Beam limiting device, control method thereof and electronic equipment

Abstract

The invention provides a beam limiting device and a control method thereof, and electronic equipment, and the device comprises a blade assembly which comprises a plurality of blades which are in lap joint with each other, and are disposed in the same plane in a single layer; the first-layer rotary table and the second-layer rotary table are coaxially arranged; the blade assembly is arranged between the first-layer rotating disc and the second-layer rotating disc through the guide structure, a radiation field opening is formed through opening and closing of the blade assembly so as to limit the range of a ray beam, the inherent defects of a multi-layer blade beam limiting device in the prior art are overcome, the radiation leakage risk caused by interlayer assembly gaps is remarkably reduced, and the service life of the multi-layer blade beam limiting device is prolonged. The single-layer layout greatly reduces the axial space required by the opening and closing of the blades, so that the overall structure of the beam limiting device is more compact and light, a foundation is laid for the miniaturization design of equipment such as a movable C-shaped arm X-ray machine, the reliability and stability of equipment operation are further improved, a control system is simplified, and the overall cost from research and development to production is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of beam limiting device control, in particular to a beam limiting device and a control method thereof, and an electronic device. BACKGROUND

[0002] The X-ray beam limiter is a key component in the mobile C-arm X-ray machine system, and its main function is to accurately limit the beam range of the X-ray tube, that is, to control the size and shape of the radiation field, so as to control the radiation dose received by the patient to the minimum level required for diagnosis and minimize scattered radiation.

[0003] At present, the mainstream beam limiter on the market adopts a multi-layer blade structure of a coupling turntable. In order to realize a square radiation field, there are mainly two technical paths in the prior art. One part adopts a multi-motor independent driving scheme, which adopts multiple motors to independently control each blade in the multi-layer blade. By calculating and controlling the differential speed of different motors in real time, the blades at different heights are driven to synthesize the required square radiation field on the projection plane. However, the control algorithm is complex, and multiple motors need to be controlled in real time with high precision, which increases the system cost and failure rate. Secondly, the stacking structure of the multi-layer blade inevitably increases the axial size of the device in the direction of the radiation, which is not conducive to the compactness and lightweight design of the whole machine structure. Furthermore, the assembly gap between the layers will form a potential radiation leakage path, which needs to be blocked by additional shielding structures, further increasing the complexity and cost of the structure.

[0004] The other part adopts a mechanical coupling trajectory scheme. In order to reduce the number of motors, a pair of pre-set specific coupling trajectories (for example, straight line trajectory for the lower layer and involute trajectory for the upper layer) on the turntable are used to drive the two layers of blades, and the trajectory shape is used to force the blades to move according to the predetermined rule. However, the curvature and slope of each point on the involute trajectory continuously change, which makes the force state of the blade unstable during the movement. Especially in the area where the slope of the trajectory suddenly changes, combined with the backlash and assembly gap of the blade driving mechanism, it is easy to cause the blade movement to appear mutation or jamming phenomenon, affecting the stability and reliability of the radiation field shape, and even causing equipment damage. Secondly, the coupling trajectory is pre-processed for a specific radiation field shape, and lacks flexibility. Once the trajectory is processed, the movement relationship is fixed, and it is difficult to make accurate compensation or adjustment. Therefore, the existing beam limiter technology has inherent defects in structure complexity, control reliability, radiation safety and overall space layout, which cannot be reconciled. There is an urgent need for a new beam limiting technology scheme that can fundamentally simplify the structure, optimize the control, improve the reliability, and adapt to the requirements of lightness and intelligence of the mobile C-arm device.

[0005] Therefore, the prior art still needs further development. SUMMARY

[0006] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a beam-limiting device and its control method and electronic device to solve the problems existing in the prior art.

[0007] To achieve the above-mentioned technical objectives, according to a first aspect of the present invention, a beam-limiting device is provided, comprising: A blade assembly comprises multiple overlapping blades arranged in a single layer on the same plane; The first and second turntables are coaxially arranged. The blade assembly is positioned between the first and second turntables via a guide structure, and the opening and closing of the blade assembly forms a radiation field opening to limit the range of the radiation beam.

[0008] Specifically, the guiding structure includes a first guiding component and a second guiding component; The first guide component is a guide limiting pin disposed on one side of the blade; The second guide component is a drive pin located on the other side of the blade.

[0009] Specifically, the first layer turntable is provided with a first guide groove, and the second layer turntable is provided with a second guide groove; The guide pin of the blade is slidably accommodated in the first guide groove of the first layer turntable; The drive pin of the blade is slidably housed in the second guide groove of the second layer turntable.

[0010] Specifically, the beam limiting device further includes a first drive motor and a second drive motor. The first drive motor is connected to the first layer turntable and is used to drive the first layer turntable to rotate. The second drive motor is connected to the second layer turntable and is used to drive the second layer turntable to rotate.

[0011] Specifically, the restraint device also includes a base, and the first layer turntable and the second layer turntable are restrained on the base by a bearing assembly.

[0012] Specifically, the beam-limiting device further includes a first position detection component and a second position detection component; Both the first position detection component and the second position detection component are fixedly mounted on the base. The first position detection component is used to detect the initial position of the first layer turntable; the second position detection component is used to detect the initial position of the second layer turntable.

