Motion control method, system, device, medium, and program product for a c-arm

Abstract

The present disclosure provides a motion control method, system, device, medium and program product of a C-arm, the control method comprising: in a current exposure period, synchronously driving an exposure device to perform a current sub-scanning task on a target scanning object and driving a motion driving device to drive the C-arm to perform a rotating operation, using an optical signal between a positioning detection device and an optical marker assembly to determine actual position information of the C-arm at each collection point in a current motion state; based on the actual position information of any two adjacent collection points obtained, obtaining a corresponding actual position difference value, and based on the actual position difference value and a time difference value corresponding to the actual position difference value, calculating a current rotating speed of the C-arm; based on the current rotating speed, generating a matched motion control strategy to adjust the current motion state, so that the rotating angle of the C-arm in the current exposure period reaches a set angle. Through the method, the motion state of the C-arm can be accurately adjusted and the quality of the collected image can be improved.

Description

Technical Field

[0001] This 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 Technology

[0002] When using a C-arm for 3D reconstruction of a target object, ensuring the consistency and accuracy of the acquired image data requires maintaining a consistent rotation angle within each exposure cycle of the exposure equipment. This necessitates precise control of the C-arm's rotation speed. However, some C-arm transmission mechanisms rely on belt drives, which can cause slippage during rotation. This slippage affects the control of the C-arm's rotation speed, resulting in poor 3D reconstruction of the target object. Therefore, achieving precise control of the C-arm's rotation speed is a crucial problem that needs to be solved. Summary of the Invention

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

[0004] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0005] In a first aspect, a motion control method for a C-arm is provided. The C-arm includes a C-arm itself, an exposure device, and a motion driving device. An optical marking component is mounted at a first preset position on the C-arm, and a positioning detection device that interacts with the optical marking component is placed at a second preset position on the C-arm. The motion control method includes:

[0006] 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 rotate the C-arm under the current exposure cycle, the actual position information of the C-arm at each acquisition point in the current motion state is determined by using the light signal between the positioning detection device and the optical marker component.

[0007] Based on the actual position information of any two adjacent acquisition points, the corresponding actual position difference is obtained, and based on the actual position difference and the time difference corresponding to the actual position difference, the 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 under the current exposure cycle reaches the set angle.

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

[0010] 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.

[0011] Optionally, before the steps 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 a 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 exposure cycle corresponds to the same exposure duration and non-exposure duration.

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

[0014] When the number of exposures of the exposure device reaches 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] The speed difference between the current rotation speed and the preset rotation speed is calculated.

[0017] If the absolute value of the speed difference is 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 and tracking system;

[0019] and / or;

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

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

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

[0023] Secondly, a motion control system for a C-arm is provided. The C-arm includes a C-arm, an exposure device, and a motion driving device. An optical marking component is mounted at a first preset position of the C-arm, and a positioning detection device that interacts with the optical marking component is placed at a second preset position of the C-arm. The motion control system includes:

[0024] The response module is used to respond to the current exposure cycle when the exposure device is synchronously driven to perform the current sub-scanning task on the target scan object and the motion drive device is driven to rotate the C-arm. The module uses the light signal between the positioning detection device and the optical marker component to determine the actual position information of the C-arm at each acquisition point in the current motion state.

[0025] The calculation module is used to obtain the corresponding actual position difference based on the actual position information of any two adjacent acquisition points, and to 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.

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

[0027] Optionally, the computing 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] The allocation module is used to allocate a first number of exposure cycles and corresponding sub-scanning tasks based on the total number of scanning tasks; wherein each exposure cycle corresponds to the same exposure duration and non-exposure duration.

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

[0032] The response module is used to control the C-arm to stop rotating when the number of exposures of the exposure device reaches the first number.

[0033] Optionally, the adjustment module includes:

[0034] The second calculation unit is used to calculate the speed difference between the current rotation speed and the preset rotation speed;

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

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

[0037] and / or;

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

[0039] The acquisition module is used to acquire the 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] Thirdly, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and for running on the processor, wherein the processor executes the computer program to implement the motion control method described in any one of the above descriptions.

