Motion control method, system and equipment of C-shaped arm, medium and program product

Abstract

The invention provides a C-shaped arm motion control method, system and device, a medium and a program product, and the control method comprises the steps: in a current exposure period, synchronously driving an exposure device to execute a current sub-scanning task on a target scanning object and driving a motion driving device to drive a C-shaped arm to execute a rotation operation, optical signals between the positioning detection device and the optical marking assembly are adopted to determine actual position information of the C arm at each collection point in the current motion state; obtaining a corresponding actual position difference value based on the obtained actual position information of any two adjacent collection points, and calculating the current rotation speed of the C arm based on the actual position difference value and a time difference value corresponding to the actual position difference value; and based on the current rotation speed, generating a matched motion control strategy to adjust the current motion state, so that the rotation angle of the C arm in the current exposure period reaches a set angle. By means of the method, the motion state of the C arm can be accurately adjusted, and the quality of the collected image is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a motion control method, system, device, medium and program product for a C-arm. Background Art

[0002] When the C-arm is performing a scanning task of three-dimensional reconstruction of the target scan object, in order to ensure the continuity and accuracy of the collected image data, it is necessary to ensure that the rotation angle of the C-arm is consistent during each exposure cycle of the exposure device, so it is necessary to accurately control the rotation speed of the C-arm. However, part of the transmission device of the C-arm is driven by a belt, which will cause the C-arm to slip during the rotation process, which will in turn affect the control of the rotation speed of the C-arm, resulting in poor three-dimensional reconstruction of the target scan object. Therefore, how to accurately control the rotation speed of the C-arm has become an urgent problem to be solved. Summary of the invention

[0003] The technical problem to be solved by the present disclosure is to overcome the defect in the prior art that part of the transmission device of the C-arm is driven by a belt, which affects the control of the rotation speed of the C-arm, thereby causing poor three-dimensional reconstruction of the target scan object, and to provide a C-arm motion control method, system, equipment, medium and program product.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] In a first aspect, a motion control method for a C-arm is provided, wherein the C-arm comprises a C-arm, an exposure device and a motion driving device, an optical marking assembly is installed at a first preset position of the C-arm, and a positioning detection device interacting with the optical marking assembly is placed at a second preset position of the C-arm; the motion control method comprises:

[0006] In response to synchronously driving the exposure device to perform a current sub-scanning task on a target scanning object and driving the motion driving device to drive the C-arm to perform a rotation operation in a current exposure cycle, using the optical signal between the positioning detection device and the optical marking component to determine the actual position information of each acquisition point of the C-arm in the current motion state;

[0007] Based on the actual position information of any two adjacent acquisition points obtained, a corresponding actual position difference is obtained, and based on the actual position difference and a time difference corresponding to the actual position difference, a current rotation speed of the C-arm is calculated;

[0008] Based on the current rotation speed, a matching motion control strategy is generated to adjust the current motion state so that the rotation angle of the C-arm in the current exposure cycle reaches a set angle.

[0009] Optionally, the step of calculating the current rotation speed of the C-arm based on the actual position difference and a time difference corresponding to the actual position difference comprises:

[0010] The ratio of the actual position difference to the actual time difference is calculated, and the ratio is used as the current rotation speed of the C-arm.

[0011] Optionally, before the step of synchronously driving the exposure device to perform the current sub-scanning task on the target scanning object and driving the motion driving device to drive the C-arm to perform the rotation operation in the current exposure cycle, the method further includes:

[0012] Based on the total scanning task, a first number of exposure cycles and corresponding sub-scanning tasks are allocated; wherein each of the exposure cycles corresponds to the same exposure duration and non-exposure duration.

[0013] Optionally, the motion control method further includes:

[0014] In response to the exposure time of the exposure device reaching the first number, the C-arm is controlled to stop rotating.

[0015] Optionally, the step of generating a matching motion control strategy to adjust the current motion state based on the current rotation speed includes:

[0016] Calculating a speed difference between the current rotation speed and a preset rotation speed;

[0017] In response to the absolute value of the speed difference being greater than or equal to a speed difference threshold, a matching motion control strategy is generated to adjust the current motion state.