[0013] Specifically, the beam limiting device comprises a shielding piece, the shielding piece is arranged on the first layer turntable, the first position detection assembly comprises a first photoelectric switch, and the second position detection assembly comprises a second photoelectric switch. The distance between the limit position of the first layer turntable under the limiting structure and the light column of the first photoelectric switch is less than or equal to the length of the shielding piece. The distance between the limit position of the second layer turntable under the limiting structure and the light column of the second photoelectric switch is less than or equal to the length of the shielding piece.

[0014] According to a second aspect of the present application, a control method of a beam limiting device is provided, comprising: receiving a control instruction; controlling the first driving motor and the second driving motor to work in a predetermined cooperative mode based on the control instruction, so as to drive the opening and closing or rotation of the blade assembly.

[0015] Specifically, the controlling the first driving motor and the second driving motor to work in a predetermined cooperative mode based on the control instruction comprises: when the control instruction is only to adjust the opening and closing of the blade assembly, controlling the first driving motor to keep a locked state and driving the second driving motor to drive the second layer turntable to rotate, so as to realize the opening and closing of the blade assembly; when the control instruction is only to adjust the rotation of the blade assembly, controlling the second driving motor to keep a locked state and controlling the first driving motor to drive the first layer turntable to rotate, so as to realize the rotation of the blade assembly 2; when the control instruction is to adjust the opening and closing and the rotation of the blade assembly at the same time, driving the first driving motor and the second driving motor to drive the first layer turntable and the second layer turntable to rotate in opposite directions respectively.

[0016] Specifically, before receiving the control instruction, the first layer turntable and the second layer turntable are calibrated in position, specifically comprising: judging whether the first position detection assembly is triggered; controlling the first driving motor and the second driving motor to perform an initialization motion according to the triggering state of the first position detection assembly, until the first position detection assembly and the second position detection assembly both reach a predetermined triggering state.

[0017] Specifically, the controlling the first driving motor and the second driving motor to perform an initialization motion according to the triggering state of the first position detection assembly comprises: If the first position detection component is triggered, the first driving motor is controlled to rotate clockwise by a first preset step number, and the second driving motor is controlled to rotate clockwise by a second preset step number, then it is judged whether the second position detection component is triggered, and the second driving motor is controlled to move according to the triggering state of the second position detection component until the second position detection component is triggered. If the first position detection component is not triggered, the first driving motor and the second driving motor are both controlled to rotate counterclockwise, and it is judged again whether the first position detection component is triggered, if yes, the initialization movement is continuously executed, otherwise, an alarm is triggered.

[0018] Specifically, the first preset step number is greater than the second preset step number.

[0019] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, computer readable instructions are stored on the memory, and the computer readable instructions are executed by the processor to implement the control method of the beam limiting device.

[0020] Advantages: The present application provides a beam limiting device and a control method thereof, which overcomes the inherent defects of the multi-layer leaf beam limiter in the prior art by adopting the structure of the single-layer leaf assembly combined with the coaxially arranged double-layer rotating disc, significantly reduces the risk of radiation leakage caused by the interlayer assembly gap, does not need to add a complex additional shielding structure, improves the radiation safety, greatly reduces the axial space required for opening and closing of the leaf in the single-layer layout, makes the overall structure of the beam limiter more compact and light, lays a foundation for the miniaturization design of mobile C-arm X-ray machines and other devices, further improves the reliability and stability of the device operation, simplifies the control system, and thus reduces the overall cost from research and development to production. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural composition schematic diagram of the beam limiting device provided in the specific embodiment of the present application; Figure 2 is a structural schematic diagram of one side of the leaf provided in the specific embodiment of the present application; Figure 3 is a structural schematic diagram of the other side of the leaf provided in the specific embodiment of the present application; Figure 4 is an assembly schematic diagram of the beam limiting device provided in the specific embodiment of the present application; Figure 5 is a process schematic diagram of opening and closing of the leaf assembly provided in the specific embodiment of the present application; Figure 6 is a process schematic diagram of rotation of the leaf assembly provided in the specific embodiment of the present application; Figure 7 is a flow chart of the control method of the beam limiting device provided in the specific embodiments of the present application; Figure 8 is a flow chart of the self-checking of the beam limiting device provided in the specific embodiments of the present application; In the above figures, the reference signs are as follows: 1, base; 2, leaf assembly; 3, leaf; 4, first layer turntable; 5, second layer turntable; 6, bearing assembly; 7, guide limiting pin; 8, driving pin; 9, pressing plate; 10, first driving motor; 11, second driving motor; 12, first motor gear; 13, second motor gear; 14, shielding piece; 15, first photoelectric switch; 16, second photoelectric switch. DETAILED DESCRIPTION

[0022] In order to make the technical solutions of the present application better understood by the people in the art, the technical solutions of the present application will be described clearly and completely below in combination with the drawings of the present application. Based on the embodiments in the present application, other similar embodiments obtained by the people in the art without making creative efforts should all belong to the scope of protection of the present application. In addition, the directional words mentioned in the following embodiments, such as “up”, “down”, “left” and “right”, are only the directions of the drawings, and therefore, the directional words used are used for illustration but not for limiting the present application.

[0023] The present application will be further described below in combination with the drawings and preferred embodiments.

