Propulsion control method of contrast agent injector, computer readable storage medium and device

Abstract

The invention discloses a propulsion control method of a contrast agent injector, a computer readable storage medium and a device. The method comprises the following steps: the contrast agent injector injects at an initial propulsion speed; obtaining an initial gray value of contrast agent imaging on the developing equipment; when the initial gray value is located between a minimum gray threshold value and a target gray value or between the target gray value and a maximum gray threshold value, a first control mode is selected to control the advancing speed of the injector, and the first control mode comprises the following processes that the theoretical gray adjusting quantity of the next moment is calculated through an incremental PID control algorithm; according to the corresponding relation between the gray level adjusting amount and the advancing speed adjusting amount of the injector, the advancing speed adjusting amount of the injector is obtained, and the advancing speed of the injector is adjusted according to the advancing speed adjusting amount till the gray level of contrast agent imaging on the developing device reaches the target gray level value. The detection accuracy can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to a propulsion control method, computer-readable storage medium, and device for a contrast agent injector. Background Art

[0002] Medical imaging using contrast agents requires the use of a syringe to inject contrast agents into the body. Traditionally, doctors manually inject contrast agents. However, manual injections cannot maintain a consistent rate or quantitative injection volume, resulting in uneven distribution of the contrast agent and affecting the accuracy of test results.

[0003] The existing technology used to solve the above problem is to use an automatic propulsion device instead of manual injection. The existing automatic propulsion device includes a drive motor and a controller for the drive motor. The controller is provided with a speed control component, and the injection speed can be set as needed to ensure uniform injection of the contrast agent. However, different people have different absorption of contrast agents. Doctors need to adjust the injection speed during the injection of contrast agents to adjust the amount of contrast agent used, thereby adjusting the clarity of the contrast agent. When adjusting the injection speed with the existing automatic propulsion device, it is necessary to pause the injection first and then restart the injection at the new speed. The pause operation will cause the contrast agent to break and become discontinuous, affecting the detection results. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects of the prior art and to provide a propulsion control method, computer-readable storage medium and device for a contrast agent injector. The injection speed of the injector is adaptively controlled according to the clarity of the image on the developing device through a feedback control algorithm. This can not only avoid the bridge breaking phenomenon, but also adaptively adjust the injection speed according to the conditions of different patients, so that the imaging effect is always in an optimal state, thereby improving the detection accuracy.

[0005] To achieve the above object, the first technical solution of the present invention is as follows:

[0006] A method for controlling the advancement of a contrast agent injector includes the following steps:

[0007] The contrast medium injector is injected at an initial advancement rate;

[0008] Obtaining an initial grayscale value of the contrast agent imaging on the developing device;

[0009] When the initial grayscale value is between the minimum grayscale threshold and the target grayscale value or between the target grayscale value and the maximum grayscale threshold, a first control mode is selected to control the advancement speed of the syringe, and the first control mode includes the following process:

[0010] Calculate the theoretical grayscale adjustment value at the next moment through the incremental PID control algorithm;

[0011] According to the correspondence between the grayscale adjustment amount and the syringe propulsion speed adjustment amount, the syringe propulsion speed adjustment amount is obtained, and the syringe propulsion speed is adjusted by the propulsion speed adjustment amount until the grayscale of the contrast agent imaging on the developing device reaches the target grayscale value.

[0012] The second technical solution of the present invention is as follows:

[0013] A computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the steps of the contrast agent injector propulsion control method as described in any one of the above embodiments.

[0014] The third technical solution of the present invention is as follows:

[0015] A propulsion control device for a contrast agent injector includes a processor and a memory connected to the processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0016] The contrast medium injector is injected at an initial advancement rate;

[0017] Obtaining an initial grayscale value of the contrast agent imaging on the developing device;

[0018] When the initial grayscale value is between the minimum grayscale threshold and the target grayscale value or between the target grayscale value and the maximum grayscale threshold, a first control mode is selected to control the advancement speed of the syringe, and the first control mode includes the following process:

[0019] Calculate the theoretical grayscale adjustment value at the next moment through the incremental PID control algorithm;

[0020] According to the correspondence between the grayscale adjustment amount and the syringe propulsion speed adjustment amount, the syringe propulsion speed adjustment amount is obtained, and the syringe propulsion speed is adjusted by the propulsion speed adjustment amount until the grayscale of the contrast agent imaging on the developing device reaches the target grayscale value.