[0018] Optionally, the positioning detection device is an optical positioning tracking system;

[0019] and / or;

[0020] The C-arm and the exposure device are electrically connected to a display device respectively; the motion control method further comprises:

[0021] Obtaining operating parameters of the C-arm and / or the exposure device;

[0022] The display device is controlled to display the operating parameters.

[0023] In a second aspect, a motion control system of a C-arm is provided, the C-arm comprising a C-arm, an exposure device and a motion driving device, an optical marking assembly is installed at a first preset position of the C-arm, and a positioning detection device interacting with the optical marking assembly is placed at a second preset position of the C-arm; the motion control system comprises:

[0024] a response module, configured to respond to the current exposure cycle, synchronously drive the exposure device to perform the current sub-scanning task on the target scanning object and drive the motion drive device to drive the C-arm to perform the rotation operation, and use the optical signal between the positioning detection device and the optical marking component to determine the actual position information of each acquisition point of the C-arm in the current motion state;

[0025] a calculation module, configured to obtain a corresponding actual position difference based on the actual position information of any two adjacent acquisition points obtained, and calculate a current rotation speed of the C-arm based on the actual position difference and a time difference corresponding to the actual position difference;

[0026] The adjustment module is used to generate a matching motion control strategy to adjust the current motion state based on the current rotation speed so that the rotation angle of the C-arm in the current exposure cycle reaches a set angle.

[0027] Optionally, the calculation module includes:

[0028] The first calculation unit is used to calculate the ratio of the actual position difference to the actual time difference, and use the ratio as the current rotation speed of the C-arm.

[0029] Optionally, the motion control system further includes:

[0030] An allocation module is used to allocate a first number of exposure cycles and corresponding sub-scanning tasks based on a total scanning task; wherein each exposure cycle corresponds to the same exposure duration and non-exposure duration.

[0031] Optionally, the motion control system further includes:

[0032] A response module is used to control the C-arm to stop rotating in response to the exposure number of the exposure device reaching the first number.

[0033] Optionally, the adjustment module includes:

[0034] A second calculation unit, used for calculating a speed difference between the current rotation speed and a preset rotation speed;

[0035] The response unit is used for generating a matching motion control strategy to adjust the current motion state in response to the absolute value of the speed difference being greater than or equal to a speed difference threshold.

[0036] Optionally, the positioning detection device is an optical positioning tracking system;

[0037] and / or;

[0038] The C-arm and the exposure device are electrically connected to a display device respectively; the motion control system further comprises:

[0039] An acquisition module, used for acquiring operating parameters of the C-arm and the exposure device;

[0040] The display module is used to control the display device to display the operating parameters.

[0041] In a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor implements any one of the motion control methods described above when executing the computer program.

[0042] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, any of the motion control methods described above is implemented.

[0043] In a fifth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the motion control method described above is implemented.

[0044] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0045] The positive and progressive effect of the present disclosure is that the optical signal of the positioning detection device and the optical marking component can be used to directly determine the actual position information of each acquisition point of the C-arm based on the optical signal without monitoring the transmission device of the C-arm. This can fundamentally avoid the phenomenon that the belt slips in the transmission device causes errors in the actual position information, so that the movement state of the C-arm can be adjusted more accurately according to the actual position information obtained. In addition, due to the high transmission rate of the optical signal, the actual position information of each acquisition point of the C-arm can be determined more quickly by using the optical signal between the positioning detection device and the optical marking component, thereby avoiding the poor quality of the image collected in the subsequent process caused by motion lag. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A flow chart of a C-arm motion control method provided in Example 1 of the present disclosure;

[0047] Figure 2 A schematic diagram of the structure of a C-arm according to a motion control method of a C-arm provided in Embodiment 1 of the present disclosure;

[0048] Figure 3 A module architecture diagram of a C-arm motion control method provided in Example 1 of the present disclosure;

[0049] Figure 4 An exposure flow chart of a C-arm motion control method provided in Embodiment 1 of the present disclosure;

[0050] Figure 5 A display diagram of operating parameters of a C-arm motion control method provided in Example 1 of the present disclosure;

[0051] Figure 6 A schematic diagram of a C-arm motion control system module provided in Embodiment 2 of the present disclosure;

[0052] Figure 7 This is a schematic diagram of the structure of an electronic device shown in Embodiment 3 of the present disclosure. DETAILED DESCRIPTION

[0053] The present disclosure is further described below by way of examples, but the present disclosure is not limited to the scope of the examples.

