of the processing device includes but is not limited to a finite impulse response filter (FIR filter). Let the length of the filter be L, then the weight parameter for the nth time is L is an integer greater than 1. n is an integer greater than or equal to 1. The nth time can also be understood as the nth moment.

[0085] Here, the current time may represent the current moment, and the last time may represent the moment before the current moment. For example, the weight parameter determined by the processing device at the current moment is the current weight parameter, and the weight parameter determined at the moment before the current moment is the last weight parameter.

[0086] The historical reference signal includes at least one reference signal before the current reference signal. Optionally, the historical reference signal may include M reference signals before the current reference signal, where M is the length of the filter preset during offline identification.

[0087] For example, the residual vibration signal of the nth time is recorded as , the nth reference signal , then according to the nth residual vibration signal and the nth reference signal , determine the weight parameter for the n+1th time , or according to the nth residual vibration signal and the nmth reference signal , determine the weight parameter for the n+1th time . Where m is 0~M-1.

[0088] Further optionally, the processing device can determine the current weight parameter based on the preset active control algorithm according to the historical reference signal and the previous residual vibration signal, or input the historical reference signal and the previous residual vibration signal into a trained output model, and the output model determines the current weight parameter. The output model can be determined based on the reference signal sample, the residual vibration signal sample corresponding to the reference signal sample, and the weight parameter sample corresponding to the reference signal sample.

[0089] S502, determining the current output signal according to the current weight parameter and the current reference signal.

[0090] Furthermore, after the processing device determines the current weight parameter, it can determine the current output signal based on the current weight parameter and the current reference signal.

[0091] Optionally, the processing device determines the current output signal according to the product of the transposition of the current weight parameter and the current reference signal. For example, the nth output signal is ,but .

[0092] In the above embodiment, since the current weight parameter can be determined based on the previous residual vibration signal and the historical reference signal, the weight parameter can be determined more accurately. In this way, the accuracy of the current output signal can be improved through the current weight parameter and the current reference signal.

[0093] In an exemplary embodiment, optionally, the above S501 may be implemented in the following manner:

[0094] The current weight parameter is determined according to the previous residual vibration signal, the historical reference signal and the previous weight parameter.

[0095] In this embodiment, the processing device can be based on the residual vibration signal of the nth time , historical reference signals and the nth weight parameter , determine the weight parameter for the n+1th time For example, the residual vibration signal of the nth time can be , the nth reference signal and the nth weight parameter , determine the weight parameter for the n+1th time , or according to the nth residual vibration signal , the nmth reference signal and the nth weight parameter , determine the weight parameter for the n+1th time .

[0096] In one embodiment, the weight parameter at the initial moment may take a preset value, for example, the weight parameter at the initial moment is a zero vector.

[0097] Optionally, the processing device may determine the current weight parameter based on the active control algorithm according to the previous residual vibration signal, the historical reference signal and the previous weight parameter. The introduction of the active control algorithm can refer to the above embodiment and will not be repeated here.

[0098] In the above embodiment, since the current weight parameters are determined based on the previous residual vibration signal, the historical reference signal and the previous weight parameters, the current weight parameters can be iteratively updated using the previous weight parameters, thereby improving the accuracy of the determined weight parameters in the continuous iteration process.

[0099] Figure 6 FIG. 1 is a flow chart of another method for determining an output signal in an embodiment. In an exemplary embodiment, as shown in FIG. Figure 6 As shown, the above-mentioned “determining the current weight parameter according to the previous residual vibration signal, the historical reference signal and the previous weight parameter” includes S601 to S603.

[0100] S601, determining the last filtering reference signal according to the historical reference signal and the filter weight coefficient; the filter weight coefficient is a coefficient determined when the actuating device generates a preset vibration signal.

[0101] In this embodiment, the filter weight coefficient is a coefficient determined when the actuating device generates a preset vibration signal. For example, the processing device sends a random signal, and the random signal drives the actuating device so that the actuating device generates a preset vibration signal. In this case, the detection device can also obtain the acquisition signal in the target vibration reduction area, and then the filter weight coefficient can be determined based on the acquisition signal, the random signal and the adaptive algorithm. Among them, the random signal can be a flat white noise signal. In other words, the filter weight coefficient is the information obtained when the transfer function of the secondary path is offline identified using a preset filter. Similarly, the number of weight coefficients in the filter weight coefficient is equal to the length of the preset filter. The filter weight coefficient is denoted as .

[0102] Then, the processing device can determine the last filtering reference signal based on the historical reference signal and the filter weight coefficient. In other words, the processing device can determine the nth filtering reference signal based on the historical reference signal and the filter weight coefficient. .

[0103] Exemplarily, the processing device can determine the nth filtering reference signal according to the following formula (1): That is, using formula (1), based on the historical reference signal And the filter weight coefficients are , determine the nth filtering reference signal , each value on the right side of the equation is determined based on equation (1).