[0021] The implementation of the present invention will have the following beneficial effects:

[0022] The embodiment of the present invention uses an incremental PID control algorithm to calculate the theoretical grayscale adjustment amount at the next moment, and then obtains the adjustment amount of the syringe propulsion speed required to achieve optimal imaging clarity based on the correspondence between the grayscale adjustment amount and the syringe propulsion speed adjustment amount. By adjusting the propulsion speed according to the adjustment amount, the grayscale of the optimal imaging can be obtained.

[0023] The present invention adopts an incremental PID control algorithm to adjust the propulsion speed, which can make the propulsion speed adaptively adjusted according to the grayscale requirements. The control algorithm can reduce overshoot and oscillation, improve the stability and accuracy of control, and adjust the propulsion speed of the syringe to the optimal speed in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] in:

[0026] Figure 1 It is a flow chart of a method for controlling the advancement of a contrast agent injector according to a specific embodiment of the present invention.

[0027] Figure 2 FIG. 4 is a schematic diagram of grayscale values according to a specific embodiment of the present invention.

[0028] Figure 3 The figure is a block diagram of the computer device structure of a propulsion control device for a contrast agent injector according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] refer to Figure 1 The present invention discloses a method for controlling the propulsion of a contrast agent injector, comprising the following steps:

[0031] S1: The contrast agent injector injects at an initial propulsion speed V0. The initial propulsion speed V0 can be a preset value or can be initially set by the doctor.

[0032] S2: Obtaining the initial grayscale value G0 of the contrast agent image on the development device. After the contrast agent is injected into the body, an image is formed on the development device. This initial grayscale value G0 is the grayscale value of the image formed after the contrast agent is injected at the initial propulsion velocity V0. The grayscale value of the contrast agent image on the development device can be input by a physician after observation or automatically determined by an automatic recognition module from real-time contrast agent imaging images.

[0033] S3: Determine the initial grayscale value G0 and the maximum grayscale threshold G 最大 , minimum grayscale threshold G 最小 and target grayscale value G 目标 When the initial gray value G0 is at the minimum gray threshold G 最小 and target grayscale value G 目标 Between or at the target gray value G 目标 and the maximum grayscale threshold G 最大 When G0∈[G 最小 , G 目标 ), or G0∈(G 目标 , G 最大 ], the first control mode is selected to control the propulsion speed of the syringe, and the first control mode includes the following processes:

[0034] S31: Calculate the theoretical grayscale adjustment value △G at the next moment through the incremental PID control algorithm.

[0035] S32: According to the correspondence between the grayscale adjustment value △G and the syringe propulsion speed adjustment value △V, the syringe propulsion speed adjustment value △V is obtained, and the syringe propulsion speed V is adjusted by the propulsion speed adjustment value △V until the grayscale of the image on the developing device reaches the target grayscale value G 目标 .

[0036] Furthermore, in a specific embodiment, calculating the theoretical grayscale adjustment amount ΔG at the next moment by using the incremental PID control algorithm includes the following process:

[0037] S311: According to the gray value G at time t t and the target gray value G 目标 Deviation, get the grayscale deviation △G at time t t That is, △G t =G t -G 目标 ;

[0038] S312: According to the gray value G at time t-1 t-1 and the target gray value G 目标 Deviation, get the grayscale deviation △G at time t-1 t-1 That is, △G t-1 =G t-1 -G 目标 ;

[0039] S313: According to the gray value G at time t-2 t-2 and the target gray value G 目标 Deviation, get the grayscale deviation △G at time t-2 t-2 That is, △G t-2 =G t-2 -G目标 ;

[0040] S314: Calculate the theoretical grayscale adjustment value ΔG at the next moment according to the following formula (1):

[0041] △G= P(△G t -△G t-1 )+I(△G t )+D(△G t -2*△G t-1 +△G t-2 ) (1)

[0042] In the above formula, P is the algorithm proportional coefficient, which is used to make the actual grayscale closer to the target grayscale; I is the error accumulation coefficient, which is used to eliminate the static error of the system; D is the differential coefficient, which is used to suppress the overshoot of the propulsion speed;

[0043] S315: Repeat steps S311 to S314 to enter the next cycle of control. This process is repeated to achieve the effect of adjusting the syringe propulsion speed in real time.

[0044] In the above scheme, the time intervals between adjacent moments, i.e., the time intervals between time t and time t-1, and between time t-1 and time t-2, can be 1 to 5 seconds, acting as a filter to prevent excessive jitter in the propulsion speed without causing response delays. The time interval between time t and time t-1 can be the same as or different from the time interval between time t-1 and time t-2.