[0054] Prefixes such as "first" and "second" are used in the embodiments of the present disclosure only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present disclosure does not constitute a limitation on the described objects, and the description of the context in the embodiments of the described objects should not constitute an unnecessary limitation due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0055] Example 1

[0056] In order to more accurately adjust the motion state of the C-arm, Embodiment 1 of the present invention provides a motion control method for a C-arm. Figure 1 A flow chart of a C-arm motion control method provided in Example 1 of the present disclosure; Figure 2A schematic diagram of the structure of a C-arm of a C-arm motion control method provided in Example 1 of the present disclosure; the C-arm includes a C-arm, an exposure device and a motion driving device, an optical marker assembly is installed at the first preset position of the C-arm, and a positioning detection device that interacts with the optical marker assembly is placed at the second preset position of the C-arm. The C-arm is a semicircular X-ray device, and the C-arm included in it can achieve a rotation range of more than 180 degrees, so that the target scanning object located at the center of the C-arm can be irradiated at multiple angles, so as to provide conditions for establishing a three-dimensional stereoscopic model of the target scanning object for the scanned CT image. An exposure device is installed at one end of the C-arm, and the exposure device is used to release X-rays to expose the target scanning object, wherein the exposure device can be a tube generator, and the other end of the C-arm is an image receiving device, which is used to receive the CT image generated after the target scanning object is exposed. The optical marker assembly can be an optical positioning marker ball. The first preset position and the second preset position can be set by the user according to actual conditions, but it is necessary to ensure that the positioning detection device can capture the motion trajectory of the optical marker assembly. Preferably, the optical marking components are arranged on both sides of the C-arm, and the positioning detection device is placed 1.5 meters away from the C-arm. The motion driving device includes a servo motor driver and a servo motor.

[0057] The motion control method comprises the following steps:

[0058] Step 101, in response to synchronously driving the exposure device to perform the current sub-scanning task on the target scanning object and driving the motion driving device to drive the C-arm to perform a rotation operation in the current exposure cycle, the optical signal between the positioning detection device and the optical marking component is used to determine the actual position information of the C-arm at each acquisition point in the current motion state.

[0059] For example, suppose that the scanning cycle of the C-arm to perform a complete scanning task on the target scanning object is a. Divide a according to the preset division strategy to obtain the same exposure cycle b, then each exposure cycle c = a / b. Therefore, each sub-scanning task is the operation of performing a scanning task on the target scanning object within its corresponding exposure cycle length c. Therefore, the current sub-scanning task is the operation of the C-arm when performing a scanning task on the target scanning object under the current exposure cycle c, and the current motion state is the motion state of the C-arm under the current exposure cycle. Among them, the preset division strategy can be selected by the user according to the actual situation.

[0060] Step 102: based on the actual position information of any two adjacent acquisition points obtained, a corresponding actual position difference is obtained, and based on the actual position difference and a time difference corresponding to the actual position difference, a current rotation speed of the C-arm is calculated.

[0061] It should be noted that the time difference is the time required for the C-arm to rotate between any two adjacent acquisition points mentioned above. The current rotation speed can be calculated by inputting the actual position information of any two adjacent acquisition points and their corresponding time difference into the PLC controller (programmable logic controller), and the PLC controller obtains the speed after calculation and feedback.

[0062] Step 103: Based on the current rotation speed, a matching motion control strategy is generated to adjust the current motion state so that the rotation angle of the C-arm in the current exposure cycle reaches a set angle.