[0104] (1)

[0105] S602, determining the current weight parameter according to the previous weight parameter, the previous residual vibration signal, the previous filtering reference signal and the preset algorithm step size.

[0106] In this embodiment, optionally, the computer device can utilize an active control algorithm to continuously iterate the last weight parameter based on the last residual vibration signal, the last filtering reference signal and a preset algorithm step size to obtain the current weight parameter.

[0107] Optionally, the processing device may also determine the initial result based on the last residual vibration signal, the last filtering reference signal, and the preset algorithm step size, and determine the current weight coefficient vector based on the last weight coefficient vector and the initial result. Further optionally, the processing device may also determine the initial result based on the last residual vibration signal, the last filtering reference signal, the preset algorithm step size, and the preset regularization factor, and determine the current weight coefficient vector based on the difference between the last weight coefficient vector and the initial result.

[0108] For example, the preset algorithm step size is , which can be set as required, for example, it can be the step size of the NFxLMS algorithm. The preset regularization factor is , which is usually a decimal close to 0 to avoid the denominator being zero. In other words, the processing device can calculate the residual vibration signal of the nth order. , the nth filtering reference signal , preset algorithm step size and the preset regularization factor , determine the initial result for the nth time.

[0109] In one embodiment, the processing device may Determine the initial result. For example, the processing equipment will As the initial result for the nth time.

[0110] Furthermore, the processing device may use the difference between the previous weight parameter and the initial result as the current weight parameter. The difference between the initial result of the nth time determines the weight parameter of the n+1th time For example, the processing device may determine the current weight parameter according to the following formula (2).

[0111] (2)

[0112] In the above embodiment, since the filter weight coefficient is a coefficient determined when the actuator generates a preset vibration signal, the previous filter reference signal can be determined based on the historical reference signal and the filter weight coefficient; the current weight parameter is determined based on the previous weight parameter, the previous residual vibration signal, the previous filter reference signal and the preset algorithm step size, and a more accurate current weight parameter can be determined.

[0113] In order to more clearly introduce the vibration control method in this application, Figure 7 and Figure 8 Make an introduction. Figure 7 FIG. 1 is a process diagram of a vibration control method in an embodiment. Figure 7 As shown, the processing device can execute the vibration control method according to the following process.

[0114] S701, obtaining the historical reference signal before the (n+1)th time and the residual vibration signal of the nth time.

[0115] S702: Determine the (n+1)th weight parameter according to the historical reference signal, the nth residual vibration signal and the nth weight parameter. Optionally, the processing device may be based on Figure 6 The method shown determines the n+1th weight parameter.

[0116] S703: Determine the n+1th output signal according to the n+1th weight parameter and the n+1th reference signal.

[0117] S704, controlling the actuating device to generate a secondary vibration signal according to the output signal of the n+1th time, wherein the actuating device is arranged in the medical scanning device, and the secondary vibration signal is used to attenuate the current vibration signal of the medical scanning device.

[0118] It is understandable that after n is updated, the process can continue to return to step S701, and repeat the process, which will not be described in detail here. The process of S701 to S704 can refer to the above embodiment, which will not be described in detail here.

[0119] Figure 8 FIG. 1 is a schematic diagram of a signal transmission process in an embodiment. Figure 8 As shown, It is the reference signal for medical scanning equipment. yes Transfer function through the primary path The vibration signal propagates to the target vibration reduction area. That is, the current vibration signal refers to the vibration signal that needs to be attenuated or offset. Taking the medical scanning device as an example, the reference signal The gradient coil is converted into a current signal, which causes the gradient coil to vibrate due to the Lorentz force. This vibration is transmitted to the target vibration reduction area through the primary path. That is the transfer function of the whole process mentioned above.

[0120] is the residual vibration signal collected by the detection device 101 in the target vibration reduction area. is the transfer function of the filter in the processing device, It is the output signal obtained by the processing device based on the vibration control method of the present application. It is the transfer function of the secondary path, which refers to the transfer function of the entire process of the output signal undergoing digital-to-analog conversion, reconstruction filtering, power amplification and other signal processing, as well as driving the actuator to send a secondary vibration signal, and the secondary vibration signal propagating to the target vibration reduction area. The estimated value of the transfer function of the secondary path is , which can be determined by offline identification.

[0121] The primary path consists of a reference signal To current vibration signal The secondary path consists of the output signal The transmission path to the target vibration reduction area. At a certain sampling time The residual vibration signal can be expressed as . is the impulse response of the transfer function of the secondary path. Determined by offline identification The process of determining the filter weight coefficients can be as follows process.