[0042] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the motion control method described in any one of the above descriptions.

[0043] Fifthly, a computer program product is provided, including a computer program that, when executed by a processor, implements the motion control method described above.

[0044] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

[0045] The significant advantages of this disclosure are as follows: Using the optical signal from the positioning detection device and optical marker assembly, the actual position information of each acquisition point of the C-arm can be determined directly based on the optical signal without monitoring the C-arm's transmission mechanism. This fundamentally avoids errors in the actual position information caused by belt slippage in the transmission mechanism, allowing for more accurate adjustment of the C-arm's motion state based on the acquired actual position information. Furthermore, due to the high transmission rate of optical signals, the actual position information of each acquisition point of the C-arm can be determined more quickly using the optical signal between the positioning detection device and the optical marker assembly, thus avoiding poor image quality in subsequent processes caused by motion lag. Attached Figure Description

[0046] Figure 1 A flowchart of a motion control method for a C-arm provided in Embodiment 1 of this disclosure;

[0047] Figure 2 This is a schematic diagram of the structure of a C-arm, which is a motion control method for a C-arm provided in Embodiment 1 of this disclosure;

[0048] Figure 3 A module architecture diagram of a motion control method for a C-arm provided in Embodiment 1 of this disclosure;

[0049] Figure 4 An exposure flowchart of a motion control method for a C-arm provided in Embodiment 1 of this disclosure;

[0050] Figure 5 A diagram showing the operating parameters of a motion control method for a C-arm provided in Embodiment 1 of this disclosure;

[0051] Figure 6 This is a schematic diagram of a motion control system module for a C-arm provided in Embodiment 2 of this disclosure;

[0052] Figure 7 This is a schematic diagram of the structure of an electronic device shown in Embodiment 3 of this disclosure. Detailed Implementation

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

[0054] The prefixes such as "first" and "second" used in this disclosure are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this disclosure does not constitute a limitation on the described objects, and the description of the context of the described objects in the embodiments should not be subject to unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means 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 the C-arm. Figure 1 A flowchart of a motion control method for a C-arm provided in Embodiment 1 of this disclosure; Figure 2This is a schematic diagram of the C-arm structure for a motion control method of a C-arm according to Embodiment 1 of this disclosure. The C-arm includes a C-arm, an exposure device, and a motion driving device. An optical marker assembly is installed at a first preset position on the C-arm, and a positioning detection device that interacts with the optical marker assembly is placed at a second preset position on the C-arm. The C-arm is a semi-circular X-ray device, and its C-arm can rotate more than 180 degrees, thereby enabling multi-angle irradiation of the target object located at the center of the C-arm, providing conditions for establishing a three-dimensional model of the target object for the scanned CT image. An exposure device is installed at one end of the C-arm, which is used to release X-rays to expose the target object. This exposure device can be a X-ray tube generator. The other end of the C-arm is an image receiving device, which is used to receive the CT image generated after the target object is exposed. The optical marker assembly can be an optical positioning marker ball. The first and second preset positions 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 positioned on both sides of the C-arm, and the positioning detection device is placed 1.5 meters away from the C-arm. The motion drive device includes a servo motor driver and a servo motor.

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

[0058] Step 101: In response to the synchronous drive exposure device performing the current sub-scanning task on the target scanning object and the drive motion device driving the C-arm to perform rotation operation under the current exposure cycle, the actual position information of each acquisition point of the C-arm in the current motion state is determined by using the light signal between the positioning detection device and the optical marker assembly.

[0059] For example, suppose the scanning cycle of the C-arm performing the entire scanning task on the target object is 'a'. According to a preset partitioning strategy, 'a' is divided into b identical exposure cycles, then each exposure cycle c = a / b. Therefore, each sub-scanning task is the operation performed on the target object within its corresponding exposure cycle c. Thus, the current sub-scanning task is the operation of the C-arm performing the scanning task on the target 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. The preset partitioning strategy can be selected by the user according to actual needs.