[0024] Please refer to Figure 1 The present embodiment provides a beam limiting device, which comprises a leaf assembly 2, a first layer turntable 4 and a second layer turntable 5. The leaf assembly 2 comprises a plurality of leaves 3 which are arranged in a single layer in the same plane and are overlapped with each other. The first layer turntable 4 and the second layer turntable 5 are coaxially arranged, and the leaf assembly 2 is arranged between the first layer turntable 4 and the second layer turntable 5 through a guide structure. The opening of the leaf assembly 2 can form a radiation field opening, so as to limit the range of the radiation beam.

[0025] It can be understood that, by adopting the single-layer leaf 3 structure, the present embodiment not only reduces the risk of leakage of the radiation and the arrangement of additional shielding radiation, but also reduces the space required for the overall opening and closing of the leaf 3 under the premise of the same opening and closing size of the leaf 3, thereby laying a foundation for the lightness of the overall X-ray system architecture, simplifying the complex coupling track under the multi-layer leaf 3, saving the cost of the overall system from research and development to production, and avoiding the phenomena of sudden change of the leaf 3 opening and jamming of the leaf 3 under the coupling error, thereby further improving the accuracy and reliability of the beam limiting in the present embodiment.

[0026] Referring to Figure 1 and Figure 4 , the beam limiting device in the embodiment further comprises a base 1, the first layer turntable 4 and the second layer turntable 5 are limited on the base 1 through a bearing assembly 6, the bearing assembly 6 not only provides support required for the rotation of the turntable, but also ensures the stability and accuracy of the rotation of the turntable, the base 1 serves as the basic support structure of the entire beam limiting device, has sufficient stability and rigidity, and can withstand various forces and vibrations generated during the rotation of the turntable.

[0027] It can be understood that the base 1 serves as the core bearing and mounting reference of the beam limiting device in the embodiment, and the first layer turntable 4, i.e. the upper layer turntable in Figure 1 , and the second layer turntable 5, i.e. the lower layer turntable in Figure 1 , are coaxially mounted on the base 1 through a set of precise bearing assemblies 6. This design ensures that the upper and lower turntables have a common rotation center and mounting reference, and fundamentally guarantees the coaxiality and parallelism of the movement of the two turntables, thereby providing a stable and reliable reference platform for the movement of the entire blade assembly 2, and fundamentally eliminating the blade 3 movement errors, uneven opening and closing or friction jamming phenomenon caused by the non-uniform reference, and is the basis for realizing high-precision and high-reliability movement.

[0028] Referring to Figures 2-4 , the guide structure in the embodiment comprises a first guide component and a second guide component. The first guide component is a guide limiting pin 7 arranged on one side of the blade 3, and the second guide component is a driving pin 8 arranged on the other side of the blade 3. The first layer turntable 4 is provided with a first guide groove, and the second layer turntable 5 is provided with a second guide groove. The guide limiting pin 7 of the blade 3 is slidably accommodated in the first guide groove of the first layer turntable 4, and the driving pin 8 of the blade 3 is slidably accommodated in the second guide groove of the second layer turntable 5. This connection mode ensures that the blade assembly 2 can move stably between the two turntables, and at the same time ensures the positioning accuracy of the blade 3.

[0029] Preferably, referring to Figures 2-4 , the blade assembly 2 in the embodiment comprises four identical blades 3. The blade 3 is arc-shaped, one side of each blade 3 is provided with two guide limiting pins 7, the other side of the blade 3 is provided with one driving pin 8, and the blades 3 are mutually overlapped to form a single-layer opening and closing blade assembly 2. Compared with the design of multiple layers of blades 3, the single-layer design of the blade assembly 2 completely eliminates the assembly gap between the layers, which is an uncontrollable radiation leakage path in the multi-layer structure. The design in the embodiment avoids this risk from the physical structure, without the need for additional complex shielding layers, which simplifies the structure and improves the radiation safety.

[0030] In a preferred embodiment, asFigure 4 As shown, the blade assembly 2 consists of four identical arc-shaped blades 3 arranged in a single layer on the same plane, as follows: Figures 2-3 As shown, the integrated structure of each blade 3 includes two guide pins 7 and one drive pin 8. The guide pins 7 and drive pin 8 are located on opposite sides of the blade 3, that is, two guide pins 7 are pre-embedded on the upper part of the arc-shaped blade 3, and one drive pin 8 is pre-embedded on the lower part of the arc-shaped blade 3. Simultaneously, each blade 3 includes a long inclined side and a short inclined side. The arc-shaped blades 3 of the blade assembly 2 are joined by overlapping inclined sides, with the long and short inclined sides forming a reverse inclined side structure. Four blades 3 overlap with the short inclined sides of adjacent blades 3 through their long inclined sides, forming a complete, synchronously opening and closing same-layer blade assembly 2. The overlapping structure of the long and short inclined sides ensures that the blades 3 can form a structure like... Figure 5 and Figure 6 The square beam field shown effectively avoids the risk of beam leakage, and all blades 3 move in the same plane, which greatly reduces the size of the beam limiting device in the beam exit direction, further ensuring the miniaturization and weight reduction of the whole system.