[0122] It can be seen that the present application can obtain the reference signal at a certain sampling time interval and residual vibration signal , and then the processing device calculates the output signal , the actuating device will The corresponding vibration response is converted to emit a secondary vibration signal, which destructively interferes with the current vibration signal to be offset to attenuate the vibration energy of the target vibration reduction area. and residual vibration signal For the current weight parameter Iterate and update, so that and Calculated The current vibration signal tends to be equal in amplitude and opposite in phase to produce destructive interference. It should be noted that, taking the current time as the nth moment as an example, the weight coefficient vector at the current moment is At the previous moment n-1 has been calculated, the weight coefficient vector at the current moment At the current moment, it is used to determine the output signal at the current moment. , and the current moment will determine the output signal used to determine the next moment The weight coefficient vector .

[0123] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0124] Based on the same inventive concept, the embodiment of the present application further provides a processing device for implementing the vibration control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more processing device embodiments provided below can refer to the limitations on the vibration control method above, and will not be repeated here.

[0125] Fig. 9 FIG. 1 is a block diagram of a processing device in an embodiment. In an exemplary embodiment, Fig. 9 As shown, a processing device 900 is provided, including: an acquisition module 901, a determination module 902 and a control module 903, wherein:

[0126] The acquisition module 901 is used to acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area.

[0127] The determination module 902 is used to determine the output signal according to the reference signal and the residual vibration signal.

[0128] The control module 903 is used to control the actuating device to generate a secondary vibration signal according to the output signal; the actuating device is arranged in the medical scanning device.

[0129] In the above-mentioned processing device, it is possible to obtain a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area, and determine an output signal based on the reference signal and the residual vibration signal, so as to control the actuating device to generate a secondary vibration signal based on the output signal. Since the actuating device is arranged on the medical scanning device, the medical scanning device can vibrate according to the secondary vibration signal, and then, the secondary vibration signal can attenuate the current vibration signal of the medical scanning device. Therefore, the vibration of the medical scanning device can be controlled by using the output signal. Moreover, since the secondary vibration signal is determined based on the output signal, and the output signal is determined based on the reference signal and the residual vibration signal, the vibration control method of the present application can also be applied to the scenario where the vibration condition of the medical scanning device changes, thereby improving the control effect of the vibration control.

[0130] Optionally, the determining module 902 includes:

[0131] The first determination unit is used to determine the current weight parameter according to the previous residual vibration signal and the historical reference signal.

[0132] The second determination unit is used to determine the current output signal according to the current weight parameter and the current reference signal.

[0133] Optionally, the first determination unit is used to determine the current weight parameter based on the previous residual vibration signal, the historical reference signal and the previous weight parameter.

[0134] Optionally, the first determining unit includes:

[0135] The first determination subunit is used to determine the last filtering reference signal according to the historical reference signal and the filter weight coefficient; the filter weight coefficient is a coefficient determined when the actuating device generates a preset vibration signal.

[0136] The second determination subunit is used to determine the current weight parameter according to the previous weight parameter, the previous residual vibration signal, the previous filtering reference signal and the preset algorithm step size.

[0137] Each module in the above processing device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0138] Please refer to Figure 3 The present application also provides a vibration control system, which includes any one of the above-mentioned vibration control devices 100 and the above-mentioned processing device 301.

[0139] Fig.10 FIG. 1 is a schematic diagram of yet another vibration control system in an embodiment, Fig.10 As shown, taking the arrangement of four detection devices 101 and four actuation devices 102 as an example, the four detection devices 101 are respectively arranged near the four corners of the bottom of the scanning bed 201, close to the connection between the scanning bed 201 and the guide rail 101a. The four actuation devices 102 are respectively arranged on the four supporting connectors between the guide rail 101a and the magnet 202.

[0140] Please continue to refer to Fig.10 Optionally, the vibration control system further includes a signal processor 1001. The signal processor 1001 is used to process the output signal determined by the processing device 301 to obtain a processed output signal.

[0141] Furthermore, the processing device 301 is used to control the actuating device 102 to generate a secondary vibration signal according to the processed output signal. Optionally, the signal processor 1001 can be arranged inside the processing device 301, and then the processing device 301 can directly drive the actuating device 102 through the processed output signal.

[0142] In some embodiments, Fig.10 As shown, the signal processor 1001 can also be set outside the processing device 301. The signal processor 1001 communicates with the processing device 301 and the actuating device 102 respectively, and then the processing device 301 sends the output signal to the signal processor 1001, and the signal processor 1001 drives the actuating device 102 through the processed output signal.

[0143] Fig.11 FIG. 1 is an internal structure diagram of a computer device in an embodiment. In an exemplary embodiment, a computer device is provided. The computer device may be a server. The internal structure diagram thereof may be as shown in FIG. Fig.11 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vibration control method is implemented.