[0060] Step 102: Based on the actual position information of any two adjacent acquisition points, obtain the corresponding actual position difference, 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.

[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. The current rotation speed can be calculated by inputting the actual position information of any two adjacent acquisition points and their corresponding time difference to the PLC controller (programmable logic controller), which will then calculate and provide feedback.

[0062] Step 103: Based on the current rotation speed, generate a matching motion control strategy to adjust the current motion state so that the C-arm rotates at the set angle during the current exposure cycle.

[0063] To ensure the continuity and accuracy of acquired CT images, a matching motion control strategy is needed to precisely control the rotation speed of the C-arm. This ensures that the rotation angle of the C-arm remains consistent throughout each exposure cycle. This set angle is determined based on the scan cycle of the C-arm performing the entire scan on the target object and the total angle of rotation required for the C-arm to complete the scan. This ensures that the C-arm rotation and exposure are synchronized when the scan is completed. The motion control strategy can follow a preset pattern: if the current rotation speed of the C-arm is less than a preset speed, the current speed is gradually increased to ensure that the preset speed is reached within a preset time; conversely, if the current rotation speed is greater than the preset speed, the current speed is gradually decreased to ensure that the preset speed is reached within a preset time, achieving rapid and precise control of the C-arm.

[0064] Assuming the scanning cycle of the C-arm to complete the entire scanning task on the target object is 'a', and the total rotation angle required for the C-arm to complete the entire scanning task is 'd', then the set angle can be x = a / d. Therefore, within any exposure cycle c, the C-arm is rotated by the set angle x degrees using a 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. This ensures that when the C-arm rotates 'd' degrees, exposure cycles b can also be completed synchronously.

[0065] In this embodiment, the optical signals from the positioning detection device and optical marker assembly can directly determine the actual position information of each acquisition point of the C-arm without monitoring the transmission mechanism of the C-arm. This fundamentally avoids errors in the actual position information caused by belt slippage in the transmission mechanism, thus enabling more accurate adjustment of the C-arm's movement state based on the acquired actual position information. Furthermore, due to the high transmission rate of optical signals, the actual position information of each acquisition point of the C-arm can be determined more quickly using the optical signals between the positioning detection device and the optical marker assembly, thereby avoiding poor image quality in subsequent processes caused by motion lag.

[0066] In one embodiment, during an exposure cycle, the positioning detection device and the optical marker assembly interact with each other via optical signals. As soon as the positioning detection device detects the optical marker assembly moving from one acquisition point to another, it obtains the actual position information of these two acquisition points to determine the corresponding actual position difference. Based on this actual position difference and the corresponding time difference, the current rotation speed of the C-arm is calculated. This allows for a faster response to changes in the C-arm's position, resulting in faster adjustment of the C-arm.

[0067] Optionally, calculating the current rotational speed of the C-arm based on the actual position difference and the time difference corresponding to the actual position difference includes: calculating the ratio of the actual position difference to the actual time difference, and using the ratio as the current rotational 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 the current rotation speed can be adjusted more precisely to prevent poor quality of the generated CT images due to rotation that is too fast or too slow.

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

[0070] The X-ray tube exposure control program can calculate and allocate the scanning cycle of the total scanning task. After calculating the exposure cycle of each pulse, it generates the exposure time and non-exposure time of the X-ray tube in each cycle.

[0071] In addition, the exposure cycle can be input to the PLC controller, so that the corresponding level signal generated by the PLC controller allows the image receiving device on the C-arm to acquire the CT images generated within that exposure cycle. The PLC communicates with the motion drive device via a network port. During the exposure phase of the exposure cycle, the PLC communicates with the exposure device through a communication module. During the non-exposure phase of the exposure cycle, communication is achieved through high and low level signals.