[0063] To ensure the continuity and accuracy of the acquired CT images, the rotation speed of the C-arm must be accurately controlled through a matching motion control strategy to ensure that the rotation angle of the C-arm of the exposure device is consistent in each exposure cycle. The set angle can be determined based on the scanning cycle of the C-arm to perform a complete scanning task on the target scanning object and the total angle of rotation required for the C-arm to perform a complete scanning task on the target scanning object. In this way, when the C-arm completes the scanning task, the C-arm rotation and the exposure of the exposure device are completed synchronously. The motion control strategy can be controlled according to a preset rule, such as when the current rotation speed of the C-arm is less than the preset rotation speed, the current rotation speed is increased step by step to ensure that the preset rotation speed is reached within the preset time; conversely, when the current rotation speed of the C-arm is greater than the preset rotation speed, the current rotation speed is reduced step by step to ensure that the preset rotation speed is reached within the preset time, so as to achieve the effect of fast and precise control of the C-arm.

[0064] Assuming that the scanning cycle of the C-arm to perform a complete scanning task on the target scanning object is a and the total rotation angle required for the C-arm to perform a complete scanning task on the target scanning object is d, the set angle can be x=a / d. Then, in any exposure cycle c, the C-arm is controlled to rotate by the set angle x degrees through the corresponding motion control strategy. That is, based on the current rotation speed, a matching motion control strategy is generated to adjust the current motion state so that the rotation angle of the C-arm in the current exposure cycle c reaches the set angle x. In turn, it can be ensured that when the C-arm rotates d degrees, b exposure cycles can also be executed synchronously.

[0065] In this embodiment, the optical signal of the positioning detection device and the optical marking assembly can be used to directly determine the actual position information of each acquisition point of the C-arm based on the optical signal without monitoring the transmission device of the C-arm. This can fundamentally avoid the phenomenon that the belt slips in the transmission device causes errors in the actual position information, so that the motion state of the C-arm can be adjusted more accurately according to the actual position information obtained. In addition, due to the high transmission rate of the optical signal, the actual position information of each acquisition point of the C-arm can be determined more quickly by using the optical signal between the positioning detection device and the optical marking assembly, thereby avoiding poor image quality collected in the subsequent process due to motion lag.

[0066] In one embodiment, in one exposure cycle, the optical signals between the positioning detection device and the optical marker assembly interact, and as long as the positioning detection device captures the optical marker assembly reaching from one acquisition point to another acquisition point, the actual position information of the two acquisition points can be obtained to obtain the corresponding actual position difference, and then the current rotation speed of the C-arm is calculated based on the actual position difference and the time difference corresponding to the actual position difference. In this way, the position change of the C-arm can be responded to more quickly, and the adjustment speed of the C-arm can be faster.

[0067] Optionally, calculating the current rotation speed of the C-arm based on the actual position difference and the time difference corresponding to the actual position difference includes: calculating a ratio of the actual position difference to the actual time difference, and using the ratio as the current rotation speed of the C-arm.

[0068] In this embodiment, by calculating the ratio of the actual position difference to the actual time difference, the current rotation speed of the C-arm can be obtained more accurately, and then the current rotation speed can be more accurately regulated to prevent the generated CT image from having poor quality due to too fast or too slow rotation.

[0069] In one embodiment, before the above step 101, the step further includes: based on the total scanning task, allocating a first number of exposure cycles and corresponding sub-scanning tasks; wherein each exposure cycle corresponds to the same exposure duration and non-exposure duration.

[0070] Among them, the scanning cycle of the total scanning task can be calculated and allocated through the tube exposure control program. After calculating each pulse exposure cycle, the exposure time and non-exposure time of the tube in each cycle are generated.

[0071] In addition, the exposure cycle can be input into the PLC controller so that the corresponding level signal generated by the PLC controller is used for the image receiving device on the C-arm to collect the CT image generated during the exposure cycle. The PLC communicates with the motion drive device through the network port. When in the exposure phase of the exposure cycle, the PLC communicates with the exposure device through the communication module. When in the non-exposure phase of the exposure cycle, communication is performed through high and low level signals.

[0072] For example, when in the exposure phase of the exposure cycle, the PLC controller generates a high-level signal, and when in the non-exposure phase of the exposure cycle, the PLC controller generates a low-level signal. When it is detected that the PLC controller switches from a high-level signal to a low-level signal, the image receiving device on the C-arm is controlled to collect the CT image generated in the exposure cycle.