[0045] In the above formula (1), preferably, P=2-4, I=4-6, and D=2-4, which can make the control method more stable, reduce overshoot and oscillation, and obtain the best propulsion speed in a shorter time.

[0046] In a specific embodiment, the correspondence between the grayscale adjustment amount ΔG and the syringe advancement speed adjustment amount ΔV may be a conversion formula or a preset one-to-one mapping lookup table.

[0047] In the first control mode mentioned above, the incremental PID control algorithm is used to calculate the theoretical grayscale adjustment amount △G at the next moment, and then based on the correspondence between the grayscale adjustment amount △G and the syringe propulsion speed adjustment amount △V, the adjustment amount △V required for the syringe propulsion speed to achieve better imaging clarity is obtained. By adjusting the propulsion speed according to this adjustment amount △V, the grayscale of the better imaging can be obtained.

[0048] The present invention adopts an incremental PID control algorithm to adjust the propulsion speed, which can make the propulsion speed adaptively adjusted according to the grayscale requirements, and the control algorithm can reduce overshoot and oscillation, and improve the stability and accuracy of control.

[0049] S4: When the initial gray value G0 is less than the minimum gray threshold G 最小 , that is, G0<G 最小 When the second control mode is selected to control the propulsion speed of the syringe, the second control mode includes: the syringe increases ΔV at the maximum speed adjustment amount. 最大 Increase the current propulsion speed V.

[0050] S5: When the initial gray value G0 is greater than the maximum gray threshold G 最大 When G0>G 最大 When the syringe is pushed forward, the third control mode is selected to control the syringe's pushing speed. Specifically, the third control mode includes: the syringe increases ΔV at the maximum speed adjustment amount. 最大 Reduce the current propulsion speed V.

[0051] S6: When the initial grayscale value G0 is equal to the target grayscale value G 目标 When G0=G 目标 When the syringe is pushed forward, the fourth control mode is selected to control the pushing speed of the syringe. Specifically, the fourth control mode includes: the syringe is pushed forward at a constant speed at the current pushing speed V.

[0052] In the above scheme, the maximum grayscale threshold G 最大 Refers to the grayscale range corresponding to the maximum contrast dose allowed to be injected, and the minimum grayscale threshold G 最小 Refers to the grayscale range corresponding to the minimum contrast dose that allows clear imaging, the target grayscale value G 目标 Refers to the optimal grayscale range for clear imaging. Figure 2 , which is a grayscale schematic diagram of a specific embodiment of the present invention, from Figure 2 You can see: target gray value G 目标 It can be a grayscale interval or an optimal grayscale value. 最大 , minimum grayscale threshold G 最小 , target gray value G 目标 Can be gained through experience.

[0053] The above-mentioned contrast agent injector propulsion control method of the present invention can be applied to both terminals and servers.

[0054] refer to Figure 3, which is an internal structural diagram of a computer device of a propulsion control device for a contrast agent injector according to a specific embodiment of the present invention. The propulsion control device can be a terminal or a server. The device includes a processor, a memory and a network interface connected via a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and can also store a computer program. When the computer program is executed by the processor, the processor can realize the propulsion control of the contrast agent injector. The internal memory can also store a computer program. When the computer program is executed by the processor, the processor can execute the propulsion control method of the contrast agent injector. Those skilled in the art can understand that, Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0055] In a specific embodiment, the present invention provides a propulsion control device for a contrast agent injector, comprising a processor and a memory connected to the processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0056] The contrast medium injector is injected at an initial advancement rate;

[0057] Obtaining an initial grayscale value of the contrast agent imaging on the developing device;

[0058] When the initial grayscale value is between the minimum grayscale threshold and the target grayscale value or between the target grayscale value and the maximum grayscale threshold, a first control mode is selected to control the advancement speed of the syringe, and the first control mode includes the following process:

[0059] Calculate the theoretical grayscale adjustment value at the next moment through the incremental PID control algorithm;

[0060] According to the correspondence between the grayscale adjustment amount and the syringe propulsion speed adjustment amount, the syringe propulsion speed adjustment amount is obtained, and the syringe propulsion speed is adjusted by the propulsion speed adjustment amount until the grayscale of the contrast agent imaging on the developing device reaches the target grayscale value.