[0072] For example, during the exposure phase of an exposure cycle, the PLC controller generates a high-level signal; during the non-exposure phase, it generates a low-level signal. When the PLC controller detects a switch from a high-level to a low-level signal, it controls the image receiving device on the C-arm to acquire the CT image generated during that 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 is assigned the same exposure duration and non-exposure duration. This allows the C-arm rotation, exposure by the exposure device, and image acquisition by the image receiving device to be synchronized, thereby making the acquired CT images more coherent and resulting in a better effect of three-dimensional reconstruction of the target scanned object based on the CT images.

[0074] In one embodiment, the motion control method further includes controlling the C-arm to stop rotating when the number of exposures of the exposure device reaches a first number.

[0075] In this embodiment, the scanning task of the C-arm is considered complete when the exposure time of the exposure device reaches a first number. At this point, controlling the C-arm to stop rotating allows subsequent imaging operations to be performed in a relatively stable state. This enables the acquisition of more accurate CT image information, resulting in better 3D reconstruction of the target object based on the CT image.

[0076] In one embodiment, step 103 above 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 the actual situation. The smaller the value, the more timely the response to subsequent adjustments to the current motion state.

[0080] In this embodiment, by calculating the speed difference between the current rotation speed and the preset rotation speed, the current operating status of the C-arm can be better monitored. If the absolute value of the speed difference is greater than or equal to a speed difference threshold, it indicates that the current rotation speed of the C-arm deviates significantly from the preset value. At this point, a matching motion control strategy is generated and adjusted to ensure that the rotation speed of the C-arm remains close to the preset value, thereby achieving precise motion control. This avoids problems such as blurring and artifacts in the acquired CT images due to unstable C-arm rotation speed, which could affect the 3D reconstruction effect of the target scanned object.

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

[0082] In this embodiment, the optical positioning and tracking system provides sub-millimeter level measurement accuracy, thereby enabling more accurate capture of the movement of the optical marker assembly. Consequently, based on the light signals from the optical positioning and tracking system and the optical marker assembly, the actual position information of each acquisition point on the C-arm can be determined more accurately.

[0083] In one embodiment, the C-arm and the exposure device are electrically connected to a display device, respectively; the motion control method further includes: acquiring 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 following: 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 the exposure duration and non-exposure duration), 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 both are electrically connected to the PLC controller mentioned above. The industrial computer can issue control commands to the PLC controller based on the operating parameters of the C-arm and the exposure equipment set by the user, monitor them in real time, and send the monitored data to the touch screen for the user to view and interact with.

[0086] In this embodiment, the operating parameters of the C-arm and exposure equipment are displayed in real time via a display device, allowing users to monitor the scanning status of the C-arm at any time. Furthermore, in case of problems, users can quickly adjust the operating parameters of the C-arm and exposure equipment, avoiding negative CT image generation results due to improper parameter settings.

[0087] In one embodiment, Figure 3 This is a modular architecture for a motion control method for a C-arm provided in Embodiment 1 of this disclosure. Figure 4 An exposure flowchart of a motion control method for a C-arm provided in Embodiment 1 of this disclosure, combined with... Figure 3 and Figure 4The motion control method for 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 are powered on to enable communication between the modules via electrical signals, allowing the optical positioning and tracking system of the motion drive device to capture the optical positioning component via light signals. Figure 2 (The motion is not shown in the image).

[0089] The display devices include an industrial computer and a touch screen. The industrial computer is connected to the PLC and can issue commands to the PLC. The touch screen is also directly connected to the PLC and has a more intuitive touch operation interface, supporting functions such as scanning parameter settings, real-time monitoring and feedback.

[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., is 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 X-ray tube generator, X-ray tube, etc., is 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 tablet, which is responsible for receiving the acquired CT images.

[0094] This architecture is primarily developed based on a PLC, integrating the C-arm motion drive and exposure equipment into a single program. This solves the problem that the original exposure control program could only run on Windows-based industrial PCs and could not work with the motion drive equipment. The architecture also includes programs for controlling various exposure modes of the X-ray tube, as well as initialization and calibration. Furthermore, an HMI interface for a touchscreen was developed to simplify the operation process and reduce the risk of human error.