[0073] In this embodiment, based on the total scanning task, a first number of exposure cycles and corresponding sub-scanning tasks are allocated, and each exposure cycle corresponds to the same exposure time and non-exposure time, so that the C-arm rotation, exposure of the exposure device and image acquisition of the image receiving device can be carried out synchronously, thereby making the acquired CT image more coherent, thereby achieving better effect of three-dimensional reconstruction of the target scan object based on the CT image.

[0074] In one embodiment, the motion control method further includes: in response to the exposure number of the exposure device reaching a first number, controlling the C-arm to stop rotating.

[0075] In this embodiment, when the number of exposures of the exposure device reaches the first number, it indicates that the scanning task of the C-arm has been completed. At this time, controlling the C-arm to stop rotating allows subsequent imaging operations to be performed in a relatively stable state of the C-arm. In this way, more accurate CT image information can be obtained, so that the effect of three-dimensional reconstruction of the target scan object based on the CT image is better.

[0076] In one embodiment, the above step 103 includes:

[0077] Step 103-1: Calculate the speed difference between the current rotation speed and the preset rotation speed.

[0078] Step 103 - 2 : In response to the absolute value of the speed difference being greater than or equal to the speed difference threshold, a matching motion control strategy is generated to adjust the current motion state.

[0079] The speed difference threshold can be set by the user according to actual conditions. The smaller the value, the more timely the subsequent response to the current motion state can be.

[0080] In this embodiment, by calculating the speed difference between the current rotation speed and the preset rotation speed, the current operating state of the C-arm can be better monitored. If the absolute value of the speed difference is greater than or equal to the speed difference threshold, it means that there is a large deviation between the current rotation speed of the C-arm and the preset value. At this time, a matching motion control strategy is generated for adjustment, which can ensure that the rotation speed of the C-arm is always close to the preset value, thereby achieving precise motion control. This avoids the problem of blurring, artifacts, etc. in the collected CT imaging due to the unstable rotation speed of the C-arm, which in turn affects the three-dimensional reconstruction effect of the target scan object.

[0081] In one embodiment, the position detection device is an optical position tracking system.

[0082] In this embodiment, the optical positioning tracking system can provide sub-millimeter measurement accuracy and precision, and can more accurately capture the movement of the optical marker assembly. Therefore, the actual position information of each acquisition point of the C-arm can be more accurately determined based on the optical positioning tracking system and the optical signal of the optical marker assembly.

[0083] In one embodiment, the C-arm and the exposure device are electrically connected to the display device respectively; the motion control method further comprises: obtaining the operating parameters of the C-arm and the exposure device, and controlling the display device to display the operating parameters.

[0084] The operating parameters include at least one of the scanning range of the C-arm, the set speed of the C-arm, the exposure cycle of the exposure device, the exposure mode of the exposure device (each exposure cycle corresponds to exposure time and non-exposure time), the current of the exposure device, and the voltage of the exposure device.

[0085] The display device includes an industrial computer and a touch screen. The industrial computer and the touch screen are electrically connected, and the industrial computer and the touch screen are electrically connected to the PLC controller mentioned above respectively. The industrial computer can issue control instructions to the PLC controller based on the operating parameters of the C-arm and the exposure device set by the user, and monitor in real time, and send the monitored data to the touch screen for the user to view and interact.

[0086] In this embodiment, the operating parameters of the C-arm and the exposure device are displayed in real time on the display device, so that the user can understand the scanning status of the C-arm at any time. Furthermore, when a problem occurs, the user can quickly adjust the operating parameters of the C-arm and the exposure device to avoid the generation effect of the CT image due to improper parameter settings.

[0087] In one embodiment, Figure 3 A module architecture of a C-arm motion control method provided in Embodiment 1 of the present disclosure, Figure 4 The exposure flow chart of a C-arm motion control method provided in Example 1 of the present disclosure is combined with Figure 3 and Figure 4, the motion control method of the C-arm is further explained.

[0088] S1: Yes Figure 2 The display device, exposure device, image acquisition device, PLC controller and motion drive device in the system are powered on so that each module can communicate with each other through electrical signals, and the optical positioning tracking system of the motion drive device can capture the optical positioning component ( Figure 2 Movement of the 2D image (not shown).