[0031] It should be noted that, as Figure 4 As shown, the upper turntable has four long guide grooves, namely the first guide grooves, and the lower turntable has four short guide grooves, namely the second guide grooves. The two guide limiting pins 7 on the blade 3 are housed in the long guide grooves, while the drive pins 8 are housed in the short guide grooves. The working principle is as follows: When only the lower turntable is driven to rotate, the short guide groove pushes the blade 3 radially through the drive pin 8. Since the upper turntable is locked at this time, its long guide groove constrains the guide limit pin 7, forcing the blade 3 to generate a specific composite motion according to the geometric relationship between the long and short guide grooves while moving radially. This achieves the pure opening and closing of the square firing field, i.e., changing the size of the firing field opening, such as... Figure 5 As shown; When only the upper turntable is driven to rotate, the long guide groove drives the entire blade assembly 2 to rotate around the central axis through the guide limit pin 7, realizing the pure rotation of the blade assembly 2, that is, changing the direction of the firing field opening, such as... Figure 6 As shown; When the upper and lower turntables are driven to rotate in opposite directions at the same time, the motion of blade 3 is a combination of the two motions mentioned above. That is, the upper and lower turntables rotate in opposite directions, realizing a compound motion of opening, closing and rotation.

[0032] It can be understood that the guide grooves of the upper disc and the lower disc in the embodiment are simple straight grooves, the slope of the straight track is constant, and there is no slope change point of the involute track in the prior art, so that the technical problem of movement jamming or impact of the blade 3 caused by sudden change of the track slope is fundamentally solved, the stability and reliability of the movement are significantly improved, and at the same time, the complex two-dimensional blade 3 movement is decoupled into simple rotation movements of the two discs, the composition of the device is greatly simplified, and the cost and failure rate are further reduced.

[0033] Referring to Figure 1 and Figure 4 , the beam limiting device in the embodiment further comprises a pressing plate 9, the pressing plate 9 is fixedly connected with the base 1 through bolts, a boss is arranged on one side of the first layer disc 4 facing the pressing plate 9, and the pressing plate 9 is sleeved outside the boss to limit the axial and radial movement of the first layer disc 4.

[0034] It should be noted that, as Figure 4 indicated, the upper disc is provided with two bosses, and two pressing plates 9 are matched with the two bosses respectively to limit the axial and radial movement of the upper disc, and the pressing plate 9 is matched with the base 1, so that the mounting reference of the upper and lower discs is the base 1, and the uniformity of the opening and closing of the blade assembly 2 and the symmetry relative to the middle shaft are further ensured. Specifically, the pressing plate 9 is tightly matched with the circumferential side wall of the boss, effectively limiting the radial runout of the upper disc, ensuring the high-precision coaxiality of the rotation center of the upper disc and the base 1 reference, and the end surface of the pressing plate 9 and the boss forms a small axial gap, which prevents excessive axial movement of the disc and avoids excessive rotation resistance caused by pressing the disc, ensuring that the disc can rotate freely and flexibly, and there is no obvious axial and radial movement, thereby ensuring the precision and stability of the long-term operation of the blade assembly 2.

[0035] Referring to Figure 4 , in the embodiment, the beam limiting device further comprises a first driving motor 10 and a second driving motor 11. The first driving motor 10 is connected with the first layer disc 4 and used to drive the first layer disc 4 to rotate; the second driving motor 11 is connected with the second layer disc 5 and used to drive the second layer disc 5 to rotate. When the two discs rotate in different directions, the blades 3 in the blade assembly 2 are driven to move correspondingly through the guide structure, so as to change the size and shape of the field opening. The design of the double-motor driving makes the adjustment of the field opening more accurate and flexible, and can adapt to different beam limiting requirements.

[0036] Furthermore, in this embodiment, a first motor gear 12 is provided on the output shaft of the first drive motor 10, and the first motor gear 12 meshes with the teeth provided on the outer periphery of the first layer turntable 4. The first drive motor 10 is connected to the first layer turntable 4 through the first motor gear 12. A second motor gear 13 is provided on the output shaft of the second drive motor 11, and the second motor gear 13 meshes with the teeth provided on the outer periphery of the second layer turntable 5. The second drive motor 11 is connected to the second layer turntable 5 through the second motor gear 13.

[0037] Preferred, such as Figure 4 As shown, the first drive motor 10 and the second drive motor 11 are preferably stepper motors. The first drive motor 10 drives the upper turntable through the first motor gear 12, and the second drive motor 11 drives the lower turntable through the second motor gear 13. Specifically, the motor gear on the output shaft of the drive motor meshes with the teeth on the outer periphery of the turntable. The stepper motor has precise angular displacement control capability and can precisely control the rotation angle of the turntable by controlling the number of pulses, thereby achieving precise positioning of the size and direction of the firing field. In the motor braking state, the stepper motor can provide sufficient holding torque to reliably lock the turntable, providing a guarantee for the realization of a single motion mode, thus making the transmission smooth, the structure compact, and able to provide sufficient transmission torque and accuracy.

[0038] See Figure 4 In this embodiment, to ensure precise positioning of the turntables, the constraint device is also equipped with a first position detection component and a second position detection component. Both the first and second position detection components are fixedly mounted on the base 1. The first position detection component detects the initial position of the first-layer turntable 4, and the second position detection component detects the initial position of the second-layer turntable 5. This position detection mechanism ensures that the blade assembly 2 can accurately return to the preset position after each adjustment, improving the repeatability of the device.

[0039] Further, see Figure 1 and Figure 4 The beam-limiting device also includes a blocking plate 14, which is disposed on the first-layer turntable 4. The first position detection component includes a first photoelectric switch 15, and the second position detection component includes a second photoelectric switch 16. The distance between the first-layer turntable 4 at its limit position under its limiting structure and the light column of the first photoelectric switch 15 is less than or equal to the length of the blocking plate 14; the distance between the second-layer turntable 5 at its limit position under its limiting structure and the light column of the second photoelectric switch 16 is less than or equal to the length of the blocking plate 14. This design ensures that when the turntable rotates to its limit position, the blocking plate 14 can effectively block the light column of the photoelectric switch, thereby triggering a position signal and preventing excessive rotation of the turntable from causing mechanical damage.