[0061] In a specific embodiment, the present invention further provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor performs the following steps:

[0062] The contrast medium injector is injected at an initial advancement rate;

[0063] Obtaining an initial grayscale value of the contrast agent imaging on the developing device;

[0064] When the initial grayscale value is between the minimum grayscale threshold and the target grayscale value or between the target grayscale value and the maximum grayscale threshold, a first control mode is selected to control the advancement speed of the syringe, and the first control mode includes the following process:

[0065] Calculate the theoretical grayscale adjustment value at the next moment through the incremental PID control algorithm;

[0066] According to the correspondence between the grayscale adjustment amount and the syringe propulsion speed adjustment amount, the syringe propulsion speed adjustment amount is obtained, and the syringe propulsion speed is adjusted by the propulsion speed adjustment amount until the grayscale of the contrast agent imaging on the developing device reaches the target grayscale value.

[0067] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0068] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A method for controlling the advancement of a contrast agent injector, characterized in that: The following processes are included: The contrast medium injector is injected at an initial advancement rate; Obtaining an initial grayscale value of the contrast agent imaging on the developing device; When the initial grayscale value is between the minimum grayscale threshold and the target grayscale value or between the target grayscale value and the maximum grayscale threshold, a first control mode is selected to control the advancement speed of the syringe, and the first control mode includes the following process: Calculate the theoretical grayscale adjustment value at the next moment through the incremental PID control algorithm; According to the correspondence between the grayscale adjustment amount and the syringe propulsion speed adjustment amount, the syringe propulsion speed adjustment amount is obtained, and the syringe propulsion speed is adjusted by the propulsion speed adjustment amount until the grayscale of the contrast agent imaging on the developing device reaches the target grayscale value.

2. The method for controlling the advancement of a contrast medium injector according to claim 1, wherein: The calculation of the theoretical grayscale adjustment value at the next moment by the incremental PID control algorithm includes the following process: According to the deviation between the grayscale value at time t and the target grayscale value, the grayscale deviation ΔG at time t is obtained. t ; According to the deviation between the grayscale value at time t-1 and the target grayscale value, the grayscale deviation ΔG at time t-1 is obtained. t-1 ; According to the deviation between the grayscale value at time t-2 and the target grayscale value, the grayscale deviation ΔG at time t-2 is obtained. t-2 ; The theoretical grayscale adjustment value ΔG at the next moment is calculated according to the following formula (1): △G= P(△G t -△G t-1 )+I(△G t )+D(△G t -2*△G t-1 +△G t-2 ) (1) In the above formula, P is the algorithm proportional coefficient, I is the error accumulation coefficient, and D is the differential coefficient.

3. The method for controlling the advancement of a contrast medium injector according to claim 2, wherein: The time interval between the time t and the time t-1 is 1s to 5s; The time interval between the time t-1 and the time t-2 is 1s to 5s.

4. The method for controlling the advancement of a contrast medium injector according to claim 2, wherein: P=2~4, I=4~6, D=2~4.

5. The method for controlling the advancement of a contrast medium injector according to claim 1, wherein: The corresponding relationship between the grayscale adjustment amount and the syringe propulsion speed adjustment amount is a conversion formula or a lookup table of a one-to-one mapping relationship.

6. The method for controlling the advancement of a contrast medium injector according to claim 1, wherein: The following procedures are also included: When the initial grayscale value is less than the minimum grayscale threshold, a second control mode is selected to control the propulsion speed of the syringe, and the second control mode includes: increasing the propulsion speed of the syringe by a maximum speed adjustment amount.

7. The method for controlling the advancement of a contrast medium injector according to claim 1, wherein: The following procedures are also included: When the initial grayscale value is greater than the maximum grayscale threshold, a third control mode is selected to control the propulsion speed of the syringe. The third control mode includes: reducing the propulsion speed of the syringe by a maximum speed adjustment amount.

8. The method for controlling the advancement of a contrast medium injector according to claim 1, wherein: The following procedures are also included: When the initial grayscale value is equal to the target grayscale value, the fourth control mode is selected to control the propulsion speed of the syringe. The fourth control mode includes: the syringe is uniformly propulsed at the current propulsion speed.

9. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to execute the steps of the method for controlling the advancement of a contrast medium injector according to any one of claims 1 to 8.

10. A propulsion control device for a contrast agent injector, characterized in that: The invention comprises a processor and a memory connected to the processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the contrast agent injector propulsion control method according to any one of claims 1 to 8.

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