[0089] The display devices include industrial computers and touch screens. The industrial computers are connected to the PLC and can issue instructions to the PLC. The touch screen is also directly connected to the PLC and has a more intuitive touch operation interface that supports scanning parameter settings, real-time monitoring and feedback, etc.

[0090] PLC controller: As the core of the entire architecture, it is responsible for receiving operation instructions and executing control logic, monitoring the status of each module in real time, and coordinating the simultaneous operation of multiple modules.

[0091] Motion drive equipment: including servo motors, servo motor drivers, optical positioning and tracking systems, etc., are responsible for the precise movement and positioning of the C-arm. The optical positioning and tracking system is responsible for returning the precise position information of the C-arm to the PLC.

[0092] Exposure equipment: including tube generator, tube, etc., responsible for the generation and exposure control of X-rays, and can also provide real-time feedback of exposure parameters.

[0093] Image acquisition equipment: including a receiving plate, which is responsible for receiving the acquired CT images.

[0094] This architecture is mainly developed based on PLC, integrating the C-arm motion drive device and the exposure device into the same program, solving the problem that the original exposure control program can only run on an industrial computer based on Windows system and cannot cooperate with the motion drive device. At the same time, the architecture also writes programs to control multiple exposure modes of the tube as well as initialization and calibration. In addition, a set of HMI interfaces for touch screens has been developed to simplify the operation process and reduce the risk of human error.

[0095] On the basis of the above, a complete set of automated scanning processes for 3D reconstruction needs is constructed. After setting the exposure parameters and motion parameters on the external touch screen, automatic scanning can be realized to reduce the burden on operators. In addition, the motion control and exposure control functions are integrated into a PLC-based architecture to achieve a high degree of integration of hardware and software of different modules. This integrated design simplifies the complexity of the PLC architecture. Users can adjust the motion trajectory and exposure parameters of the C-arm through an intuitive operation interface, and can also execute some preset programs (initialization program, inverter calibration, tube calibration, etc.), which greatly reduces the workload of manual operation and improves work efficiency. The architecture also takes into account possible changes in demand and technology upgrades in the future, and has good scalability and compatibility. Whether adding new functional modules or integrating with other devices, it can be achieved through software updates or simple hardware expansions. S2: Place the target scanning object near the center of the C-arm.

[0096] S3: Execute the following steps through the display module: Figure 3 The exposure preparation process shown in FIG. Figure 3 shown).

[0097] S3-1: Exposure preparation stage of the tube generator: initialize the tube in the tube generator, perform inverter calibration and tube calibration in sequence, and then set the exposure parameters such as tube voltage, current, exposure cycle, etc. on the touch screen. After the settings are completed, click the parameter send button through the industrial computer to send the parameters to the PLC controller. Among them, the inverter calibration is to calibrate the inverter in the tube.

[0098] S3-2: Exposure preparation stage of C-arm: adjust the C-arm to the starting position after power-on. Then set the scanning range and speed and other scanning parameters on the touch screen. After setting, click the parameter send button through the industrial computer to send the parameters to the PLC controller.

[0099] Among them, the exposure parameters and scanning parameters can be found in Figure 5 As shown, it should be noted that Figure 5 The exposure parameters and scanning parameters shown in the figure are only examples. Not all scanning tasks have the same exposure parameters and scanning parameters. Figure 5 The settings are the same as in , and can be adjusted according to actual conditions.

[0100] S3-3: Exposure preparation phase of the optical positioning and tracking system: reset the position of the optical positioning component in the optical positioning and tracking system, and move the optical positioning and tracking system to a distance of about 1.5 meters from the C-arm, so that the optical positioning marker balls at both ends of the C-arm can always be within the field of view of the optical positioning and tracking system when the C-arm moves.

[0101] It should be noted that the execution order of S3-1, S3-2 and S3-3 is not specific.

[0102] S4: Execute as Figure 3 The exposure phase process shown is as follows: the tube generator is controlled by the PLC controller while the C-arm moves to the target position during exposure.