[0040] It should be noted that, as shown in Figure 4 the first and second photoelectric switches 15 and 16 are fixed on the base 1 and are used to detect the initial position, i.e. the zero position, of the upper and lower rotating discs respectively, the first layer rotating disc 4, i.e. the upper rotating disc, is provided with a shielding piece 14, the length of the shielding piece 14 is designed to be greater than or equal to the entire movement stroke of the rotating disc under the mechanical limit, that is, the distance between the limit position of the upper rotating disc under the limit structure and the light column of the first photoelectric switch 15 is less than or equal to the length of the shielding piece 14, and the distance between the limit position of the lower rotating disc under the limit structure and the light column of the second photoelectric switch 16 is less than or equal to the length of the shielding piece 14. Here, the limit structure of the upper rotating disc is arranged on the base 1 and limits the farthest movement stroke that the upper rotating disc can reach, and similarly, the limit structure of the lower rotating disc is arranged on the base 1 and limits the farthest movement stroke that the lower rotating disc can reach. The above design ensures that after the device is powered off, no matter where the rotating disc is stationary in the movement stroke, the shielding piece 14 can always cover the light column of the photoelectric switch, ensuring that even if the beam limiter is powered off or after transportation, the system can accurately identify the starting position of the upper rotating disc.

[0041] It can be understood that the working process of the beam limiting device in the embodiment is as follows: When the first drive motor 10 enters and remains in the braking state, thereby locking the first layer rotating disc 4, at the same time, the second drive motor 11 is started to drive the second layer rotating disc 5 to rotate through the second motor gear 13, the rotational movement of the second layer rotating disc 5 acts on the drive pins 8 of the blades 3 through the short guide grooves thereon, pushing all the blades 3 to produce radial movement, since the first layer rotating disc 4 is locked, the long guide grooves thereon constrain the guide limit pins 7 of the blades 3, converting the rotational movement of the second layer rotating disc 5 into synchronous and symmetrical radial linear movement of the four blades 3, thereby realizing the opening or closing of the field opening, i.e. adjusting the size thereof, in this process, the entire blade assembly 2 does not rotate, and the field direction remains unchanged; When the second drive motor 11 enters and remains in the braking state, thereby locking the second layer rotating disc 5, at the same time, the first drive motor 10 is started to drive the first layer rotating disc 4 to rotate through the first motor gear 12, the rotational movement of the first layer rotating disc 4 acts on the guide limit pins 7 of all the blades 3 through the long guide grooves thereon, since the second layer rotating disc 5 is locked, the drive pins 8 of the blades 3 slide in the short guide grooves, so that the rotational movement of the first layer rotating disc 4 is directly converted into synchronous rotation of the entire blade assembly 2 around the center axis of the device, thereby changing the orientation of the field opening, in this process, the size of the field opening remains unchanged; When the first driving motor 10 and the second driving motor 11 are started at the same time and rotate in opposite directions, the first layer turntable 4 and the second layer turntable 5 generate reverse rotation movements, and at this time, the movement of the blade 3 is the synthesis of the opening and closing movement and the rotation movement, which can expand or reduce the size of the field of view opening in the direction of the rotating field of view, and realize the complex field of view adjustment requirement; During the whole working process, the first photoelectric switch 15 and the second photoelectric switch 16 cooperate with the shielding piece 14 arranged on the upper layer turntable to provide a zero position signal of the turntable, which provides a basis for the accurate execution of all the above movements, and the cooperation structure of the pressing plate 9 and the boss and the base 1 as a unified installation reference jointly guarantee the rigidity and stability of the components during the movement process, and avoid the precision loss caused by shaking or misalignment. The beam limiting device in the embodiment realizes flexible, accurate and reliable control of the shape of the field of view in a pure mechanical way through the cooperative driving of the double turntables by the two driving motors and the precise guiding and positioning structure.

[0042] It should be noted that the embodiment provides a beam limiting device, which realizes the optimization of the structure of the beam limiting device through the compact mechanical structure integrating the single-layer blade assembly 2 and the coaxial double turntable and being directly driven by the driving motor to drive the rotation of the turntable, avoids the risk of interlayer radiation leakage inherent in the multi-layer structure through the layout of the single-layer blade 3, significantly improves the radiation safety, greatly reduces the axial size and overall volume of the device, provides key support for the miniaturization and light weight of the mobile C-arm device, avoids the technical problems such as blade 3 jamming, movement mutation caused by complex coupled trajectories or differential control in the prior art, not only greatly improves the stability and service life of the device operation, but also simplifies the control system, reduces the manufacturing and maintenance cost, greatly improves the safety, reliability and economy of the invention.

[0043] Embodiment two Please refer to Figure 7 The embodiment provides a control method of a beam limiting device, which adopts the beam limiting device described in embodiment one, and the control method mainly comprises the following steps: receiving a control instruction; Based on the control instruction, the first driving motor 10 and the second driving motor 11 are controlled to work in a predetermined cooperative mode to drive the opening and closing or rotation of the blade assembly 2.