[0095] Based on the above, a complete automated scanning process for 3D reconstruction needs has been constructed. After setting exposure and motion parameters on an external touchscreen, automatic scanning can be achieved, reducing the workload of operators. Furthermore, motion control and exposure control functions are integrated into a PLC-based architecture, achieving a high degree of integration between different hardware and software modules. This integrated design simplifies the complexity of the PLC architecture. Users can adjust the C-arm's motion trajectory and exposure parameters through an intuitive interface, and can also execute some preset programs (initialization programs, inverter calibration, X-ray tube calibration, etc.), greatly reducing manual operation and improving work efficiency. The architecture also considers future changes in needs and technological upgrades, possessing good scalability and compatibility. Whether adding new functional modules or integrating with other equipment, it can be achieved through software updates or simple hardware expansion. S2: Place the target object to be scanned near its center on the C-arm.

[0096] S3: Execute via the display module, such as... Figure 3 The exposure preparation stage process is shown below (e.g.) Figure 3 (As shown).

[0097] S3-1: Exposure Preparation Stage of the X-ray Tube Generator: The X-ray tube in the X-ray tube generator is initialized, the inverter is calibrated, and the X-ray tube is calibrated sequentially. Then, exposure parameters such as X-ray tube voltage, current, and exposure cycle are set on the touch screen. After setting, the parameters are sent to the PLC controller via the industrial control computer by clicking the parameter send button. Among them, the inverter calibration is to calibrate the inverter in the X-ray tube.

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

[0099] The exposure parameters and scanning parameters can be found in [reference needed]. Figure 5 As shown, it should be noted that Figure 5 The exposure and scan parameters shown are just examples; not all scan tasks will use the same exposure and scan parameters. Figure 5 The settings are the same as in the previous section, but you can adjust them according to your actual situation.

[0100] S3-3: Exposure preparation stage of the optical positioning and tracking system: Zero the position of the optical positioning component in the optical positioning and tracking system, and move the position of 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 important.

[0102] S4: Execute as follows Figure 3 The exposure stage process is as follows: while the X-ray tube generator is being exposed, the C-arm moves to the target position under the control of the PLC controller.

[0103] During the exposure phase, the optical positioning and tracking system acquires the optical positioning components in real time and sends the data to the PLC controller to obtain the rotational speed of the C-arm. The PLC controller then generates a matching motion control strategy based on the rotational speed to drive the servo motor driver and adjust the servo motor's speed, thereby controlling the C-arm's rotational speed. Furthermore, the CT images acquired by the image receiving module are saved via an industrial computer for 3D reconstruction of the target object.

[0104] S5: End.

[0105] Example 2

[0106] Corresponding to the aforementioned embodiments of the motion control method for the C-arm, this disclosure also provides embodiments of the motion control system for the C-arm. Figure 6 This is a schematic diagram of a motion control system module for a C-arm according to Embodiment 2 of this disclosure; the C-arm includes a C-arm, an exposure device, and a motion driving device, an optical marker assembly is installed at a first preset position of the C-arm, and a positioning detection device that interacts with the optical marker assembly is placed at a second preset position of the C-arm;

[0107] The motion control system includes:

[0108] The response module 61 is used to respond to the current exposure cycle when the exposure device is synchronously driven to perform the current sub-scanning task on the target scanning object and the motion drive device is driven to rotate the C-arm. Then, it uses the light signal between the positioning detection device and the optical marker component to determine the actual position information of each acquisition point of the C-arm 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 to 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 based on the current rotation speed to adjust the current motion state so that the rotation angle of the C-arm under the current exposure cycle reaches a set angle.

[0111] In one embodiment, the computing 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] The allocation module is used to allocate a first number of exposure cycles and corresponding sub-scanning tasks based on the total number of scanning tasks; wherein each exposure cycle corresponds to the same exposure duration and non-exposure duration.

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

[0116] The response module is used to control the C-arm to stop rotating when the number of exposures of the exposure device reaches 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 to generate a matching motion control strategy to adjust the current motion state when the absolute value of the speed difference is greater than or equal to the speed difference threshold.