[0103] During the exposure phase, the optical positioning tracking system will acquire the optical positioning components in real time and send them to the PLC controller to obtain the rotation speed of the C-arm. The PLC controller can also generate a matching motion control strategy based on the rotation speed to drive the servo motor driver to adjust the speed of the servo motor, thereby controlling the rotation speed of the C-arm. In addition, the CT images collected by the image receiving module are saved through the industrial computer for the three-dimensional reconstruction of the target scan object.

[0104] S5: End.

[0105] Example 2

[0106] Corresponding to the aforementioned C-arm motion control method embodiment, the present disclosure also provides an embodiment of a C-arm motion control system. Figure 6 A schematic diagram of a motion control system module of a C-arm provided in Example 2 of the present disclosure; the C-arm comprises a C-arm, an exposure device and a motion driving device, an optical marking assembly is installed at a first preset position of the C-arm, and a positioning detection device interacting with the optical marking assembly is placed at a second preset position of the C-arm;

[0107] The motion control system comprises:

[0108] The response module 61 is used to respond to the current exposure cycle, synchronously drive the exposure device to perform the current sub-scanning task on the target scanning object and drive the motion driving device to drive the C-arm to perform a rotation operation, and use the light signal between the positioning detection device and the optical marking component to determine the actual position information of the C-arm at each acquisition point in the current motion state.

[0109] The calculation module 62 is used to obtain the corresponding actual position difference based on the actual position information of any two adjacent acquisition points, and calculate the current rotation speed of the C-arm based on the actual position difference and the time difference corresponding to the actual position difference.

[0110] The adjustment module 63 is used to generate a matching motion control strategy to adjust the current motion state based on the current rotation speed, so that the rotation angle of the C-arm in the current exposure cycle reaches a set angle.

[0111] In one embodiment, the calculation module 62 includes:

[0112] The first calculation unit is used to calculate the ratio of the actual position difference to the actual time difference, and use the ratio as the current rotation speed of the C-arm.

[0113] In one embodiment, the motion control system further includes:

[0114] An allocation module is used to allocate a first number of exposure cycles and corresponding sub-scanning tasks based on a total scanning task; wherein each exposure cycle corresponds to the same exposure duration and non-exposure duration.

[0115] In one embodiment, the motion control system further comprises:

[0116] A response module is used to control the C-arm to stop rotating in response to the exposure number of the exposure device reaching the first number.

[0117] In one embodiment, the adjustment module 63 includes:

[0118] The second calculation unit is used to calculate the speed difference between the current rotation speed and the preset rotation speed.

[0119] The response unit is used for generating a matching motion control strategy to adjust the current motion state in response to the absolute value of the speed difference being greater than or equal to a speed difference threshold.

[0120] In one embodiment, the positioning detection device is an optical positioning tracking system;

[0121] and / or;

[0122] The C-arm and the exposure device are electrically connected to a display device respectively; the motion control system further comprises:

[0123] An acquisition module is used to acquire operating parameters of the C-arm and the exposure equipment.

[0124] The display module is used to control the display device to display the operating parameters.

[0125] As for the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only illustrative, wherein the units described as separate components may or may not be physically separated, and the components as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the disclosed solution.

[0126] Example 3

[0127] Figure 7 This is a structural schematic diagram of an electronic device showing an example embodiment of the present disclosure, the electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor, and the processor implements the motion control method described in any of the above embodiments when executing the computer program. Figure 7 The electronic device 70 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0128] like Figure 7 As shown, the electronic device 70 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 70 may include, but are not limited to: at least one processor 71, at least one memory 72, and a bus 73 connecting different system components (including the memory 72 and the processor 71).

[0129] The bus 73 includes a data bus, an address bus, and a control bus.

[0130] The memory 72 may include a volatile memory, such as a random access memory (RAM) 721 and / or a cache memory 722 , and may further include a read-only memory (ROM) 723 .

[0131] The memory 72 may also include a program tool 727 (or utility) having a set (at least one) of program modules 724, such program modules 724 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0132] The processor 71 executes various functional applications and data processing by running the computer program stored in the memory 72, such as the motion control method provided in any of the above embodiments.