[0044] Further, before the control method is executed, the first layer turntable 4 and the second layer turntable 5 need to be calibrated, and the specific calibration process is as follows: first, it is judged whether the first position detection assembly is triggered, and then according to the triggering state of the first position detection assembly, the first driving motor 10 and the second driving motor 11 are controlled to perform an initialization movement until the first position detection assembly and the second position detection assembly reach a predetermined triggering state. If the first position detection assembly is triggered, the first driving motor 10 is controlled to rotate clockwise by a first preset number of steps, and the second driving motor 11 is controlled to rotate clockwise by a second preset number of steps, and then it is determined whether the second position detection assembly is triggered, and the second driving motor 11 is controlled to move according to the triggering state of the second position detection assembly until the second position detection assembly is triggered. If the first position detection assembly is not triggered, the first driving motor 10 and the second driving motor 11 are both controlled to rotate counterclockwise, and it is determined again whether the first position detection assembly is triggered. If yes, the initialization movement is continued to be executed, otherwise, an alarm is triggered.

[0045] In this process, the first preset number of steps is greater than the second preset number of steps, and such a design can ensure that the two rotating discs can accurately return to the initial position.

[0046] After completing the position calibration, the control method starts to receive control instructions. Based on the received control instructions, the control system controls the first driving motor 10 and the second driving motor 11 to work in a predetermined cooperative mode, so as to drive the opening and closing of the blade assembly 2, and further change the field size and field direction.

[0047] The working mode of the cooperative mode is divided into three cases: (1) When the control instruction is only to adjust the opening and closing of the blade assembly 2, i.e. the field size, the first driving motor 10 is controlled to remain in a locked state, and the second driving motor 11 is driven to drive the second rotating disc 5 to rotate, so as to realize the opening and closing of the blade assembly 2. In this mode, since the first rotating disc 4 remains stationary, the blade assembly 2 only performs opening and closing movement without changing direction, thereby only adjusting the field size.

[0048] (2) When the control instruction is only to adjust the rotation of the blade assembly 2, i.e. the field direction, the second driving motor 11 is controlled to remain in a locked state, and the first driving motor 10 is controlled to drive the first rotating disc 4 to rotate, so as to realize the rotation of the blade assembly 2. In this mode, since the second rotating disc 5 remains stationary, the opening and closing degree of the blade assembly 2 does not change, and only rotates with the first rotating disc 4, thereby adjusting the field direction.

[0049] (3) When the control instruction is to adjust both the opening and closing and the rotation of the blade assembly 2, i.e. the field size and the field direction, the first driving motor 10 and the second driving motor 11 are driven to drive the first rotating disc 4 and the second rotating disc 5 to rotate in opposite directions, respectively. In this mode, the relative movement of the two rotating discs changes both the opening and closing degree of the blade assembly 2 and the overall direction of the blade assembly 2, thereby simultaneously adjusting the field size and the field direction.

[0050] It can be understood that through this control method, the size and direction of the field can be flexibly adjusted to meet the needs of different application scenarios, the position calibration mechanism ensures the accuracy and reliability of the control, and the three different cooperative working modes provide diversified field adjustment capabilities, so that the beam limiting device can adapt to complex and variable beam limiting requirements.

[0051] Referring to Figure 8 The position calibration process of the first layer turntable 4 and the second layer turntable 5 before receiving the control instruction is described below through a specific example: After the self-checking starts, it is first determined whether the first photoelectric switch 15 of the upper layer turntable is triggered, which mainly includes the following two cases: (1) When powered on, the photoelectric switch of the upper turntable (the first photoelectric switch 15 of the upper layer turntable) is in a triggered state, that is, the shielding piece 14 shields the light column; Preliminary reset: the system controls the upper turntable (the upper layer turntable) motor to rotate clockwise by A+2α steps, and the lower turntable motor (the second drive motor 11 of the lower layer turntable) to rotate clockwise by B+2α steps. This step aims to make the lower layer turntable preliminarily approach the predetermined "square opening facing the detector" position from the state of possibly staying at any position due to power failure, wherein the additional 2α is used to compensate for the backlash that may exist when starting from the current unknown position.

[0052] Step number A is a fixed value calibrated at the factory, representing the number of motor steps required to rotate from the trigger boundary (i.e., zero position) of the first photoelectric switch 15 of the upper layer turntable to the target position of "field opening facing the detector"; step number B is also a fixed value, and B<A, representing the number of steps for the lower layer turntable to rotate to the corresponding position under the same starting point; the backlash compensation value α is used to overcome the reverse backlash of the transmission mechanism (such as gears), and is an additional number of steps compensated each time the direction of the motor is changed, which can usually be determined through experiments.

[0053] Lower turntable (lower layer turntable) fine calibration: the system then determines the trigger state of the lower turntable photoelectric switch (the second photoelectric switch 16 of the lower layer turntable); If triggered: it indicates that the lower turntable has approached or reached its zero position, in order to make the positioning more accurate, the system keeps the upper turntable motor (the first drive motor 10 of the upper layer turntable) brake, and controls the lower turntable motor (the second drive motor 11 of the lower layer turntable) to rotate clockwise until the photoelectric switch is not triggered (i.e., out of the shielding area), and then immediately counterclockwise until the photoelectric switch is triggered again. This action of passing through and finding back aims to eliminate the influence of backlash, so that the lower turntable is finally accurately stopped at the trigger edge of the photoelectric switch, i.e., the physical zero position.