[0144] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0145] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0146] Acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area;

[0147] determining an output signal according to a reference signal and a residual vibration signal;

[0148] The actuating device is controlled to generate a secondary vibration signal according to the output signal, and the actuating device is arranged in the medical scanning device.

[0149] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0150] The current weight parameter is determined according to the previous residual vibration signal and the historical reference signal; the current output signal is determined according to the current weight parameter and the current reference signal.

[0151] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0152] The current weight parameter is determined according to the previous residual vibration signal, the historical reference signal and the previous weight parameter.

[0153] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0154] The last filtering reference signal is determined based on the historical reference signal and the filter weight coefficient; the filter weight coefficient is a coefficient determined when the actuator generates a preset vibration signal; the current weight parameter is determined based on the last weight parameter, the last residual vibration signal, the last filtering reference signal and the preset algorithm step size.

[0155] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0156] Acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area;

[0157] determining an output signal according to a reference signal and a residual vibration signal;

[0158] The actuating device is controlled to generate a secondary vibration signal according to the output signal, and the actuating device is arranged in the medical scanning device.

[0159] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0160] The current weight parameter is determined according to the previous residual vibration signal and the historical reference signal; the current output signal is determined according to the current weight parameter and the current reference signal.

[0161] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0162] The current weight parameter is determined according to the previous residual vibration signal, the historical reference signal and the previous weight parameter.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0164] The last filtering reference signal is determined based on the historical reference signal and the filter weight coefficient; the filter weight coefficient is a coefficient determined when the actuator generates a preset vibration signal; the current weight parameter is determined based on the last weight parameter, the last residual vibration signal, the last filtering reference signal and the preset algorithm step size.

[0165] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0166] Acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area;

[0167] determining an output signal according to a reference signal and a residual vibration signal;

[0168] The actuating device is controlled to generate a secondary vibration signal according to the output signal, and the actuating device is arranged in the medical scanning device.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0170] The current weight parameter is determined according to the previous residual vibration signal and the historical reference signal; the current output signal is determined according to the current weight parameter and the current reference signal.

[0171] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0172] The current weight parameter is determined according to the previous residual vibration signal, the historical reference signal and the previous weight parameter.

[0173] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0174] The last filtering reference signal is determined based on the historical reference signal and the filter weight coefficient; the filter weight coefficient is a coefficient determined when the actuator generates a preset vibration signal; the current weight parameter is determined based on the last weight parameter, the last residual vibration signal, the last filtering reference signal and the preset algorithm step size.

[0175] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0176] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0177] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vibration control device, characterized in that: The device comprises an actuating device and a detecting device; the actuating device is arranged on a medical scanning device, and the detecting device is arranged on a target vibration reduction area; The detection device is used to obtain a residual vibration signal of the target vibration reduction area; the residual vibration signal is used to generate an output signal with a reference signal corresponding to the medical scanning device; The actuating device is used to output a secondary vibration signal according to the output signal.

2. A vibration control method, characterized in that: The method comprises: Acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area; Determining an output signal according to the reference signal and the residual vibration signal; An actuating device is controlled to generate a secondary vibration signal according to the output signal, and the actuating device is arranged in the medical scanning device.

3. The method according to claim 2, characterized in that The step of determining an output signal according to the reference signal and the residual vibration signal comprises: Determine the current weight parameter based on the previous residual vibration signal and the historical reference signal; The current output signal is determined according to the current weight parameter and the current reference signal.

4. The method according to claim 3, characterized in that The determining the current output signal according to the current weight parameter and the current reference signal includes: The current weight parameter is determined according to the previous residual vibration signal, the historical reference signal and the previous weight parameter.

5. The method according to claim 4, characterized in that The determining the current weight parameter according to the previous residual vibration signal, the historical reference signal and the previous weight parameter comprises: Determine the last filtering reference signal according to the historical reference signal and the filter weight coefficient; the filter weight coefficient is a coefficient determined when the actuating device generates a preset vibration signal; The current weight parameter is determined according to the previous weight parameter, the previous residual vibration signal, the previous filtering reference signal and a preset algorithm step size.

6. A processing device, characterized in that: The processing equipment comprises: An acquisition module, used to acquire a reference signal corresponding to the medical scanning device and a residual vibration signal corresponding to the target vibration reduction area; A determination module, used to determine an output signal according to the reference signal and the residual vibration signal; The control module is used to control an actuating device to generate a secondary vibration signal according to the output signal, wherein the actuating device is arranged in the medical scanning device.

7. A vibration control system, characterized in that: The system comprises the vibration control device of claim 1 and the processing equipment of claim 6.

8. The system according to claim 7, characterized in that The system also includes a signal processor; The signal processor is used to process the output signal to obtain a processed output signal; The processing device is used to control the actuating device to generate the secondary vibration signal according to the processed output signal.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 2 to 5 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 5 are implemented.

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