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

[0121] and / or;

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

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

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

[0125] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs.

[0126] Example 3

[0127] Figure 7 This is a schematic diagram of the structure of an electronic device according to 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. When the processor executes the computer program, it implements the motion control method described in any of the above embodiments. Figure 7 The electronic device 70 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0128] like Figure 7 As shown, the electronic device 70 can be manifested as a general-purpose computing device, such as 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 memory 72 and processor 71).

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

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

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

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

[0133] Electronic device 70 can also communicate with one or more external devices 74 (e.g., keyboard, pointing device, etc.). This communication can be performed via input / output (I / O) interface 77. Furthermore, electronic device 70 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 76. As shown, network adapter 76 communicates with other modules of electronic device 70 via bus 73. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with 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.

[0134] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this 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 and embodied by multiple units / modules.

[0135] Example 4

[0136] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the motion control method provided in any of the above embodiments.

[0137] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0138] Example 5

[0139] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the motion control method described in any of the above embodiments.

[0140] The program code for executing the computer program product of this disclosure can be written in any combination of one or more programming languages, and the program code can be executed entirely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0141] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A motion control method for a C-arm, characterized in that, The C-arm includes a C-arm, an exposure device, and a motion driving device. An optical marking component is installed at a first preset position of the C-arm, and a positioning detection device that interacts with the optical marking component is placed at a second preset position of the C-arm. The motion control method includes: 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 rotate the C-arm under the current exposure cycle, the actual position information of the C-arm at each acquisition point in the current motion state is determined by using the light signal between the positioning detection device and the optical marker component. Based on the actual position information of any two adjacent acquisition points, the corresponding actual position difference is obtained, and based on the actual position difference and the time difference corresponding to the actual position difference, the 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 under the current exposure cycle reaches the set angle.

2. The motion control method as described in claim 1, characterized in that, The step of calculating the current rotational speed of the C-arm based on the actual position difference and the time difference corresponding to the actual position difference includes: 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.

3. The motion control method as described in claim 1, characterized in that, Before the steps of synchronously driving the exposure device to perform the current sub-scanning task on the target scanning object and driving the motion drive device to drive the C-arm to perform a 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 exposure cycle corresponds to the same exposure duration and non-exposure duration.

4. The motion control method as described in claim 3, characterized in that, The motion control method further includes: When the number of exposures of the exposure device reaches the first number, the C-arm is controlled to stop rotating.

5. The motion control method as described in claim 1, characterized in that, The step of generating a matching motion control strategy based on the current rotation speed to adjust the current motion state includes: The speed difference between the current rotation speed and the preset rotation speed is calculated. If the absolute value of the speed difference is 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 1-5, characterized in that, The positioning detection device is an optical positioning and tracking system; and / or; The C-arm and the exposure device are electrically connected to the display device, respectively; the motion control method further includes: Obtain the operating parameters of the C-arm and / or the exposure device; The display device is controlled to display the operating parameters.

7. A motion control system for a C-arm, characterized in that, The C-arm includes a C-arm, an exposure device, and a motion driving device. An optical marking component is installed at a first preset position of the C-arm, and a positioning detection device that interacts with the optical marking component is placed at a second preset position of the C-arm. The motion control system includes: The response module is used to respond to the current exposure cycle when the exposure device is synchronously driven to perform the current sub-scanning task on the target scan object and the motion drive device is driven to rotate the C-arm. The module uses the light signal between the positioning detection device and the optical marker component to determine the actual position information of the C-arm at each acquisition point in the current motion state. The calculation module is used to obtain the corresponding actual position difference based on the actual position information of any two adjacent acquisition points, and to 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. An adjustment module is used to generate a matching motion control strategy based on the current rotation speed to adjust the current motion state so that the rotation angle of the C-arm under 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 for running on the processor, characterized in that, When the processor executes the computer program, it implements the motion control method according to any one of claims 1 to 6.

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

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

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