[0054] If not triggered: the system keeps the upper turntable motor brake, and controls the lower turntable motor to directly rotate counterclockwise until the second photoelectric switch 16 is triggered, so as to find its zero position; Self-checking: Both the upper and lower turntable motors (first driving motor 10 and second driving motor 11) are kept in the brake state, and the system records the current position as the reference, and the self-checking is completed.

[0055] (2) When powered on, the upper turntable photoelectric switch is in the non-trigger state Finding zero position: The system controls the driving motors of the upper and lower turntables to rotate counterclockwise to find the zero position of the upper turntable (i.e. the position of the photoelectric switch triggering).

[0056] Successfully found zero position: If the upper turntable photoelectric switch is triggered during counterclockwise rotation, the system executes all steps in (1) (i.e. preliminary reset and lower turntable fine calibration).

[0057] Zero position finding failure (alarm): If the upper and lower turntable motors rotate counterclockwise for a certain time or number of steps, and the upper turntable photoelectric switch is still not triggered, the system determines that a fault has occurred (such as photoelectric switch damage or mechanical jamming), and triggers the limiter alarm to prompt maintenance.

[0058] It can be understood that the above self-checking process can not rely on the memory position before power off. No matter where the turntable stops when the device is powered off, the accurate mechanical coordinate system can be automatically and reliably re-established after power on through this process, realizing "calibration after power on", avoiding complex secondary collision verification, and improving the intelligent level of the equipment and user experience. The key gap compensation value α is introduced in the process, and the "over and find back" strategy is adopted in the lower turntable fine calibration. This effectively eliminates the influence of reverse gap of the transmission mechanism on positioning accuracy, ensures the consistency of zero position after each self-checking, and lays a solid foundation for accurate control of the subsequent field. The process has a fault diagnosis mechanism. In case two, if the upper turntable zero position cannot be found, an alarm is immediately triggered, which can timely detect hardware faults and prevent the device from running in an unknown position, thereby avoiding possible control errors or mechanical damage, and significantly improving the reliability and safety of the entire system.

[0059] It should be noted that the embodiment provides a control method for a limiting device, which overcomes the inherent defects of the multi-layer leaf 3 limiter in the prior art by adopting a single-layer arrangement of the leaf assembly 2 and a coaxial arrangement of the double-layer turntable, significantly reduces the risk of radiation leakage caused by the interlayer assembly gap, and does not need to add complex additional shielding structures, thereby improving the radiation safety, the single-layer layout greatly reduces the axial space required for opening and closing the leaves, makes the overall structure of the limiter more compact and lightweight, lays a foundation for the miniaturization design of mobile C-arm X-ray machines and other devices, further improves the reliability and stability of the device operation, and simplifies the control system, thereby reducing the overall cost from research and development to production.

[0060] Embodiment three In a preferred embodiment, the present application also provides an electronic device, comprising: A memory; and a processor, wherein computer readable instructions are stored on the memory, and the computer readable instructions, when executed by the processor, implement the control method of the beam limiting device. The computer device can be a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In an embodiment, the computer device can include a processor, a memory, a network interface, a communication interface, and the like connected by a system bus. The processor of the computer device can be used to provide necessary computing, processing, and / or control capabilities. The memory of the computer device can include a non-volatile storage medium and an internal memory. The non-volatile storage medium can store an operating system, a computer program, and the like therein or thereon. The internal memory can provide an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. The computer program, when executed by the processor, performs the steps of the method of the present application.

[0061] It can be understood that the computer readable instructions stored in the electronic device in the embodiment, when executed by the processor, can implement the beam limiting device control method described in detail in Embodiment Two, including the position calibration process and the process of controlling the driving motor to work based on the control instruction.

[0062] Specifically, when the processor of the electronic device executes these instructions, it will first perform a position calibration operation, judge the trigger state of the first position detection assembly and control the first driving motor 10 and the second driving motor 11 to perform an initialization movement until both position detection assemblies reach a predetermined trigger state. Then, the electronic device will receive a control instruction and control the first driving motor 10 and the second driving motor 11 to work in a predetermined cooperative mode based on the control instruction, thereby driving the opening and closing of the blade assembly 2, adjusting the field size and field direction.

[0063] The processor of the electronic device can execute the three cooperative working modes described in Embodiment Two according to different control instructions: only adjusting the opening and closing of the blade assembly 2, only adjusting the rotation of the blade assembly 2, or adjusting both the opening and closing and the rotation of the blade assembly 2.

[0064] Through the implementation of such an electronic device, the control process of the beam limiting device can be more intelligent and automated, improving the accuracy and reliability of the control, while simplifying the operation process and improving the user experience.

[0065] The application can be implemented as a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of the method of the embodiments of the application to be performed. In one embodiment, the computer program is distributed over a network of coupled computer devices or processors such that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0066] It should be noted that the terms "first", "second", and the like, in the description and in the claims of the present application as well as above-mentioned appended drawings, are used to distinguish similar objects and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so construed can be interchanged, where appropriate, to refer to a similar one. Embodiments of the application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprise" and "have", and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a list of steps or units is not necessarily limited to those clearly identified as such and can include other steps or units not clearly recited or inherent to such process, method, product, or apparatus.

[0067] The technical features described above can be combined arbitrarily. Although all possible combinations of the technical features are not described, any combination of the technical features should be considered to be covered by the present specification, as long as there is no contradiction in such a combination.