[0133] The electronic device 70 may also communicate with one or more external devices 74 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 77. Furthermore, the electronic device 70 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 76. As shown, the network adapter 76 communicates with other modules of the electronic device 70 via a bus 73. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 70, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0134] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0135] Example 4

[0136] The embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the motion control method provided by any of the above embodiments is implemented.

[0137] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0138] Example 5

[0139] The embodiment of the present disclosure further provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the motion control method described in any one of the above is implemented.

[0140] Among them, the program code for executing the computer program product of the present disclosure can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0141] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A C-arm motion control method, characterized in that: The C-arm comprises a C-arm, an exposure device and a motion driving device, an optical marking assembly is installed at a first preset position of the C-arm, and a positioning detection device interacting with the optical marking assembly is placed at a second preset position of the C-arm; The motion control method comprises: In response to synchronously driving the exposure device to perform a current sub-scanning task on a target scanning object and driving the motion driving device to drive the C-arm to perform a rotation operation in a current exposure cycle, using the optical signal between the positioning detection device and the optical marking component to determine the actual position information of each acquisition point of the C-arm in the current motion state; Based on the actual position information of any two adjacent acquisition points obtained, a corresponding actual position difference is obtained, and based on the actual position difference and a time difference corresponding to the actual position difference, a current rotation speed of the C-arm is calculated; Based on the current rotation speed, a matching motion control strategy is generated to adjust the current motion state so that the rotation angle of the C-arm in the current exposure cycle reaches a set angle.

2. The motion control method according to claim 1, characterized in that: The step of calculating the current rotation speed of the C-arm based on the actual position difference and the time difference corresponding to the actual position difference comprises: The ratio of the actual position difference to the actual time difference is calculated, and the ratio is used as the current rotation speed of the C-arm.

3. The motion control method according to claim 1, characterized in that: Before the step of synchronously driving the exposure device to perform the current sub-scanning task on the target scanning object and driving the motion driving device to drive the C-arm to perform the rotation operation in the current exposure cycle, the method further includes: Based on the total scanning task, a first number of exposure cycles and corresponding sub-scanning tasks are allocated; wherein each of the exposure cycles corresponds to the same exposure duration and non-exposure duration.

4. The motion control method according to claim 3, characterized in that: The motion control method further comprises: In response to the exposure time of the exposure device reaching the first number, the C-arm is controlled to stop rotating.

5. The motion control method according to claim 1, characterized in that: The step of generating a matching motion control strategy to adjust the current motion state based on the current rotation speed includes: Calculating a speed difference between the current rotation speed and a preset rotation speed; In response to the absolute value of the speed difference being greater than or equal to a speed difference threshold, a matching motion control strategy is generated to adjust the current motion state.

6. The motion control method according to any one of claims 1 to 5, characterized in that: The positioning detection device is an optical positioning tracking system; and / or; The C-arm and the exposure device are electrically connected to a display device respectively; the motion control method further comprises: Obtaining operating parameters of the C-arm and / or the exposure device; The display device is controlled to display the operating parameters.

7. A C-arm motion control system, characterized in that: The C-arm comprises a C-arm, an exposure device and a motion driving device, an optical marking assembly is installed at a first preset position of the C-arm, and a positioning detection device interacting with the optical marking assembly is placed at a second preset position of the C-arm; The motion control system comprises: a response module, configured to respond to the current exposure cycle, synchronously drive the exposure device to perform the current sub-scanning task on the target scanning object and drive the motion drive device to drive the C-arm to perform the rotation operation, and use the optical signal between the positioning detection device and the optical marking component to determine the actual position information of each acquisition point of the C-arm in the current motion state; a calculation module, configured to obtain a corresponding actual position difference based on the actual position information of any two adjacent acquisition points obtained, and calculate a current rotation speed of the C-arm based on the actual position difference and a time difference corresponding to the actual position difference; The adjustment module is used to generate a matching motion control strategy to adjust the current motion state based on the current rotation speed so that the rotation angle of the C-arm in the current exposure cycle reaches a set angle.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the motion control method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motion control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the motion control method according to any one of claims 1 to 6 is implemented.

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