[0068] The specific embodiments of the application described above do not constitute a limitation of the scope of protection of the present application. Any other corresponding changes and modifications made according to the technical concept of the present application should be included within the scope of protection of the claims of the present application.

Claims

1. A beam-limiting device, characterized in that, include: The blade assembly (2) includes multiple overlapping blades (3) arranged in a single layer in the same plane; The first layer turntable (4) and the second layer turntable (5) are coaxially arranged; The blade assembly (2) is positioned between the first layer turntable (4) and the second layer turntable (5) via a guide structure. The opening and closing of the blade assembly (2) forms a radiation field opening to limit the range of the radiation beam.

2. The beam-limiting device according to claim 1, characterized in that, The guiding structure includes a first guiding component and a second guiding component; The first guide component is a guide limiting pin (7) disposed on one side of the blade (3); The second guide component is a drive pin (8) located on the other side of the blade (3).

3. The beam-limiting device according to claim 2, characterized in that, The first layer turntable (4) is provided with a first guide groove, and the second layer turntable (5) is provided with a second guide groove; The guide pin (7) of the blade (3) is slidably accommodated in the first guide groove of the first layer turntable (4); The drive pin (8) of the blade (3) is slidably accommodated in the second guide groove of the second layer turntable (5).

4. The beam-limiting device according to claim 1, characterized in that, The beam limiting device also includes a first drive motor (10) and a second drive motor (11). The first drive motor (10) is connected to the first layer turntable (4) and is used to drive the first layer turntable (4) to rotate. The second drive motor (11) is connected to the second layer turntable (5) and is used to drive the second layer turntable (5) to rotate.

5. The beam-limiting device according to claim 1, characterized in that, The beam limiting device also includes a base (1), and the first layer turntable (4) and the second layer turntable (5) are limited on the base (1) by a bearing assembly (6).

6. The beam-limiting device according to claim 5, characterized in that, The beam-limiting device further includes a first position detection component and a second position detection component; Both the first position detection component and the second position detection component are fixedly mounted on the base. The first position detection component is used to detect the initial position of the first layer turntable (4), and the second position detection component is used to detect the initial position of the second layer turntable (5).

7. The beam-limiting device according to claim 6, characterized in that, The beam limiting device includes a shielding plate (14), which is disposed on the first layer turntable (4). The first position detection component includes a first photoelectric switch (15), and the second position detection component includes a second photoelectric switch (16). The distance between the first layer turntable (4) at its extreme position under its limiting structure and the light column of the first photoelectric switch (15) is less than or equal to the length of the shielding plate (14); The distance between the second turntable (5) at its extreme position under its limiting structure and the light column of the second photoelectric switch (16) is less than or equal to the length of the shielding plate (14).

8. A control method for a beam-limiting device, employing the beam-limiting device as described in any one of claims 1-7, characterized in that, The method includes: Receive control commands; Based on the control command, the first drive motor (10) and the second drive motor (11) are controlled to work in a predetermined cooperative mode to drive the opening, closing or rotation of the blade assembly (2).

9. The control method for the beam-limiting device according to claim 8, characterized in that, The control of the first drive motor (10) and the second drive motor (11) to operate in a predetermined cooperative mode based on the control command includes: When the control command is to adjust only the opening and closing of the blade assembly (2), the first drive motor (10) is controlled to remain locked, and the second drive motor (11) is driven to drive the second turntable (5) to rotate, so as to realize the opening and closing of the blade assembly (2); When the control command is to adjust only the rotation of the blade assembly (2), the second drive motor (11) is controlled to remain locked, and the first drive motor (10) is controlled to drive the first layer turntable (4) to rotate, so as to realize the rotation of the blade assembly (2); When the control command is to simultaneously adjust the opening, closing and rotation of the blade assembly (2), the first drive motor (10) and the second drive motor (11) are driven to drive the first turntable (4) and the second turntable (5) to rotate in opposite directions respectively.

10. The control method for the beam-limiting device according to claim 8, characterized in that, Before receiving control commands, the positions of the first layer turntable (4) and the second layer turntable (5) are calibrated, specifically including: Determine whether the first position detection component has been triggered; Based on the trigger state of the first position detection component, the first drive motor (10) and the second drive motor (11) are controlled to perform initialization movements until both the first position detection component and the second position detection component reach the predetermined trigger state.

11. The control method for the beam-limiting device according to claim 10, characterized in that, The step of controlling the first drive motor (10) and the second drive motor (11) to perform initialization motion according to the trigger state of the first position detection component includes: If the first position detection component is triggered, the first drive motor (10) is controlled to rotate clockwise for a first preset number of steps, and the second drive motor (11) is controlled to rotate clockwise for a second preset number of steps. Then, it is determined whether the second position detection component is triggered, and the second drive motor (11) is controlled to move according to the triggering state of the second position detection component until the second position detection component is triggered. If the first position detection component is not triggered, the first drive motor (10) and the second drive motor (11) are controlled to rotate counterclockwise. The system then determines whether the first position detection component has been triggered. If it has, the initialization motion continues. Otherwise, an alarm is triggered.

12. The control method for the beam-limiting device according to claim 11, characterized in that, The first preset number of steps is greater than the second preset number of steps.

13. An electronic device, characterized in that, include: Memory; The memory stores computer-readable instructions that, when executed by the processor, implement the control method of the beam-limiting device according to any one of claims 8 to 12.

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